Program Listing for File babel_fish_publisher.hpp

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// Copyright (c) 2021 Stefan Fabian. All rights reserved.
// Licensed under the MIT license. See LICENSE file in the project root for full license information.

#ifndef ROS_BABEL_FISH_BABEL_FISH_PUBLISHER_HPP
#define ROS_BABEL_FISH_BABEL_FISH_PUBLISHER_HPP

#include "ros_babel_fish/idl/type_support.hpp"
#include <ros_babel_fish/messages/compound_message.hpp>

#include <rclcpp/publisher_base.hpp>
#include <rclcpp/publisher_options.hpp>

namespace rclcpp
{
class SerializedMessage;
}

namespace ros_babel_fish
{

class BabelFishPublisher : public rclcpp::PublisherBase
{
public:
  RCLCPP_SMART_PTR_DEFINITIONS( BabelFishPublisher )

  BabelFishPublisher( rclcpp::node_interfaces::NodeBaseInterface *node_base,
                      const rosidl_message_type_support_t &type_support, const std::string &topic,
                      const rclcpp::QoS &qos, const rclcpp::PublisherOptions &options );

  virtual void
  post_init_setup( rclcpp::node_interfaces::NodeBaseInterface *node_base, const std::string &topic,
                   const rclcpp::QoS &qos,
                   const rclcpp::PublisherOptionsWithAllocator<std::allocator<void>> &options );

  virtual void publish( std::unique_ptr<CompoundMessage> msg );

  virtual void publish( const CompoundMessage &msg );

  void publish( const rcl_serialized_message_t &serialized_msg );

  void publish( const rclcpp::SerializedMessage &serialized_msg );

private:
  void do_inter_process_publish( const CompoundMessage &msg );

  void do_serialized_publish( const rcl_serialized_message_t *serialized_msg );


  const rclcpp::PublisherOptionsWithAllocator<std::allocator<void>> options_;
};
} // namespace ros_babel_fish

#endif // ROS_BABEL_FISH_BABEL_FISH_PUBLISHER_HPP