generic_publisher.h

// Copyright 2018, Bosch Software Innovations GmbH.
//
// 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 GENERIC_PUBLISHER_H
#define GENERIC_PUBLISHER_H

#include <memory>
#include <string>
#include <rclcpp/rclcpp.hpp>
#include <rclcpp/publisher_base.hpp>

#include "typesupport_wrapper.h"

class GenericPublisher : public rclcpp::PublisherBase
{
public:
  GenericPublisher(rclcpp::node_interfaces::NodeBaseInterface* node_base, const std::string& topic_name,
                   const rosidl_message_type_support_t& type_support)
#ifdef ROS_HUMBLE
    : rclcpp::PublisherBase(node_base, topic_name, type_support, rcl_publisher_get_default_options())
#else
    : rclcpp::PublisherBase(node_base, topic_name, type_support, rcl_publisher_get_default_options(),
                            rclcpp::PublisherEventCallbacks{}, true)
#endif
  {
  }

  virtual ~GenericPublisher() = default;

  void publish(std::shared_ptr<rmw_serialized_message_t> message)
  {
    auto return_code = rcl_publish_serialized_message(get_publisher_handle().get(), message.get(), NULL);

    if (return_code != RCL_RET_OK)
    {
      rclcpp::exceptions::throw_from_rcl_error(return_code, "failed to publish serialized message");
    }
  }

  static std::shared_ptr<GenericPublisher> create(rclcpp::Node& node, const std::string& topic_name,
                                                  const std::string& topic_type)
  {
    auto library = std::move(wrapper::get_typesupport_library(topic_type, "rosidl_typesupport_cpp"));
    auto type_support = wrapper::get_message_typesupport_handle(topic_type, "rosidl_typesupport_cpp", library);

    return std::make_shared<GenericPublisher>(node.get_node_base_interface().get(), topic_name, *type_support);
  }
};

#endif  // GENERIC_PUBLISHER_H