Program Listing for File compressed_subscriber.h

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#include <string>
#include <vector>

#include <rclcpp/node.hpp>
#include <rclcpp/subscription_options.hpp>

#include <sensor_msgs/msg/image.hpp>
#include <sensor_msgs/msg/compressed_image.hpp>
#include <image_transport/simple_subscriber_plugin.hpp>

#include "compressed_image_transport/compression_common.h"

namespace compressed_image_transport {

using ParameterEvent = rcl_interfaces::msg::ParameterEvent;

class CompressedSubscriber final : public image_transport::SimpleSubscriberPlugin<sensor_msgs::msg::CompressedImage>
{
public:
  CompressedSubscriber(): logger_(rclcpp::get_logger("CompressedSubscriber")) {}
  virtual ~CompressedSubscriber() = default;

  virtual std::string getTransportName() const
  {
    return "compressed";
  }

protected:

  void subscribeImpl(
      rclcpp::Node * ,
      const std::string& base_topic,
      const Callback& callback,
      rmw_qos_profile_t custom_qos,
      rclcpp::SubscriptionOptions options) override;

  void internalCallback(const sensor_msgs::msg::CompressedImage::ConstSharedPtr& message,
                        const Callback& user_cb) override;

  rclcpp::Logger logger_;
  rclcpp::Node * node_;

private:
  std::vector<std::string> parameters_;
  std::vector<std::string> deprecatedParameters_;

  rclcpp::Subscription<ParameterEvent>::SharedPtr parameter_subscription_;

  int imdecodeFlagFromConfig();

  void declareParameter(const std::string &base_name,
                        const ParameterDefinition &definition);

  void onParameterEvent(ParameterEvent::SharedPtr event, std::string full_name, std::string base_name);
};

} //namespace image_transport