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_