141 lines
3.7 KiB
C++
141 lines
3.7 KiB
C++
// Copyright 2016 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCLCPP_LIFECYCLE__LIFECYCLE_PUBLISHER_HPP_
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#define RCLCPP_LIFECYCLE__LIFECYCLE_PUBLISHER_HPP_
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#include <memory>
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#include <string>
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#include <utility>
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#include "rclcpp/publisher.hpp"
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#include "rclcpp/logging.hpp"
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namespace rclcpp_lifecycle
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{
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/// base class with only
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/**
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* pure virtual functions. A managed
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* node can then deactivate or activate
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* the publishing.
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* It is more a convenient interface class
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* than a necessary base class.
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*/
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class LifecyclePublisherInterface
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{
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public:
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virtual void on_activate() = 0;
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virtual void on_deactivate() = 0;
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virtual bool is_activated() = 0;
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};
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/// brief child class of rclcpp Publisher class.
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/**
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* Overrides all publisher functions to check for
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* enabled/disabled state.
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*/
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template<typename MessageT, typename Alloc = std::allocator<void>>
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class LifecyclePublisher : public LifecyclePublisherInterface,
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public rclcpp::Publisher<MessageT, Alloc>
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{
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public:
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RCLCPP_SMART_PTR_DEFINITIONS(LifecyclePublisher)
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using MessageAllocTraits = rclcpp::allocator::AllocRebind<MessageT, Alloc>;
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using MessageAlloc = typename MessageAllocTraits::allocator_type;
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using MessageDeleter = rclcpp::allocator::Deleter<MessageAlloc, MessageT>;
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using MessageUniquePtr = std::unique_ptr<MessageT, MessageDeleter>;
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LifecyclePublisher(
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rclcpp::node_interfaces::NodeBaseInterface * node_base,
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const std::string & topic,
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const rcl_publisher_options_t & publisher_options,
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const rclcpp::PublisherEventCallbacks event_callbacks,
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std::shared_ptr<MessageAlloc> allocator)
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: rclcpp::Publisher<MessageT, Alloc>(
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node_base, topic, publisher_options, event_callbacks, allocator),
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enabled_(false),
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logger_(rclcpp::get_logger("LifecyclePublisher"))
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{
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}
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~LifecyclePublisher() {}
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/// LifecyclePublisher publish function
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/**
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* The publish function checks whether the communication
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* was enabled or disabled and forwards the message
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* to the actual rclcpp Publisher base class
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*/
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virtual void
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publish(std::unique_ptr<MessageT, MessageDeleter> msg)
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{
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if (!enabled_) {
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RCLCPP_WARN(
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logger_,
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"Trying to publish message on the topic '%s', but the publisher is not activated",
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this->get_topic_name());
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return;
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}
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rclcpp::Publisher<MessageT, Alloc>::publish(std::move(msg));
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}
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/// LifecyclePublisher publish function
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/**
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* The publish function checks whether the communication
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* was enabled or disabled and forwards the message
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* to the actual rclcpp Publisher base class
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*/
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virtual void
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publish(const MessageT & msg)
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{
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if (!enabled_) {
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RCLCPP_WARN(
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logger_,
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"Trying to publish message on the topic '%s', but the publisher is not activated",
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this->get_topic_name());
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return;
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}
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rclcpp::Publisher<MessageT, Alloc>::publish(msg);
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}
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virtual void
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on_activate()
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{
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enabled_ = true;
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}
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virtual void
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on_deactivate()
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{
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enabled_ = false;
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}
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virtual bool
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is_activated()
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{
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return enabled_;
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}
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private:
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bool enabled_ = false;
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rclcpp::Logger logger_;
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};
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} // namespace rclcpp_lifecycle
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#endif // RCLCPP_LIFECYCLE__LIFECYCLE_PUBLISHER_HPP_
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