Program Listing for File publisher_plugin.hpp

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// Copyright (c) 2023, Czech Technical University in Prague
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#ifndef POINT_CLOUD_TRANSPORT__PUBLISHER_PLUGIN_HPP_
#define POINT_CLOUD_TRANSPORT__PUBLISHER_PLUGIN_HPP_

#include <memory>
#include <string>
#include <vector>

#include "rclcpp/node.hpp"
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <rcpputils/tl_expected/expected.hpp>

#include <point_cloud_transport/single_subscriber_publisher.hpp>
#include "point_cloud_transport/visibility_control.hpp"

namespace point_cloud_transport
{

class PublisherPlugin
{
public:
  typedef tl::expected<std::optional<const std::shared_ptr<rclcpp::SerializedMessage>>,
      std::string> EncodeResult;

  PublisherPlugin() = default;
  PublisherPlugin(const PublisherPlugin &) = delete;
  PublisherPlugin & operator=(const PublisherPlugin &) = delete;

  virtual std::string getTransportName() const = 0;

  POINT_CLOUD_TRANSPORT_PUBLIC
  void advertise(
    std::shared_ptr<rclcpp::Node> node,
    const std::string & base_topic,
    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
    const rclcpp::PublisherOptions & options = rclcpp::PublisherOptions());

  virtual uint32_t getNumSubscribers() const = 0;

  virtual std::string getTopic() const = 0;

  virtual std::string getDataType() const = 0;

  POINT_CLOUD_TRANSPORT_PUBLIC
  virtual EncodeResult encode(const sensor_msgs::msg::PointCloud2 & raw) const;

  virtual void publish(const sensor_msgs::msg::PointCloud2 & message) const = 0;

  POINT_CLOUD_TRANSPORT_PUBLIC
  virtual void publish(const sensor_msgs::msg::PointCloud2::ConstSharedPtr & message) const;

  virtual void shutdown() = 0;

  virtual void declareParameters(const std::string & base_topic) = 0;

  virtual std::string getTopicToAdvertise(const std::string & base_topic) const = 0;

  POINT_CLOUD_TRANSPORT_PUBLIC
  static std::string getLookupName(const std::string & transport_name);

protected:
  virtual void advertiseImpl(
    std::shared_ptr<rclcpp::Node> node, const std::string & base_topic,
    rmw_qos_profile_t custom_qos,
    const rclcpp::PublisherOptions & options = rclcpp::PublisherOptions()) = 0;
};

}  // namespace point_cloud_transport
#endif  // POINT_CLOUD_TRANSPORT__PUBLISHER_PLUGIN_HPP_