a73e0bd23b
Co-authored-by: William Woodall <william+github@osrfoundation.org> Co-authored-by: methylDragon <methylDragon@gmail.com>
102 lines
2.9 KiB
C++
102 lines
2.9 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__NODE_INTERFACES__NODE_TOPICS_INTERFACE_HPP_
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#define RCLCPP__NODE_INTERFACES__NODE_TOPICS_INTERFACE_HPP_
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#include <string>
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#include "rcl/publisher.h"
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#include "rcl/subscription.h"
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#include "rclcpp/callback_group.hpp"
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#include "rclcpp/macros.hpp"
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#include "rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp"
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#include "rclcpp/node_interfaces/node_base_interface.hpp"
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#include "rclcpp/node_interfaces/node_timers_interface.hpp"
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#include "rclcpp/publisher.hpp"
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#include "rclcpp/publisher_factory.hpp"
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#include "rclcpp/subscription.hpp"
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#include "rclcpp/subscription_factory.hpp"
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#include "rclcpp/visibility_control.hpp"
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namespace rclcpp
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{
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namespace node_interfaces
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{
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/// Pure virtual interface class for the NodeTopics part of the Node API.
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class NodeTopicsInterface
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{
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public:
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RCLCPP_SMART_PTR_ALIASES_ONLY(NodeTopicsInterface)
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RCLCPP_PUBLIC
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virtual
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~NodeTopicsInterface() = default;
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RCLCPP_PUBLIC
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virtual
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rclcpp::PublisherBase::SharedPtr
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create_publisher(
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const std::string & topic_name,
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const rclcpp::PublisherFactory & publisher_factory,
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const rclcpp::QoS & qos) = 0;
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RCLCPP_PUBLIC
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virtual
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void
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add_publisher(
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rclcpp::PublisherBase::SharedPtr publisher,
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rclcpp::CallbackGroup::SharedPtr callback_group) = 0;
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RCLCPP_PUBLIC
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virtual
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rclcpp::SubscriptionBase::SharedPtr
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create_subscription(
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const std::string & topic_name,
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const rclcpp::SubscriptionFactory & subscription_factory,
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const rclcpp::QoS & qos) = 0;
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RCLCPP_PUBLIC
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virtual
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void
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add_subscription(
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rclcpp::SubscriptionBase::SharedPtr subscription,
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rclcpp::CallbackGroup::SharedPtr callback_group) = 0;
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RCLCPP_PUBLIC
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virtual
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rclcpp::node_interfaces::NodeBaseInterface *
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get_node_base_interface() const = 0;
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RCLCPP_PUBLIC
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virtual
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rclcpp::node_interfaces::NodeTimersInterface *
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get_node_timers_interface() const = 0;
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/// Get a remapped and expanded topic name given an input name.
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RCLCPP_PUBLIC
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virtual
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std::string
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resolve_topic_name(const std::string & name, bool only_expand = false) const = 0;
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};
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} // namespace node_interfaces
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} // namespace rclcpp
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RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT(rclcpp::node_interfaces::NodeTopicsInterface, topics)
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#endif // RCLCPP__NODE_INTERFACES__NODE_TOPICS_INTERFACE_HPP_
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