.. _program_listing_file_include_domain_bridge_topic_bridge_options.hpp:

Program Listing for File topic_bridge_options.hpp
=================================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_domain_bridge_topic_bridge_options.hpp>` (``include/domain_bridge/topic_bridge_options.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__TOPIC_BRIDGE_OPTIONS_HPP_
   #define DOMAIN_BRIDGE__TOPIC_BRIDGE_OPTIONS_HPP_
   
   #include <memory>
   #include <string>
   
   #include "rclcpp/callback_group.hpp"
   
   #include "domain_bridge/qos_options.hpp"
   #include "domain_bridge/visibility_control.hpp"
   
   namespace domain_bridge
   {
   
   class TopicBridgeOptions
   {
   public:
   
     DOMAIN_BRIDGE_PUBLIC
     TopicBridgeOptions() = default;
   
     DOMAIN_BRIDGE_PUBLIC
     std::shared_ptr<rclcpp::CallbackGroup>
     callback_group() const;
   
     DOMAIN_BRIDGE_PUBLIC
     TopicBridgeOptions &
     callback_group(std::shared_ptr<rclcpp::CallbackGroup> group);
   
     DOMAIN_BRIDGE_PUBLIC
     QosOptions
     qos_options() const;
   
     DOMAIN_BRIDGE_PUBLIC
     TopicBridgeOptions &
     qos_options(const QosOptions & qos_options);
   
     DOMAIN_BRIDGE_PUBLIC
     const std::string &
     remap_name() const;
   
   
     DOMAIN_BRIDGE_PUBLIC
     TopicBridgeOptions &
     remap_name(const std::string & remap_name);
   
     DOMAIN_BRIDGE_PUBLIC
     const bool &
     bidirectional() const;
   
     DOMAIN_BRIDGE_PUBLIC
     TopicBridgeOptions &
     bidirectional(const bool & bidirectional);
   
     DOMAIN_BRIDGE_PUBLIC
     const bool &
     reversed() const;
   
     DOMAIN_BRIDGE_PUBLIC
     TopicBridgeOptions &
     reversed(const bool & reversed);
   
     DOMAIN_BRIDGE_PUBLIC
     const std::chrono::milliseconds &
     delay() const;
   
     DOMAIN_BRIDGE_PUBLIC
     TopicBridgeOptions &
     delay(const std::chrono::milliseconds & delay);
   
   
     DOMAIN_BRIDGE_PUBLIC
     TopicBridgeOptions &
     wait_for_subscription(bool value);
   
     DOMAIN_BRIDGE_PUBLIC
     bool
     wait_for_subscription() const;
   
   
     DOMAIN_BRIDGE_PUBLIC
     TopicBridgeOptions &
     wait_for_publisher(bool value);
   
     DOMAIN_BRIDGE_PUBLIC
     bool
     wait_for_publisher() const;
   
     enum class AutoRemove
     {
       OnNoPublisher,
       OnNoSubscription,
       OnNoPublisherOrSubscription,
       Disabled,
     };
   
   
     DOMAIN_BRIDGE_PUBLIC
     TopicBridgeOptions &
     auto_remove(AutoRemove value);
   
     DOMAIN_BRIDGE_PUBLIC
     AutoRemove
     auto_remove() const;
   
   private:
     std::shared_ptr<rclcpp::CallbackGroup> callback_group_{nullptr};
   
     QosOptions qos_options_;
   
     std::string remap_name_;
   
     bool bidirectional_{false};
   
     bool reversed_{false};
   
     bool wait_for_subscription_{false};
   
     bool wait_for_publisher_{true};
   
     AutoRemove auto_remove_{AutoRemove::Disabled};
   
     std::chrono::milliseconds delay_{0};
   };  // class TopicBridgeOptions
   
   }  // namespace domain_bridge
   
   #endif  // DOMAIN_BRIDGE__TOPIC_BRIDGE_OPTIONS_HPP_