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node_topics.hpp
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98 lines (79 loc) · 2.81 KB
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// Copyright 2016 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 RCLCPP__NODE_INTERFACES__NODE_TOPICS_HPP_
#define RCLCPP__NODE_INTERFACES__NODE_TOPICS_HPP_
#include <string>
#include "rcl/publisher.h"
#include "rcl/subscription.h"
#include "rclcpp/macros.hpp"
#include "rclcpp/node_interfaces/node_base_interface.hpp"
#include "rclcpp/node_interfaces/node_timers_interface.hpp"
#include "rclcpp/node_interfaces/node_topics_interface.hpp"
#include "rclcpp/publisher.hpp"
#include "rclcpp/publisher_factory.hpp"
#include "rclcpp/visibility_control.hpp"
namespace rclcpp
{
namespace node_interfaces
{
/// Implementation of the NodeTopics part of the Node API.
class NodeTopics : public NodeTopicsInterface
{
public:
RCLCPP_SMART_PTR_ALIASES_ONLY(NodeTopicsInterface)
RCLCPP_PUBLIC
NodeTopics(
rclcpp::node_interfaces::NodeBaseInterface * node_base,
rclcpp::node_interfaces::NodeTimersInterface * node_timers);
RCLCPP_PUBLIC
~NodeTopics() override;
RCLCPP_PUBLIC
rclcpp::PublisherBase::SharedPtr
create_publisher(
const std::string & topic_name,
const rclcpp::PublisherFactory & publisher_factory,
const rclcpp::QoS & qos) override;
RCLCPP_PUBLIC
void
add_publisher(
rclcpp::PublisherBase::SharedPtr publisher,
rclcpp::CallbackGroup::SharedPtr callback_group) override;
RCLCPP_PUBLIC
rclcpp::SubscriptionBase::SharedPtr
create_subscription(
const std::string & topic_name,
const rclcpp::SubscriptionFactory & subscription_factory,
const rclcpp::QoS & qos) override;
RCLCPP_PUBLIC
void
add_subscription(
rclcpp::SubscriptionBase::SharedPtr subscription,
rclcpp::CallbackGroup::SharedPtr callback_group) override;
RCLCPP_PUBLIC
rclcpp::node_interfaces::NodeBaseInterface *
get_node_base_interface() const override;
RCLCPP_PUBLIC
rclcpp::node_interfaces::NodeTimersInterface *
get_node_timers_interface() const override;
RCLCPP_PUBLIC
std::string
resolve_topic_name(const std::string & name, bool only_expand = false) const override;
private:
RCLCPP_DISABLE_COPY(NodeTopics)
rclcpp::node_interfaces::NodeBaseInterface * node_base_;
rclcpp::node_interfaces::NodeTimersInterface * node_timers_;
};
} // namespace node_interfaces
} // namespace rclcpp
#endif // RCLCPP__NODE_INTERFACES__NODE_TOPICS_HPP_