traffic_light_publisher.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 TRAFFIC_SIMULATOR__TRAFFIC_LIGHTS__TRAFFIC_LIGHT_PUBLISHER_HPP_
#define TRAFFIC_SIMULATOR__TRAFFIC_LIGHTS__TRAFFIC_LIGHT_PUBLISHER_HPP_
 
#include <memory>
#include <rclcpp/rclcpp.hpp>
#include <string>
#include <traffic_simulator/hdmap_utils/hdmap_utils.hpp>
#include <traffic_simulator/traffic_lights/traffic_light.hpp>
#include <traffic_simulator/traffic_lights/traffic_lights_base.hpp>
 
namespace traffic_simulator
{
class TrafficLightPublisherBase
{
public:
  virtual auto publish(
    const rclcpp::Time & current_ros_time,
    const simulation_api_schema::UpdateTrafficLightsRequest & request,
    const TrafficLightStatePredictions * predictions = nullptr) const -> void = 0;
 
  virtual ~TrafficLightPublisherBase() = default;
};
 
template <typename MessageType>
class TrafficLightPublisher : public TrafficLightPublisherBase
{
public:
  template <typename NodeTypePointer>
  explicit TrafficLightPublisher(
    const NodeTypePointer & node_ptr, const std::string & topic_name,
    const std::string & frame = "camera_link")  // DIRTY HACK!!!
  : TrafficLightPublisherBase(),
    frame_(frame),
    traffic_light_state_array_publisher_(rclcpp::create_publisher<MessageType>(
      node_ptr, topic_name, rclcpp::QoS(10).transient_local()))
  {
  }
 
  ~TrafficLightPublisher() override = default;
 
  static auto generateMessage(
    const rclcpp::Time &, const simulation_api_schema::UpdateTrafficLightsRequest & request,
    const std::string & frame = "", const TrafficLightStatePredictions * predictions = nullptr)
    -> std::unique_ptr<MessageType>;
 
  auto publish(
    const rclcpp::Time & current_ros_time,
    const simulation_api_schema::UpdateTrafficLightsRequest & request,
    const TrafficLightStatePredictions * predictions = nullptr) const -> void override
  {
    traffic_light_state_array_publisher_->publish(
      generateMessage(current_ros_time, request, frame_, predictions));
  }
 
private:
  const std::string frame_;
 
  const typename rclcpp::Publisher<MessageType>::SharedPtr traffic_light_state_array_publisher_;
};
}  // namespace traffic_simulator
#endif  // TRAFFIC_SIMULATOR__TRAFFIC_LIGHTS__TRAFFIC_LIGHT_PUBLISHER_HPP_