publisher.h

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// SPDX-License-Identifier: BSD-3-Clause
// SPDX-FileCopyrightText: Czech Technical University in Prague .. 2019, paplhjak .. 2009, Willow Garage, Inc.

/*
 *
 * BSD 3-Clause License
 *
 * Copyright (c) Czech Technical University in Prague
 * Copyright (c) 2019, paplhjak
 * Copyright (c) 2009, Willow Garage, Inc.
 *
 *        All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 *        modification, are permitted provided that the following conditions are met:
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 * 1. Redistributions of source code must retain the above copyright notice, this
 * list of conditions and the following disclaimer.
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 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its
 * contributors may be used to endorse or promote products derived from
 * this software without specific prior written permission.
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 *       THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#pragma once

#include <string>

#include <boost/shared_ptr.hpp>
#include <boost/weak_ptr.hpp>

#include <ros/forwards.h>
#include <ros/node_handle.h>
#include <sensor_msgs/PointCloud2.h>

#include <point_cloud_transport/loader_fwds.h>
#include <point_cloud_transport/single_subscriber_publisher.h>

namespace point_cloud_transport
{

class Publisher
{
public:
  Publisher();

  uint32_t getNumSubscribers() const;

  std::string getTopic() const;

  void publish(const sensor_msgs::PointCloud2& message) const;

  void publish(const sensor_msgs::PointCloud2ConstPtr& message) const;

  void shutdown();

  operator void*() const;

  bool operator<(const point_cloud_transport::Publisher& rhs) const
  {
    return impl_ < rhs.impl_;
  }

  bool operator!=(const point_cloud_transport::Publisher& rhs) const
  {
    return impl_ != rhs.impl_;
  }

  bool operator==(const point_cloud_transport::Publisher& rhs) const
  {
    return impl_ == rhs.impl_;
  }

private:
  Publisher(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
            const point_cloud_transport::SubscriberStatusCallback& connect_cb,
            const point_cloud_transport::SubscriberStatusCallback& disconnect_cb,
            const ros::VoidPtr& tracked_object, bool latch,
            const point_cloud_transport::PubLoaderPtr& loader);

  struct Impl;
  typedef boost::shared_ptr<Impl> ImplPtr;
  typedef boost::weak_ptr<Impl> ImplWPtr;

  ImplPtr impl_;

  static void weakSubscriberCb(const ImplWPtr& impl_wptr,
                               const point_cloud_transport::SingleSubscriberPublisher& plugin_pub,
                               const point_cloud_transport::SubscriberStatusCallback& user_cb);

  point_cloud_transport::SubscriberStatusCallback rebindCB(
      const point_cloud_transport::SubscriberStatusCallback& user_cb);

  friend class PointCloudTransport;
};

}