publisher_factory.hpp

// Copyright 2016 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_FACTORY_HPP_
#define RCLCPP__PUBLISHER_FACTORY_HPP_
 
#include <functional>
#include <memory>
#include <string>
 
#include "rcl/publisher.h"
 
#include "rosidl_typesupport_cpp/message_type_support.hpp"
 
#include "rclcpp/publisher.hpp"
#include "rclcpp/publisher_base.hpp"
#include "rclcpp/publisher_options.hpp"
#include "rclcpp/node_interfaces/node_base_interface.hpp"
#include "rclcpp/qos.hpp"
#include "rclcpp/visibility_control.hpp"
 
namespace rclcpp
{
 
 
struct PublisherFactory
{
  // Creates a PublisherT<MessageT, ...> publisher object and returns it as a PublisherBase.
  using PublisherFactoryFunction = std::function<
    rclcpp::PublisherBase::SharedPtr(
      rclcpp::node_interfaces::NodeBaseInterface * node_base,
      const std::string & topic_name,
      const rclcpp::QoS & qos
    )>;
 
  const PublisherFactoryFunction create_typed_publisher;
};
 
template<typename MessageT, typename AllocatorT, typename PublisherT>
PublisherFactory
create_publisher_factory(const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
{
  PublisherFactory factory {
    // factory function that creates a MessageT specific PublisherT
    [options](
      rclcpp::node_interfaces::NodeBaseInterface * node_base,
      const std::string & topic_name,
      const rclcpp::QoS & qos
    ) -> std::shared_ptr<PublisherT>
    {
      auto publisher = std::make_shared<PublisherT>(node_base, topic_name, qos, options);
      // This is used for setting up things like intra process comms which
      // require this->shared_from_this() which cannot be called from
      // the constructor.
      publisher->post_init_setup(node_base, topic_name, qos, options);
      return publisher;
    }
  };
 
  // return the factory now that it is populated
  return factory;
}
 
}  // namespace rclcpp
 
#endif  // RCLCPP__PUBLISHER_FACTORY_HPP_