subscriber.hpp

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// Copyright 2015 TIER IV, Inc. All rights reserved.
//
// 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 CONCEALER__SUBSCRIBER_HPP_
#define CONCEALER__SUBSCRIBER_HPP_
 
#include <memory>
#include <rclcpp/rclcpp.hpp>
 
namespace concealer
{
template <typename Message>
struct Subscriber
{
  typename Message::ConstSharedPtr current_value = std::make_shared<const Message>();
 
  typename rclcpp::Subscription<Message>::SharedPtr subscription;
 
  auto operator()() const -> const auto & { return *std::atomic_load(&current_value); }
 
  template <typename Autoware, typename Callback>
  explicit Subscriber(
    const std::string & topic, const rclcpp::QoS & quality_of_service, Autoware & autoware,
    const Callback & callback)
  : subscription(autoware.template create_subscription<Message>(
      topic, quality_of_service,
      [this, callback](const typename Message::ConstSharedPtr & message) {
        if (std::atomic_store(&current_value, message); current_value) {
          callback(*std::atomic_load(&current_value));
        }
      }))
  {
  }
 
  template <typename Autoware>
  explicit Subscriber(
    const std::string & topic, const rclcpp::QoS & quality_of_service, Autoware & autoware)
  : subscription(autoware.template create_subscription<Message>(
      topic, quality_of_service, [this](const typename Message::ConstSharedPtr & message) {
        std::atomic_store(&current_value, message);
      }))
  {
  }
};
}  // namespace concealer
 
#endif  // CONCEALER__SUBSCRIBER_HPP_