Program Listing for File publisher.hpp

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/*
 * Copyright 2015 Aldebaran
 *
 * 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 PUBLISHER_HPP
#define PUBLISHER_HPP

#include <string>

#include <boost/make_shared.hpp>
#include <boost/shared_ptr.hpp>

#include <rclcpp/rclcpp.hpp>

namespace naoqi
{
namespace publisher
{


class Publisher
{

public:

  template<typename T>
  Publisher( const T& pub ):
    pubPtr_( boost::make_shared<PublisherModel<T> >(pub) )
  {}

  bool isInitialized() const
  {
    return pubPtr_->isInitialized();
  }

  bool isSubscribed() const
  {
    return pubPtr_->isSubscribed();
  }

  void reset( rclcpp::Node* node )
  {
    std::cout << topic() << " is resetting" << std::endl;
    pubPtr_->reset( node );
    std::cout << topic() << " reset" << std::endl;
  }

  std::string topic() const
  {
    return pubPtr_->topic();
  }

  friend bool operator==( const Publisher& lhs, const Publisher& rhs )
  {
    // decision made for OR-comparison since we want to be more restrictive
    if ( lhs.topic() == rhs.topic() )
      return true;
    return false;
  }

  friend bool operator==( const boost::shared_ptr<Publisher>& lhs, const boost::shared_ptr<Publisher>& rhs )
  {
    return operator==( *lhs, *rhs );
  }

private:

  struct PublisherConcept
  {
    virtual ~PublisherConcept(){}
    virtual bool isInitialized() const = 0;
    virtual bool isSubscribed() const = 0;
    virtual void reset( rclcpp::Node* node ) = 0;
    virtual std::string topic() const = 0;
  };


  template<typename T>
  struct PublisherModel : public PublisherConcept
  {
    PublisherModel( const T& other ):
      publisher_( other )
    {}

    std::string topic() const
    {
      return publisher_->topic();
    }

    bool isInitialized() const
    {
      return publisher_->isInitialized();
    }

    bool isSubscribed() const
    {
      return publisher_->isSubscribed();
    }

    void reset( rclcpp::Node* node )
    {
      publisher_->reset( node );
    }

    T publisher_;
  };

  boost::shared_ptr<PublisherConcept> pubPtr_;

}; // class publisher

} //publisher
} //naoqi

#endif