mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-29 02:21:44 +00:00
8f1f64ffb6
Also update copyright to include "and other WPILib contributors" and clarify license referral language to not be restricted to FIRST teams.
41 lines
1.2 KiB
C++
41 lines
1.2 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <string>
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#include <gazebo/gazebo_client.hh>
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#include <gazebo/transport/transport.hh>
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class GazeboNode {
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public:
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bool Connect();
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template <typename M>
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gazebo::transport::PublisherPtr Advertise(const std::string& topic,
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int queueLimit = 10,
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bool latch = false) {
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return main->Advertise<M>(topic, queueLimit, latch);
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}
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template <typename M, typename T>
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gazebo::transport::SubscriberPtr Subscribe(
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const std::string& topic,
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void (T::*fp)(const boost::shared_ptr<M const>&), T* obj,
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bool latching = false) {
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return main->Subscribe(topic, fp, obj, latching);
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}
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template <typename M>
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gazebo::transport::SubscriberPtr Subscribe(
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const std::string& topic, void (*fp)(const boost::shared_ptr<M const>&),
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bool latching = false) {
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return main->Subscribe(topic, fp, latching);
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}
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private:
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gazebo::transport::NodePtr main;
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};
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