Program Listing for File single_subscriber_publisher.hpp

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

#include <functional>
#include <string>

#include "rclcpp/macros.hpp"
#include <sensor_msgs/msg/point_cloud2.hpp>

#include "point_cloud_transport/visibility_control.hpp"

namespace point_cloud_transport
{

// Only available inside subscriber connection callbacks.
class SingleSubscriberPublisher
{
public:
  typedef std::function<uint32_t()> GetNumSubscribersFn;
  typedef std::function<void (const sensor_msgs::msg::PointCloud2 &)> PublishFn;

  SingleSubscriberPublisher(const SingleSubscriberPublisher &) = delete;
  SingleSubscriberPublisher & operator=(const SingleSubscriberPublisher &) = delete;

  POINT_CLOUD_TRANSPORT_PUBLIC
  SingleSubscriberPublisher(
    const std::string & caller_id, const std::string & topic,
    const GetNumSubscribersFn & num_subscribers_fn,
    const PublishFn & publish_fn);

  POINT_CLOUD_TRANSPORT_PUBLIC
  std::string getSubscriberName() const;

  POINT_CLOUD_TRANSPORT_PUBLIC
  std::string getTopic() const;

  POINT_CLOUD_TRANSPORT_PUBLIC
  uint32_t getNumSubscribers() const;

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

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

private:
  std::string caller_id_;
  std::string topic_;
  GetNumSubscribersFn num_subscribers_fn_;
  PublishFn publish_fn_;

  friend class Publisher;  // to get publish_fn_ directly
};

typedef std::function<void (const SingleSubscriberPublisher &)> SubscriberStatusCallback;
}  // namespace point_cloud_transport
#endif  // POINT_CLOUD_TRANSPORT__SINGLE_SUBSCRIBER_PUBLISHER_HPP_