generic_lazy_pubsub.hpp

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#pragma once
 
// SPDX-License-Identifier: BSD-3-Clause
// SPDX-FileCopyrightText: Czech Technical University in Prague
 
#include <memory>
#include <mutex>
#include <string>
 
#include <boost/functional.hpp>
 
#include <ros/advertise_options.h>
#include <ros/message_event.h>
#include <ros/node_handle.h>
#include <ros/publisher.h>
#include <ros/single_subscriber_publisher.h>
#include <ros/subscribe_options.h>
#include <ros/subscriber.h>
#include <topic_tools/shape_shifter.h>
 
#include <cras_cpp_common/log_utils.h>
#include <cras_cpp_common/log_utils/node.h>
#include <cras_cpp_common/optional.hpp>
 
#include <cras_topic_tools/lazy_subscriber.hpp>
 
namespace cras
{
 
class GenericLazyPubSub : public ::cras::ConditionalSubscriber
{
public:
  typedef const ::ros::MessageEvent<::topic_tools::ShapeShifter const>& CallbackMessageType;
 
  typedef ::boost::function<void(::cras::GenericLazyPubSub::CallbackMessageType, ::ros::Publisher&)> CallbackType;
 
  GenericLazyPubSub(const ::ros::NodeHandle& nhIn, const ::std::string& topicIn,
    const ::ros::NodeHandle& nhOut, const ::std::string& topicOut, size_t inQueueSize, size_t outQueueSize,
    CallbackType callback, ::ros::SubscribeOptions subscribeOptions = {},
    const ::cras::LogHelperPtr& logHelper = ::std::make_shared<::cras::NodeLogHelper>());
 
  GenericLazyPubSub(const ::ros::NodeHandle& nhIn, const ::std::string& topicIn,
    const ::ros::NodeHandle& nhOut, const ::std::string& topicOut, size_t queueSize, CallbackType callback,
    ::ros::SubscribeOptions subscribeOptions = {},
    const ::cras::LogHelperPtr& logHelper = ::std::make_shared<::cras::NodeLogHelper>());
 
  GenericLazyPubSub(const ::ros::NodeHandle& nhIn, const ::std::string& topicIn,
    const ::ros::NodeHandle& nhOut, const ::std::string& topicOut, CallbackType callback,
    ::ros::SubscribeOptions subscribeOptions = {},
    const ::cras::LogHelperPtr& logHelper = ::std::make_shared<::cras::NodeLogHelper>());
 
  GenericLazyPubSub(const ::ros::NodeHandle& nh, const ::std::string& topicIn, const ::std::string& topicOut,
    size_t inQueueSize, size_t outQueueSize, CallbackType callback,
    ::ros::SubscribeOptions subscribeOptions = {},
    const ::cras::LogHelperPtr& logHelper = ::std::make_shared<::cras::NodeLogHelper>());
 
  GenericLazyPubSub(const ::ros::NodeHandle& nh, const ::std::string& topicIn, const ::std::string& topicOut,
    size_t queueSize, CallbackType callback, ::ros::SubscribeOptions subscribeOptions = {},
    const ::cras::LogHelperPtr& logHelper = ::std::make_shared<::cras::NodeLogHelper>());
 
  GenericLazyPubSub(const ::ros::NodeHandle& nh, const ::std::string& topicIn, const ::std::string& topicOut,
    CallbackType callback, ::ros::SubscribeOptions subscribeOptions = {},
    const ::cras::LogHelperPtr& logHelper = ::std::make_shared<::cras::NodeLogHelper>());
 
protected:
  void subscribe(::ros::Subscriber& sub);
 
  bool shouldBeSubscribed() const override;
 
  void connectCb(const ::ros::SingleSubscriberPublisher&);
 
  void cb(const ::ros::MessageEvent<::topic_tools::ShapeShifter const>& event);
 
  virtual ::ros::AdvertiseOptions createAdvertiseOptions(
    const ::ros::MessageEvent<::topic_tools::ShapeShifter const>& event);
 
  ::std::string topicIn;
 
  ::std::string topicOut;
 
  size_t inQueueSize;
 
  size_t outQueueSize;
 
  ::ros::Publisher pub;
 
  ::ros::Subscriber sub;
 
  ::ros::NodeHandle nhIn;
 
  ::ros::NodeHandle nhOut;
 
  ::cras::GenericLazyPubSub::CallbackType callback;
 
  ::std::mutex pubCreateMutex;
 
  ::cras::optional<::ros::AdvertiseOptions> advertiseOptions;
 
  const ::ros::SubscribeOptions subscribeOptions;
};
 
}