Pass reference to get_available_topics

Author: bjsowa

include/web_video_server/streamer.hpp

@@ -129,7 +129,7 @@ class StreamerFactoryInterface
    * @param node The ROS2 node to use for discovering topics.
    * @return A vector of topic names.
    */
-  virtual std::vector<std::string> get_available_topics(rclcpp::Node::SharedPtr node);
+  virtual std::vector<std::string> get_available_topics(rclcpp::Node & node);
 };
 
 /**

include/web_video_server/streamers/image_transport_streamer.hpp

@@ -93,13 +93,13 @@ class ImageTransportStreamerBase : public StreamerInterface
 class ImageTransportStreamerFactoryBase : public StreamerFactoryInterface
 {
 public:
-  virtual std::vector<std::string> get_available_topics(rclcpp::Node::SharedPtr node);
+  virtual std::vector<std::string> get_available_topics(rclcpp::Node & node);
 };
 
 class ImageTransportSnapshotStreamerFactoryBase : public SnapshotStreamerFactoryInterface
 {
 public:
-  virtual std::vector<std::string> get_available_topics(rclcpp::Node::SharedPtr node);
+  virtual std::vector<std::string> get_available_topics(rclcpp::Node & node);
 };
 
 }  // namespace streamers

include/web_video_server/streamers/ros_compressed_streamer.hpp

@@ -84,7 +84,7 @@ class RosCompressedStreamerFactory : public StreamerFactoryInterface
     const async_web_server_cpp::HttpRequest & request,
     async_web_server_cpp::HttpConnectionPtr connection,
     rclcpp::Node::SharedPtr node);
-  std::vector<std::string> get_available_topics(rclcpp::Node::SharedPtr node);
+  std::vector<std::string> get_available_topics(rclcpp::Node & node);
 };
 
 class RosCompressedSnapshotStreamer : public StreamerInterface
@@ -118,7 +118,7 @@ class RosCompressedSnapshotStreamerFactory : public SnapshotStreamerFactoryInter
     const async_web_server_cpp::HttpRequest & request,
     async_web_server_cpp::HttpConnectionPtr connection,
     rclcpp::Node::SharedPtr node);
-  std::vector<std::string> get_available_topics(rclcpp::Node::SharedPtr node);
+  std::vector<std::string> get_available_topics(rclcpp::Node & node);
 };
 
 }  // namespace streamers

src/streamer.cpp

@@ -64,7 +64,7 @@ std::string StreamerFactoryInterface::create_viewer(
 }
 
 std::vector<std::string> StreamerFactoryInterface::get_available_topics(
-  rclcpp::Node::SharedPtr /* node */)
+  rclcpp::Node & /* node */)
 {
   return {};
 }

src/streamers/image_transport_streamer.cpp

@@ -69,10 +69,10 @@ namespace streamers
 namespace
 {
 
-std::vector<std::string> get_image_topics(const rclcpp::Node::SharedPtr & node)
+std::vector<std::string> get_image_topics(rclcpp::Node & node)
 {
   std::vector<std::string> result;
-  auto topic_names_and_types = node->get_topic_names_and_types();
+  auto topic_names_and_types = node.get_topic_names_and_types();
   for (const auto & topic_and_types : topic_names_and_types) {
     for (const auto & type : topic_and_types.second) {
       if (type == "sensor_msgs/msg/Image") {
@@ -254,13 +254,13 @@ cv::Mat ImageTransportStreamerBase::decode_image(
 }
 
 std::vector<std::string> ImageTransportStreamerFactoryBase::get_available_topics(
-  rclcpp::Node::SharedPtr node)
+  rclcpp::Node & node)
 {
   return get_image_topics(node);
 }
 
 std::vector<std::string> ImageTransportSnapshotStreamerFactoryBase::get_available_topics(
-  rclcpp::Node::SharedPtr node)
+  rclcpp::Node & node)
 {
   return get_image_topics(node);
 }

src/streamers/ros_compressed_streamer.cpp

@@ -252,9 +252,9 @@ std::shared_ptr<StreamerInterface> RosCompressedStreamerFactory::create_streamer
 }
 
 std::vector<std::string> RosCompressedStreamerFactory::get_available_topics(
-  rclcpp::Node::SharedPtr node)
+  rclcpp::Node & node)
 {
-  return collect_compressed_topics(*node);
+  return collect_compressed_topics(node);
 }
 
 RosCompressedSnapshotStreamer::RosCompressedSnapshotStreamer(
@@ -355,9 +355,9 @@ RosCompressedSnapshotStreamerFactory::create_streamer(
 }
 
 std::vector<std::string> RosCompressedSnapshotStreamerFactory::get_available_topics(
-  rclcpp::Node::SharedPtr node)
+  rclcpp::Node & node)
 {
-  return collect_compressed_topics(*node);
+  return collect_compressed_topics(node);
 }
 
 }  // namespace streamers

src/web_video_server.cpp

@@ -273,7 +273,7 @@ bool WebVideoServer::handle_list_streams(
   for (const auto & factory_pair : streamer_factories_) {
     RCLCPP_DEBUG(get_logger(), "Getting topics from factory: %s", factory_pair.first.c_str());
     std::vector<std::string> factory_topics =
-      factory_pair.second->get_available_topics(shared_from_this());
+      factory_pair.second->get_available_topics(*this);
     RCLCPP_DEBUG(
       get_logger(), "Factory %s returned %zu topics",
       factory_pair.first.c_str(), factory_topics.size());
@@ -287,7 +287,7 @@ bool WebVideoServer::handle_list_streams(
   for (const auto & factory_pair : snapshot_streamer_factories_) {
     RCLCPP_DEBUG(get_logger(), "Getting topics from factory: %s", factory_pair.first.c_str());
     std::vector<std::string> factory_topics =
-      factory_pair.second->get_available_topics(shared_from_this());
+      factory_pair.second->get_available_topics(*this);
     RCLCPP_DEBUG(
       get_logger(), "Factory %s returned %zu topics",
       factory_pair.first.c_str(), factory_topics.size());