publisher_base.hpp

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// Copyright 2014 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_BASE_HPP_
#define RCLCPP__PUBLISHER_BASE_HPP_

#include <rmw/error_handling.h>
#include <rmw/rmw.h>

#include <functional>
#include <iostream>
#include <memory>
#include <sstream>
#include <string>
#include <vector>

#include "rcl/publisher.h"

#include "rclcpp/macros.hpp"
#include "rclcpp/mapped_ring_buffer.hpp"
#include "rclcpp/qos_event.hpp"
#include "rclcpp/type_support_decl.hpp"
#include "rclcpp/visibility_control.hpp"

namespace rclcpp
{

// Forward declaration is used for friend statement.
namespace node_interfaces
{
class NodeBaseInterface;
class NodeTopicsInterface;
}

namespace intra_process_manager
{
class IntraProcessManager;
}

class PublisherBase
{
  friend ::rclcpp::node_interfaces::NodeTopicsInterface;

public:
  RCLCPP_SMART_PTR_DEFINITIONS(PublisherBase)

  

  RCLCPP_PUBLIC
  PublisherBase(
    rclcpp::node_interfaces::NodeBaseInterface * node_base,
    const std::string & topic,
    const rosidl_message_type_support_t & type_support,
    const rcl_publisher_options_t & publisher_options);

  RCLCPP_PUBLIC
  virtual ~PublisherBase();


  RCLCPP_PUBLIC
  const char *
  get_topic_name() const;


  RCLCPP_PUBLIC
  size_t
  get_queue_size() const;


  RCLCPP_PUBLIC
  const rmw_gid_t &
  get_gid() const;


  RCLCPP_PUBLIC
  const rmw_gid_t &
  get_intra_process_gid() const;


  RCLCPP_PUBLIC
  rcl_publisher_t *
  get_publisher_handle();


  RCLCPP_PUBLIC
  const rcl_publisher_t *
  get_publisher_handle() const;


  RCLCPP_PUBLIC
  const std::vector<std::shared_ptr<rclcpp::QOSEventHandlerBase>> &
  get_event_handlers() const;


  RCLCPP_PUBLIC
  size_t
  get_subscription_count() const;


  RCLCPP_PUBLIC
  size_t
  get_intra_process_subscription_count() const;


  RCLCPP_PUBLIC
  RCUTILS_WARN_UNUSED
  bool
  assert_liveliness() const;


  RCLCPP_PUBLIC
  rmw_qos_profile_t
  get_actual_qos() const;


  RCLCPP_PUBLIC
  bool
  operator==(const rmw_gid_t & gid) const;


  RCLCPP_PUBLIC
  bool
  operator==(const rmw_gid_t * gid) const;

  using IntraProcessManagerSharedPtr =
    std::shared_ptr<rclcpp::intra_process_manager::IntraProcessManager>;

  RCLCPP_PUBLIC
  mapped_ring_buffer::MappedRingBufferBase::SharedPtr
  virtual make_mapped_ring_buffer(size_t size) const;

  RCLCPP_PUBLIC
  void
  setup_intra_process(
    uint64_t intra_process_publisher_id,
    IntraProcessManagerSharedPtr ipm,
    const rcl_publisher_options_t & intra_process_options);

protected:
  template<typename EventCallbackT>
  void
  add_event_handler(
    const EventCallbackT & callback,
    const rcl_publisher_event_type_t event_type)
  {
    auto handler = std::make_shared<QOSEventHandler<EventCallbackT>>(
      callback,
      rcl_publisher_event_init,
      &publisher_handle_,
      event_type);
    event_handlers_.emplace_back(handler);
  }

  std::shared_ptr<rcl_node_t> rcl_node_handle_;

  rcl_publisher_t publisher_handle_ = rcl_get_zero_initialized_publisher();
  rcl_publisher_t intra_process_publisher_handle_ = rcl_get_zero_initialized_publisher();

  std::vector<std::shared_ptr<rclcpp::QOSEventHandlerBase>> event_handlers_;

  using IntraProcessManagerWeakPtr =
    std::weak_ptr<rclcpp::intra_process_manager::IntraProcessManager>;
  bool intra_process_is_enabled_;
  IntraProcessManagerWeakPtr weak_ipm_;
  uint64_t intra_process_publisher_id_;

  rmw_gid_t rmw_gid_;
  rmw_gid_t intra_process_rmw_gid_;
};

}  // namespace rclcpp

#endif  // RCLCPP__PUBLISHER_BASE_HPP_