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#ifndef FUSE_CORE__ASYNC_PUBLISHER_HPP_
#define FUSE_CORE__ASYNC_PUBLISHER_HPP_
#include <functional>
#include <memory>
#include <string>
#include <utility>
#include <fuse_core/callback_wrapper.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/graph.hpp>
#include <fuse_core/node_interfaces/node_interfaces.hpp>
#include <fuse_core/publisher.hpp>
#include <fuse_core/transaction.hpp>
#include <rclcpp/rclcpp.hpp>
namespace fuse_core
{
class AsyncPublisher : public Publisher
{
public:
FUSE_SMART_PTR_ALIASES_ONLY(AsyncPublisher)
virtual ~AsyncPublisher();
void initialize(
node_interfaces::NodeInterfaces<ALL_FUSE_CORE_NODE_INTERFACES> interfaces,
const std::string & name) override;
const std::string & name() const override {return name_;}
void notify(Transaction::ConstSharedPtr transaction, Graph::ConstSharedPtr graph) override;
void start() override;
void stop() override;
protected:
std::shared_ptr<fuse_core::CallbackAdapter> callback_queue_;
std::string name_;
rclcpp::CallbackGroup::SharedPtr cb_group_;
node_interfaces::NodeInterfaces<node_interfaces::Base, node_interfaces::Waitables> interfaces_;
rclcpp::Executor::SharedPtr executor_;
size_t executor_thread_count_{1};
std::thread spinner_;
std::atomic<bool> initialized_ = false;
explicit AsyncPublisher(size_t thread_count = 1);
virtual void onInit() {}
virtual void notifyCallback(
Transaction::ConstSharedPtr /*transaction*/,
Graph::ConstSharedPtr /*graph*/) {}
virtual void onStart() {}
virtual void onStop() {}
private:
void internal_stop();
};
} // namespace fuse_core
#endif // FUSE_CORE__ASYNC_PUBLISHER_HPP_