.. _program_listing_file_include_soar_ros_Publisher.hpp:

Program Listing for File Publisher.hpp
======================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_soar_ros_Publisher.hpp>` (``include/soar_ros/Publisher.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2024 Moritz Schmidt
   //
   // 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 SOAR_ROS__PUBLISHER_HPP_
   #define SOAR_ROS__PUBLISHER_HPP_
   
   #include <string>
   #include <rclcpp/rclcpp.hpp>
   
   #include "Interface.hpp"
   #include "SafeQueue.hpp"
   
   #include "sml_Client.h"
   
   namespace soar_ros
   {
   template<typename T>
   class Publisher : public Output<T>, public Interface
   {
   private:
     std::atomic<bool> isRunning;
     std::thread publisher;
     std::string m_topic;
     rclcpp::Node::SharedPtr m_node;
     sml::Agent * m_pAgent;
   
   public:
     Publisher(sml::Agent * agent, rclcpp::Node::SharedPtr node, const std::string & topic)
     : Output<T>(), isRunning(true), m_topic(topic), m_node(node), m_pAgent(agent)
     {
       pub = m_node->create_publisher<T>(m_topic, 10);
       publisher = std::thread(&Publisher<T>::run, this);
     }
     ~Publisher()
     {
       isRunning.store(false);
       if (publisher.joinable()) {
         publisher.join();
       }
     }
     typename rclcpp::Publisher<T>::SharedPtr pub;
   
     void run()
     {
       while (isRunning.load()) {
         auto msg = this->m_s2rQueue.pop();
         RCLCPP_INFO(m_node->get_logger(), "Sending on %s", m_topic.c_str());
         pub->publish(msg);
       }
     }
   
     T parse(sml::Identifier * id) override = 0;
   
     std::string getTopic() override
     {
       return m_topic;
     }
   
     sml::Agent * getAgent() override
     {
       return m_pAgent;
     }
   };
   }  // namespace soar_ros
   
   #endif  // SOAR_ROS__PUBLISHER_HPP_