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refactor: Introduce PublisherOptions #372

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merged 3 commits into from
Feb 14, 2025
Merged

refactor: Introduce PublisherOptions #372

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d868a6b
refactor: Introduce `PublisherOptioins`
bdm-k Feb 10, 2025
2be9bfb
Merge branch 'main' into 306-publisher-option
Koichi98 Feb 12, 2025
46fa3fc
Add a comment to the `do_always_ros2_publish` option
bdm-k Feb 14, 2025
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14 changes: 8 additions & 6 deletions src/agnocastlib/include/agnocast.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,32 +28,34 @@ template <typename MessageT>
typename Publisher<MessageT>::SharedPtr create_publisher(
rclcpp::Node * node, const std::string & topic_name, const rclcpp::QoS & qos)
{
return std::make_shared<Publisher<MessageT>>(node, topic_name, qos, true);
PublisherOptions options;
return std::make_shared<Publisher<MessageT>>(node, topic_name, qos, options);
}

template <typename MessageT>
typename Publisher<MessageT>::SharedPtr create_publisher(
rclcpp::Node * node, const std::string & topic_name, const size_t qos_history_depth)
{
PublisherOptions options;
return std::make_shared<Publisher<MessageT>>(
node, topic_name, rclcpp::QoS(rclcpp::KeepLast(qos_history_depth)), true);
node, topic_name, rclcpp::QoS(rclcpp::KeepLast(qos_history_depth)), options);
}

template <typename MessageT>
typename Publisher<MessageT>::SharedPtr create_publisher(
rclcpp::Node * node, const std::string & topic_name, const rclcpp::QoS & qos,
const bool do_always_ros2_publish)
const PublisherOptions & options)
{
return std::make_shared<Publisher<MessageT>>(node, topic_name, qos, do_always_ros2_publish);
return std::make_shared<Publisher<MessageT>>(node, topic_name, qos, options);
}

template <typename MessageT>
typename Publisher<MessageT>::SharedPtr create_publisher(
rclcpp::Node * node, const std::string & topic_name, const size_t qos_history_depth,
const bool do_always_ros2_publish)
const PublisherOptions & options)
{
return std::make_shared<Publisher<MessageT>>(
node, topic_name, rclcpp::QoS(rclcpp::KeepLast(qos_history_depth)), do_always_ros2_publish);
node, topic_name, rclcpp::QoS(rclcpp::KeepLast(qos_history_depth)), options);
}

template <typename MessageT>
Expand Down
17 changes: 12 additions & 5 deletions src/agnocastlib/include/agnocast_publisher.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,13 @@ void decrement_borrowed_publisher_num();
extern int agnocast_fd;
extern "C" uint32_t get_borrowed_publisher_num();

struct PublisherOptions
{
// For transient local. If true, publish() does both Agnocast publish and ROS 2 publish,
// regardless of the existence of ROS 2 subscriptions.
bool do_always_ros2_publish = true;
};

template <typename MessageT>
class Publisher
{
Expand All @@ -45,15 +52,15 @@ class Publisher
// TODO(Koichi98): The mq should be closed when a subscriber unsubscribes the topic, but this is
// not currently implemented.
std::unordered_map<std::string, mqd_t> opened_mqs_;
bool do_always_ros2_publish_; // For transient local.
PublisherOptions options_;
typename rclcpp::Publisher<MessageT>::SharedPtr ros2_publisher_;

public:
using SharedPtr = std::shared_ptr<Publisher<MessageT>>;

Publisher(
rclcpp::Node * node, const std::string & topic_name, const rclcpp::QoS & qos,
const bool do_always_ros2_publish)
const PublisherOptions & options)
: topic_name_(node->get_node_topics_interface()->resolve_topic_name(topic_name)),
publisher_pid_(getpid()),
qos_(qos),
Expand All @@ -68,9 +75,9 @@ class Publisher
#endif

if (qos.durability() == rclcpp::DurabilityPolicy::TransientLocal) {
do_always_ros2_publish_ = do_always_ros2_publish;
options_.do_always_ros2_publish = options.do_always_ros2_publish;
} else {
do_always_ros2_publish_ = false;
options_.do_always_ros2_publish = false;
}

id_ = initialize_publisher(publisher_pid_, topic_name_);
Expand Down Expand Up @@ -102,7 +109,7 @@ class Publisher
delete release_ptr;
}

if (do_always_ros2_publish_ || ros2_publisher_->get_subscription_count() > 0) {
if (options_.do_always_ros2_publish || ros2_publisher_->get_subscription_count() > 0) {
const MessageT * raw = message.get();
ros2_publisher_->publish(*raw);
}
Expand Down