subscriber.hpp

#ifndef MRS_LIB_SUBSCRIBER_HPP_
#define MRS_LIB_SUBSCRIBER_HPP_
 
 
#include <chrono>
#include <memory>
#include <optional>
#include <string_view>
 
#include <rclcpp/callback_group.hpp>
#include <rclcpp/node_interfaces/node_base_interface.hpp>
#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_parameters_interface.hpp>
#include <rclcpp/node_interfaces/node_timers_interface.hpp>
#include <rclcpp/node_interfaces/node_topics_interface.hpp>
 
#include "mrs_lib/timeout_manager.hpp"
#include "mrs_lib/utility/callback.hpp"
#include "mrs_lib/utility/pimpl.hpp"
 
 
namespace mrs_lib
{

  using SubscriberNodeInterfaces =
      rclcpp::node_interfaces::NodeInterfaces<rclcpp::node_interfaces::NodeBaseInterface, rclcpp::node_interfaces::NodeTimersInterface,
                                              rclcpp::node_interfaces::NodeClockInterface, rclcpp::node_interfaces::NodeLoggingInterface,
                                              rclcpp::node_interfaces::NodeParametersInterface, rclcpp::node_interfaces::NodeTopicsInterface>;

  struct SubscriberOptions
  {
    SubscriberNodeInterfaces node_interfaces;

    rclcpp::QoS qos = rclcpp::SystemDefaultsQoS();
    std::shared_ptr<rclcpp::CallbackGroup> callback_group = nullptr;

    std::optional<std::chrono::nanoseconds> no_message_timeout = std::nullopt;
    std::shared_ptr<mrs_lib::TimeoutManager2> timeout_manager = nullptr;
    std::function<void(std::string_view topic_name, rclcpp::Time last_msg)> timeout_callback = {};
  };

  struct PolledSubscriberTag
  {
  };

  template <typename MessageType>
  class Subscriber
  {
  private:
    class Impl;
 
  public:
    using MessageCallback = std::function<void(std::shared_ptr<const MessageType>)>;

    using MessageCoroCallback = CoroCallback<void(std::shared_ptr<const MessageType>)>;

    explicit Subscriber(const SubscriberOptions& options, std::string_view topic_name, MessageCallback callback);

    explicit Subscriber(const SubscriberOptions& options, std::string_view topic_name, MessageCoroCallback callback);

    explicit Subscriber(const SubscriberOptions& options, std::string_view topic_name, PolledSubscriberTag tag);

    [[nodiscard]] std::optional<std::shared_ptr<const MessageType>> get_message();

    [[nodiscard]] std::optional<std::shared_ptr<const MessageType>> get_new_message();

    [[nodiscard]] std::optional<std::shared_ptr<const MessageType>> peek_message() const;

    [[nodiscard]] std::optional<std::shared_ptr<const MessageType>> peek_new_message() const;
 

    [[nodiscard]] rclcpp::Time get_last_message_time() const;

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

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

    [[nodiscard]] uint32_t get_publisher_count() const;
 
  private:
    Pimpl<Impl> impl_;
  };
 
} // namespace mrs_lib
 
#ifndef MRS_LIB_SUBSCRIBER_IMPL_HPP_
#include "mrs_lib/subscriber.impl.hpp"
#endif
 
#endif // MRS_LIB_SUBSCRIBER_HPP_