Program Listing for File smacc_publisher_client.hpp
↰ Return to documentation for file (/tmp/ws/src/smacc2/smacc2/include/smacc2/client_bases/smacc_publisher_client.hpp
)
// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
/*****************************************************************************************************************
*
* Authors: Pablo Inigo Blasco, Brett Aldrich
*
******************************************************************************************************************/
#pragma once
#include <optional>
#include <smacc2/smacc_client.hpp>
namespace smacc2
{
namespace client_bases
{
class SmaccPublisherClient : public smacc2::ISmaccClient
{
public:
std::optional<std::string> topicName;
std::optional<int> queueSize;
std::optional<rmw_qos_durability_policy_t> durability;
std::optional<rmw_qos_reliability_policy_t> reliability;
SmaccPublisherClient();
virtual ~SmaccPublisherClient();
template <typename MessageType>
void configure(std::string topicName)
{
this->topicName = topicName;
if (!initialized_)
{
if (!this->topicName)
{
RCLCPP_ERROR(getLogger(), "topic publisher with no topic name set. Skipping advertising.");
return;
}
if (!queueSize) queueSize = 1;
if (!durability) durability = RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT;
if (!reliability) reliability = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT;
rclcpp::SensorDataQoS qos;
qos.keep_last(*queueSize);
qos.durability(*durability);
qos.reliability(*reliability);
RCLCPP_INFO_STREAM(
getLogger(), "[" << this->getName() << "] Client Publisher to topic: " << topicName);
pub_ = getNode()->create_publisher<MessageType>(*(this->topicName), qos);
this->initialized_ = true;
}
}
template <typename MessageType>
void publish(const MessageType & msg)
{
//pub_->publish(msg);
std::dynamic_pointer_cast<rclcpp::Publisher<MessageType>>(pub_)->publish(msg);
}
rclcpp::PublisherBase::SharedPtr pub_;
private:
bool initialized_;
};
} // namespace client_bases
} // namespace smacc2