Program Listing for File topic_bridge_options.hpp
↰ Return to documentation for file (include/domain_bridge/topic_bridge_options.hpp
)
// 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_