publisher_handler.h

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// clang: TomasFormat
#ifndef PUBLISHER_HANDLER_H
#define PUBLISHER_HANDLER_H
 
#include <memory>
 
#include <rclcpp/rclcpp.hpp>
#include <rclcpp/node.hpp>
#include <rclcpp/time_source.hpp>
 
#include <atomic>
#include <string>
#include <mutex>
#include <optional>
 
#include <mrs_lib/internal/rate_throttle.hpp>
 
namespace mrs_lib
{
 
  struct PublisherHandlerOptions
  {
    PublisherHandlerOptions(const rclcpp::Node::SharedPtr& node) : node(node)
    {
    }
 
    PublisherHandlerOptions() = default;
 
    rclcpp::Node::SharedPtr node;

    double throttle_rate = 0;
 
    rclcpp::QoS qos = rclcpp::SystemDefaultsQoS();
  };
 
  /* class PublisherHandler_impl //{ */

  template <class TopicType>
  class PublisherHandler_impl
  {
 
  public:
    PublisherHandler_impl(void);

    ~PublisherHandler_impl(void){};

    PublisherHandler_impl(const PublisherHandlerOptions& options, const std::string& address);

    void publish(const TopicType& msg);

    void publish(const std::shared_ptr<TopicType>& msg);

    /* void publish(const std::shared_ptr<TopicType const>& msg); */

    void publish(typename TopicType::ConstSharedPtr msg);

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

    unsigned int getNumSubscribers(void);
 
  private:
    rclcpp::Node::SharedPtr node_;
 
    std::shared_ptr<rclcpp::Publisher<TopicType>> publisher_;
 
    std::mutex mutex_publisher_;
 
    std::atomic<bool> publisher_initialized_;
 
    std::string address_;
 
    std::optional<internal::RateThrottle> throttle_;

    bool throttleAccept(void);
  };
 
  //}
 
  /* class PublisherHandler //{ */

  template <class TopicType>
  class PublisherHandler
  {
 
  public:
    PublisherHandler(void){};

    ~PublisherHandler(void){};

    PublisherHandler& operator=(const PublisherHandler& other);

    PublisherHandler(const PublisherHandler& other);

    PublisherHandler(const rclcpp::Node::SharedPtr& node, const std::string& address);

    PublisherHandler(const PublisherHandlerOptions& options, const std::string& address);

    void publish(const TopicType& msg);

    void publish(const std::shared_ptr<TopicType>& msg);

    /* void publish(const std::shared_ptr<TopicType const>& msg); */

    void publish(typename TopicType::ConstSharedPtr msg);

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

    unsigned int getNumSubscribers(void);
 
  private:
    std::shared_ptr<PublisherHandler_impl<TopicType>> impl_;
  };
 
  //}
 
} // namespace mrs_lib
 
#ifndef PUBLISHER_HANDLER_HPP
#include <mrs_lib/impl/publisher_handler.hpp>
#endif // PUBLISHER_HANDLER_H
 
#endif // PUBLISHER_HANDLER_H