.. _program_listing_file_include_domain_bridge_domain_bridge.hpp:

Program Listing for File domain_bridge.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_domain_bridge_domain_bridge.hpp>` (``include/domain_bridge/domain_bridge.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // 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_