Program Listing for File topic.hpp

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//
// Created by Stefan Fabian on 27.07.21.
//

#ifndef ROS_BABEL_FISH_TOPIC_HPP
#define ROS_BABEL_FISH_TOPIC_HPP

#include <chrono>
#include <string>
#include <vector>

namespace rclcpp
{
class Node;
}

namespace ros_babel_fish
{
namespace impl
{
bool wait_for_topic_nanoseconds( rclcpp::Node &node, const std::string &topic,
                                 std::chrono::nanoseconds timeout );

bool wait_for_topic_and_type_nanoseconds( rclcpp::Node &node, const std::string &topic,
                                          std::vector<std::string> &types,
                                          std::chrono::nanoseconds timeout );
} // namespace impl

template<typename RepT, typename PeriodT>
bool wait_for_topic(
    rclcpp::Node &node, const std::string &topic,
    std::chrono::duration<RepT, PeriodT> timeout = std::chrono::duration<RepT, PeriodT>( -1 ) )
{
  return impl::wait_for_topic_nanoseconds(
      node, topic, std::chrono::duration_cast<std::chrono::nanoseconds>( timeout ) );
}

template<typename RepT, typename PeriodT>
bool wait_for_topic_and_type(
    rclcpp::Node &node, const std::string &topic, std::vector<std::string> &types,
    std::chrono::duration<RepT, PeriodT> timeout = std::chrono::duration<RepT, PeriodT>( -1 ) )
{
  return impl::wait_for_topic_and_type_nanoseconds(
      node, topic, types, std::chrono::duration_cast<std::chrono::nanoseconds>( timeout ) );
}

std::string resolve_topic( const rclcpp::Node &node, const std::string &topic );
} // namespace ros_babel_fish

#endif // ROS_BABEL_FISH_TOPIC_HPP