.. _program_listing_file_include_soar_ros_Subscriber.hpp:

Program Listing for File Subscriber.hpp
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_soar_ros_Subscriber.hpp>` (``include/soar_ros/Subscriber.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__SUBSCRIBER_HPP_
   #define SOAR_ROS__SUBSCRIBER_HPP_
   
   #include <string>
   #include <rclcpp/rclcpp.hpp>
   
   #include "Interface.hpp"
   #include "SafeQueue.hpp"
   
   #include "sml_Client.h"
   
   namespace soar_ros
   {
   template <typename T>
   class Subscriber : public Input<T>, public Interface
   {
   protected:
     typename rclcpp::Subscription<T>::SharedPtr sub;
     std::string m_topic;
     rclcpp::Node::SharedPtr m_node;
     sml::Agent* m_pAgent;
     rclcpp::CallbackGroup::SharedPtr m_callback_group;
   
   public:
     Subscriber(
       sml::Agent* agent,
       rclcpp::Node::SharedPtr node,
       const std::string& topic,
       rclcpp::QoS qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default)),
       rclcpp::CallbackGroup::SharedPtr callback_group = nullptr)
       : Input<T>(), m_topic(topic), m_node(node), m_pAgent(agent),
         m_callback_group(callback_group), m_qos(qos)
     {}
   
     ~Subscriber() {}
   
     void subscribe(rclcpp::Node::SharedPtr node)
     {
       if (!m_callback_group) {
         m_callback_group = node->get_node_base_interface()->get_default_callback_group();
       }
       rclcpp::SubscriptionOptions options;
       options.callback_group = m_callback_group;
       sub = node->create_subscription<T>(
         m_topic, m_qos,
         std::bind(&Subscriber::callback, this, std::placeholders::_1),
         options);
     }
   
     void callback(const T& msg)
     {
       RCLCPP_DEBUG(m_node->get_logger(), "Received subscription msg on %s", m_topic.c_str());
       this->m_r2sQueue.push(msg);
     }
   
     std::string getTopic() override { return m_topic; }
     sml::Agent* getAgent() override { return m_pAgent; }
   
   private:
     rclcpp::QoS m_qos;
   };
   }  // namespace soar_ros
   
   #endif  // SOAR_ROS__SUBSCRIBER_HPP_