Program Listing for File domain_bridge.hpp
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// Copyright 2021, Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef DOMAIN_BRIDGE__DOMAIN_BRIDGE_HPP_
#define DOMAIN_BRIDGE__DOMAIN_BRIDGE_HPP_
#include <memory>
#include <string>
#include <vector>
#include "rclcpp/executor.hpp"
#include "domain_bridge/domain_bridge_config.hpp"
#include "domain_bridge/domain_bridge_options.hpp"
#include "domain_bridge/topic_bridge.hpp"
#include "domain_bridge/topic_bridge_options.hpp"
#include "domain_bridge/service_bridge_options.hpp"
#include "domain_bridge/visibility_control.hpp"
namespace domain_bridge
{
class DomainBridgeImpl;
class DomainBridge
{
public:
DOMAIN_BRIDGE_PUBLIC
explicit DomainBridge(const DomainBridgeOptions & options = DomainBridgeOptions());
DOMAIN_BRIDGE_PUBLIC
explicit DomainBridge(const DomainBridgeConfig & config);
DOMAIN_BRIDGE_PUBLIC
DomainBridge(DomainBridge && other);
DOMAIN_BRIDGE_PUBLIC
DomainBridge &
operator=(DomainBridge && other) = default;
DOMAIN_BRIDGE_PUBLIC
~DomainBridge();
DOMAIN_BRIDGE_PUBLIC
DomainBridgeOptions
get_domain_bridge_options() const;
DOMAIN_BRIDGE_PUBLIC
void add_to_executor(rclcpp::Executor & executor);
DOMAIN_BRIDGE_PUBLIC
void bridge_topic(
const std::string & topic,
const std::string & type,
size_t from_domain_id,
size_t to_domain_id,
const TopicBridgeOptions & options = TopicBridgeOptions());
DOMAIN_BRIDGE_PUBLIC
void bridge_topic(
const TopicBridge & topic_bridge,
const TopicBridgeOptions & options = TopicBridgeOptions());
template<typename ServiceT>
void bridge_service(
const std::string & service,
size_t from_domain_id,
size_t to_domain_id,
const ServiceBridgeOptions & options = ServiceBridgeOptions());
DOMAIN_BRIDGE_PUBLIC
std::vector<TopicBridge> get_bridged_topics() const;
private:
std::unique_ptr<DomainBridgeImpl> impl_;
}; // class DomainBridge
} // namespace domain_bridge
// Implementation of the bridge_service() template method.
#include "domain_bridge/service_bridge_impl.inc"
#endif // DOMAIN_BRIDGE__DOMAIN_BRIDGE_HPP_