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publisher_factory.hpp
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91 lines (79 loc) · 3.2 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__PUBLISHER_FACTORY_HPP_
#define RCLCPP__PUBLISHER_FACTORY_HPP_
#include <functional>
#include <memory>
#include <string>
#include "rcl/publisher.h"
#include "rosidl_typesupport_cpp/message_type_support.hpp"
#include "rclcpp/publisher.hpp"
#include "rclcpp/publisher_base.hpp"
#include "rclcpp/publisher_options.hpp"
#include "rclcpp/node_interfaces/node_base_interface.hpp"
#include "rclcpp/qos.hpp"
#include "rclcpp/visibility_control.hpp"
namespace rclcpp
{
/// Factory with functions used to create a MessageT specific PublisherT.
/**
* This factory class is used to encapsulate the template generated functions
* which are used during the creation of a Message type specific publisher
* within a non-templated class.
*
* It is created using the create_publisher_factory function, which is usually
* called from a templated "create_publisher" method on the Node class, and
* is passed to the non-templated "create_publisher" method on the NodeTopics
* class where it is used to create and setup the Publisher.
*
* It also handles the two step construction of Publishers, first calling
* the constructor and then the post_init_setup() method.
*/
struct PublisherFactory
{
// Creates a PublisherT<MessageT, ...> publisher object and returns it as a PublisherBase.
using PublisherFactoryFunction = std::function<
rclcpp::PublisherBase::SharedPtr(
rclcpp::node_interfaces::NodeBaseInterface * node_base,
const std::string & topic_name,
const rclcpp::QoS & qos
)>;
const PublisherFactoryFunction create_typed_publisher;
};
/// Return a PublisherFactory with functions setup for creating a PublisherT<MessageT, AllocatorT>.
template<typename MessageT, typename AllocatorT, typename PublisherT>
PublisherFactory
create_publisher_factory(const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
{
PublisherFactory factory {
// factory function that creates a MessageT specific PublisherT
[options](
rclcpp::node_interfaces::NodeBaseInterface * node_base,
const std::string & topic_name,
const rclcpp::QoS & qos
) -> std::shared_ptr<PublisherT>
{
auto publisher = std::make_shared<PublisherT>(node_base, topic_name, qos, options);
// This is used for setting up things like intra process comms which
// require this->shared_from_this() which cannot be called from
// the constructor.
publisher->post_init_setup(node_base, topic_name, qos, options);
return publisher;
}
};
// return the factory now that it is populated
return factory;
}
} // namespace rclcpp
#endif // RCLCPP__PUBLISHER_FACTORY_HPP_