.. _program_listing_file_include_agnocast_agnocast.hpp:

Program Listing for File agnocast.hpp
=====================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_agnocast_agnocast.hpp>` (``include/agnocast/agnocast.hpp``)

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

.. code-block:: cpp

   #pragma once
   
   #include "agnocast/agnocast_callback_info.hpp"
   #include "agnocast/agnocast_multi_threaded_executor.hpp"
   #include "agnocast/agnocast_publisher.hpp"
   #include "agnocast/agnocast_single_threaded_executor.hpp"
   #include "agnocast/agnocast_subscription.hpp"
   #include "rclcpp/rclcpp.hpp"
   
   #include <fcntl.h>
   #include <mqueue.h>
   #include <sys/ioctl.h>
   #include <sys/mman.h>
   #include <sys/stat.h>
   #include <sys/syscall.h>
   #include <unistd.h>
   
   #include <cstring>
   #include <functional>
   #include <memory>
   
   namespace agnocast
   {
   
   extern "C" void * initialize_agnocast(
     const uint64_t shm_size, const unsigned char * heaphook_version_ptr,
     const size_t heaphook_version_str_len);
   
   template <typename MessageT>
   typename Publisher<MessageT>::SharedPtr create_publisher(
     rclcpp::Node * node, const std::string & topic_name, const rclcpp::QoS & qos)
   {
     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)), options);
   }
   
   template <typename MessageT>
   typename Publisher<MessageT>::SharedPtr create_publisher(
     rclcpp::Node * node, const std::string & topic_name, const rclcpp::QoS & qos,
     const 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,
     const PublisherOptions & options)
   {
     return std::make_shared<Publisher<MessageT>>(
       node, topic_name, rclcpp::QoS(rclcpp::KeepLast(qos_history_depth)), options);
   }
   
   template <typename MessageT>
   typename Subscription<MessageT>::SharedPtr create_subscription(
     rclcpp::Node * node, const std::string & topic_name, const rclcpp::QoS & qos,
     std::function<void(const agnocast::ipc_shared_ptr<MessageT> &)> callback)
   {
     const agnocast::SubscriptionOptions options;
     return std::make_shared<Subscription<MessageT>>(node, topic_name, qos, callback, options);
   }
   
   template <typename MessageT>
   typename Subscription<MessageT>::SharedPtr create_subscription(
     rclcpp::Node * node, const std::string & topic_name, const size_t qos_history_depth,
     std::function<void(const agnocast::ipc_shared_ptr<MessageT> &)> callback)
   {
     const agnocast::SubscriptionOptions options;
     return std::make_shared<Subscription<MessageT>>(
       node, topic_name, rclcpp::QoS(rclcpp::KeepLast(qos_history_depth)), callback, options);
   }
   
   template <typename MessageT>
   typename Subscription<MessageT>::SharedPtr create_subscription(
     rclcpp::Node * node, const std::string & topic_name, const rclcpp::QoS & qos,
     std::function<void(const agnocast::ipc_shared_ptr<MessageT> &)> callback,
     agnocast::SubscriptionOptions options)
   {
     return std::make_shared<Subscription<MessageT>>(node, topic_name, qos, callback, options);
   }
   
   template <typename MessageT>
   typename Subscription<MessageT>::SharedPtr create_subscription(
     rclcpp::Node * node, const std::string & topic_name, const size_t qos_history_depth,
     std::function<void(const agnocast::ipc_shared_ptr<MessageT> &)> callback,
     agnocast::SubscriptionOptions options)
   {
     return std::make_shared<Subscription<MessageT>>(
       node, topic_name, rclcpp::QoS(rclcpp::KeepLast(qos_history_depth)), callback, options);
   }
   
   template <typename MessageT>
   typename PollingSubscriber<MessageT>::SharedPtr create_subscription(
     rclcpp::Node * node, const std::string & topic_name, const size_t qos_history_depth)
   {
     return std::make_shared<PollingSubscriber<MessageT>>(
       node, topic_name, rclcpp::QoS(rclcpp::KeepLast(qos_history_depth)));
   }
   
   template <typename MessageT>
   typename PollingSubscriber<MessageT>::SharedPtr create_subscription(
     rclcpp::Node * node, const std::string & topic_name, const rclcpp::QoS & qos)
   {
     return std::make_shared<PollingSubscriber<MessageT>>(node, topic_name, qos);
   }
   
   }  // namespace agnocast