create_generic_subscription.hpp

// Copyright 2020, Apex.AI 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__CREATE_GENERIC_SUBSCRIPTION_HPP_
#define RCLCPP__CREATE_GENERIC_SUBSCRIPTION_HPP_
 
#include <functional>
#include <memory>
#include <string>
#include <utility>
 
#include "rcl/subscription.h"
#include "rclcpp/any_subscription_callback.hpp"
#include "rclcpp/generic_subscription.hpp"
#include "rclcpp/node_interfaces/node_topics_interface.hpp"
#include "rclcpp/qos.hpp"
#include "rclcpp/serialized_message.hpp"
#include "rclcpp/subscription_options.hpp"
#include "rclcpp/typesupport_helpers.hpp"
 
namespace rclcpp
{
 
 
template<
  typename CallbackT,
  typename AllocatorT = std::allocator<void>>
std::shared_ptr<GenericSubscription> create_generic_subscription(
  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface,
  const std::string & topic_name,
  const std::string & topic_type,
  const rclcpp::QoS & qos,
  CallbackT && callback,
  const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
    rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
  )
)
{
  auto ts_lib = rclcpp::get_typesupport_library(
    topic_type, "rosidl_typesupport_cpp");
 
  auto allocator = options.get_allocator();
 
  using rclcpp::AnySubscriptionCallback;
  AnySubscriptionCallback<rclcpp::SerializedMessage, AllocatorT>
  any_subscription_callback(*allocator);
  any_subscription_callback.set(std::forward<CallbackT>(callback));
 
  auto subscription = std::make_shared<GenericSubscription>(
    topics_interface->get_node_base_interface(),
    std::move(ts_lib),
    topic_name,
    topic_type,
    qos,
    any_subscription_callback,
    options);
 
  topics_interface->add_subscription(subscription, options.callback_group);
 
  return subscription;
}
 
}  // namespace rclcpp
 
#endif  // RCLCPP__CREATE_GENERIC_SUBSCRIPTION_HPP_