Allow external use of ros1_bridge library factories

CMakeLists.txt

@@ -135,6 +135,7 @@ custom_executable(simple_bridge "src/simple_bridge.cpp"
 add_library(${PROJECT_NAME} SHARED
   "src/builtin_interfaces_factories.cpp"
   "src/convert_builtin_interfaces.cpp"
+  "src/bridge.cpp"
   ${generated_files})
 ament_target_dependencies(${PROJECT_NAME}
   ${prefixed_ros1_message_packages}

include/ros1_bridge/bridge.hpp

@@ -69,6 +69,9 @@ get_factory(
   const std::string & ros1_type_name,
   const std::string & ros2_type_name);
 
+std::unique_ptr<ServiceFactoryInterface>
+get_service_factory(const std::string &, const std::string &, const std::string &);
+
 Bridge1to2Handles
 create_bridge_from_1_to_2(
   ros::NodeHandle ros1_node,
@@ -78,20 +81,7 @@ create_bridge_from_1_to_2(
   size_t subscriber_queue_size,
   const std::string & ros2_type_name,
   const std::string & ros2_topic_name,
-  size_t publisher_queue_size)
-{
-  auto factory = get_factory(ros1_type_name, ros2_type_name);
-  auto ros2_pub = factory->create_ros2_publisher(
-    ros2_node, ros2_topic_name, publisher_queue_size);
-
-  auto ros1_sub = factory->create_ros1_subscriber(
-    ros1_node, ros1_topic_name, subscriber_queue_size, ros2_pub);
-
-  Bridge1to2Handles handles;
-  handles.ros1_subscriber = ros1_sub;
-  handles.ros2_publisher = ros2_pub;
-  return handles;
-}
+  size_t publisher_queue_size);
 
 Bridge2to1Handles
 create_bridge_from_2_to_1(
@@ -103,20 +93,7 @@ create_bridge_from_2_to_1(
   const std::string & ros1_type_name,
   const std::string & ros1_topic_name,
   size_t publisher_queue_size,
-  rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr)
-{
-  auto factory = get_factory(ros1_type_name, ros2_type_name);
-  auto ros1_pub = factory->create_ros1_publisher(
-    ros1_node, ros1_topic_name, publisher_queue_size);
-
-  auto ros2_sub = factory->create_ros2_subscriber(
-    ros2_node, ros2_topic_name, subscriber_queue_size, ros1_pub, ros2_pub);
-
-  Bridge2to1Handles handles;
-  handles.ros2_subscriber = ros2_sub;
-  handles.ros1_publisher = ros1_pub;
-  return handles;
-}
+  rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr);
 
 BridgeHandles
 create_bidirectional_bridge(
@@ -125,19 +102,7 @@ create_bidirectional_bridge(
   const std::string & ros1_type_name,
   const std::string & ros2_type_name,
   const std::string & topic_name,
-  size_t queue_size = 10)
-{
-  printf("create bidirectional bridge for topic [%s]\n", topic_name.c_str());
-  BridgeHandles handles;
-  handles.bridge1to2 = create_bridge_from_1_to_2(
-    ros1_node, ros2_node,
-    ros1_type_name, topic_name, queue_size, ros2_type_name, topic_name, queue_size);
-  handles.bridge2to1 = create_bridge_from_2_to_1(
-    ros2_node, ros1_node,
-    ros2_type_name, topic_name, queue_size, ros1_type_name, topic_name, queue_size,
-    handles.bridge1to2.ros2_publisher);
-  return handles;
-}
+  size_t queue_size = 10);
 
 }  // namespace ros1_bridge
 

src/bridge.cpp

@@ -0,0 +1,91 @@
+// Copyright 2015 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+
+#include "ros1_bridge/bridge.hpp"
+
+namespace ros1_bridge
+{
+
+Bridge1to2Handles
+create_bridge_from_1_to_2(
+  ros::NodeHandle ros1_node,
+  rclcpp::Node::SharedPtr ros2_node,
+  const std::string & ros1_type_name,
+  const std::string & ros1_topic_name,
+  size_t subscriber_queue_size,
+  const std::string & ros2_type_name,
+  const std::string & ros2_topic_name,
+  size_t publisher_queue_size)
+{
+  auto factory = get_factory(ros1_type_name, ros2_type_name);
+  auto ros2_pub = factory->create_ros2_publisher(
+    ros2_node, ros2_topic_name, publisher_queue_size);
+
+  auto ros1_sub = factory->create_ros1_subscriber(
+    ros1_node, ros1_topic_name, subscriber_queue_size, ros2_pub);
+
+  Bridge1to2Handles handles;
+  handles.ros1_subscriber = ros1_sub;
+  handles.ros2_publisher = ros2_pub;
+  return handles;
+}
+
+Bridge2to1Handles
+create_bridge_from_2_to_1(
+  rclcpp::Node::SharedPtr ros2_node,
+  ros::NodeHandle ros1_node,
+  const std::string & ros2_type_name,
+  const std::string & ros2_topic_name,
+  size_t subscriber_queue_size,
+  const std::string & ros1_type_name,
+  const std::string & ros1_topic_name,
+  size_t publisher_queue_size,
+  rclcpp::PublisherBase::SharedPtr ros2_pub)
+{
+  auto factory = get_factory(ros1_type_name, ros2_type_name);
+  auto ros1_pub = factory->create_ros1_publisher(
+    ros1_node, ros1_topic_name, publisher_queue_size);
+
+  auto ros2_sub = factory->create_ros2_subscriber(
+    ros2_node, ros2_topic_name, subscriber_queue_size, ros1_pub, ros2_pub);
+
+  Bridge2to1Handles handles;
+  handles.ros2_subscriber = ros2_sub;
+  handles.ros1_publisher = ros1_pub;
+  return handles;
+}
+
+BridgeHandles
+create_bidirectional_bridge(
+  ros::NodeHandle ros1_node,
+  rclcpp::Node::SharedPtr ros2_node,
+  const std::string & ros1_type_name,
+  const std::string & ros2_type_name,
+  const std::string & topic_name,
+  size_t queue_size)
+{
+  printf("create bidirectional bridge for topic [%s]\n", topic_name.c_str());
+  BridgeHandles handles;
+  handles.bridge1to2 = create_bridge_from_1_to_2(
+    ros1_node, ros2_node,
+    ros1_type_name, topic_name, queue_size, ros2_type_name, topic_name, queue_size);
+  handles.bridge2to1 = create_bridge_from_2_to_1(
+    ros2_node, ros1_node,
+    ros2_type_name, topic_name, queue_size, ros1_type_name, topic_name, queue_size,
+    handles.bridge1to2.ros2_publisher);
+  return handles;
+}
+
+}  // namespace ros1_bridge

src/dynamic_bridge.cpp

@@ -41,12 +41,6 @@
 
 std::mutex g_bridge_mutex;
 
-namespace ros1_bridge
-{
-std::unique_ptr<ros1_bridge::ServiceFactoryInterface>
-get_service_factory(const std::string &, const std::string &, const std::string &);
-}
-
 struct Bridge1to2HandlesAndMessageTypes
 {
   ros1_bridge::Bridge1to2Handles bridge_handles;