Program Listing for File zstd_subscriber.hpp

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/*
 * Copyright (c) 2023, Open Source Robotics Foundation, Inc.
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 *    * Redistributions in binary form must reproduce the above copyright
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 *      this software without specific prior written permission.
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#ifndef ZSTD_POINT_CLOUD_TRANSPORT__ZSTD_SUBSCRIBER_HPP_
#define ZSTD_POINT_CLOUD_TRANSPORT__ZSTD_SUBSCRIBER_HPP_

#include <zstd.h>

#include <string>

#include <point_cloud_interfaces/msg/compressed_point_cloud2.hpp>

#include <point_cloud_transport/simple_subscriber_plugin.hpp>
#include <point_cloud_transport/transport_hints.hpp>

namespace zstd_point_cloud_transport
{

class ZstdSubscriber
  : public point_cloud_transport::SimpleSubscriberPlugin<
    point_cloud_interfaces::msg::CompressedPointCloud2>
{
public:
  ZstdSubscriber();

  std::string getTransportName() const override;

  void declareParameters() override;

  std::string getDataType() const override;

  DecodeResult decodeTyped(const point_cloud_interfaces::msg::CompressedPointCloud2 & compressed)
  const override;

private:
  ZSTD_DCtx * zstd_context_{nullptr};
};
}  // namespace zstd_point_cloud_transport

#endif  // ZSTD_POINT_CLOUD_TRANSPORT__ZSTD_SUBSCRIBER_HPP_