publisher.hpp

#ifndef MRS_LIB_PUBLISHER_HPP_
#define MRS_LIB_PUBLISHER_HPP_
 
 
#include <chrono>
#include <memory>
#include <optional>
#include <string>
#include <string_view>
 
#include <rclcpp/node_interfaces/node_clock_interface.hpp>
#include <rclcpp/node_interfaces/node_interfaces.hpp>
#include <rclcpp/node_interfaces/node_logging_interface.hpp>
#include <rclcpp/node_interfaces/node_topics_interface.hpp>
 
#include "mrs_lib/utility/pimpl.hpp"
 
 
namespace mrs_lib
{

  using PublisherNodeInterfaces =
      rclcpp::node_interfaces::NodeInterfaces<rclcpp::node_interfaces::NodeTopicsInterface, rclcpp::node_interfaces::NodeClockInterface,
                                              rclcpp::node_interfaces::NodeLoggingInterface>;
 
 
  struct PublisherOptions
  {
    PublisherNodeInterfaces node_interfaces;
    rclcpp::QoS qos = rclcpp::SystemDefaultsQoS();

    std::optional<std::chrono::nanoseconds> throttle_duration = std::nullopt;
  };

  template <class MessageType>
  class Publisher
  {
  private:
    class Impl;
 
  public:
    Publisher(const PublisherOptions& options, std::string_view topic_name);

    void publish(const MessageType& msg);

    void publish(std::unique_ptr<MessageType> msg);

    [[nodiscard]] std::string get_topic_name() const;

    [[nodiscard]] std::string get_unresolved_topic_name() const;

    [[nodiscard]] size_t get_subscriber_count() const;
 
  private:
    Pimpl<Impl> impl_;
  };
 
} // namespace mrs_lib
 
#ifndef MRS_LIB_PUBLISHER_IMPL_HPP_
#include "mrs_lib/publisher.impl.hpp"
#endif
 
#endif // MRS_LIB_PUBLISHER_HPP_