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>
 
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);
 
  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_;
 
  bool   throttle_        = false;
  double throttle_min_dt_ = 0;
 
  rclcpp::Time last_time_published_;
};
 
//}
 
/* 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);
 
  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