From 0fc6d406c4ff49c28f44dadf0e07dbc1f39b4cda Mon Sep 17 00:00:00 2001
From: shtokuda <shumpei.tokuda@tier4.jp>
Date: Fri, 7 Jun 2024 17:50:33 +0900
Subject: [PATCH] add interface_subscriber.hpp in default_ad_api

Signed-off-by: shtokuda <shumpei.tokuda@tier4.jp>
---
 .../src/utils/interface_subscriber.hpp        | 47 +++++++++++++++++++
 1 file changed, 47 insertions(+)
 create mode 100644 system/default_ad_api/src/utils/interface_subscriber.hpp

diff --git a/system/default_ad_api/src/utils/interface_subscriber.hpp b/system/default_ad_api/src/utils/interface_subscriber.hpp
new file mode 100644
index 0000000000000..a6d1560fa7d43
--- /dev/null
+++ b/system/default_ad_api/src/utils/interface_subscriber.hpp
@@ -0,0 +1,47 @@
+// Copyright 2022 TIER IV, 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.
+
+#ifndef UTILS__INTERFACE_SUBSCRIBER_HPP_
+#define UTILS__INTERFACE_SUBSCRIBER_HPP_
+
+#include "tier4_autoware_utils/ros/polling_subscriber.hpp"
+
+#include <rclcpp/qos.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+namespace default_ad_api
+{
+template <typename InterfaceSpec>
+rclcpp::QoS get_qos_profile()
+{
+  rclcpp::QoS qos_profile(InterfaceSpec::depth);
+  qos_profile.durability(InterfaceSpec::durability);
+  qos_profile.reliability(InterfaceSpec::reliability);
+  return qos_profile;
+}
+
+template <typename InterFaceSpec>
+std::shared_ptr<
+  tier4_autoware_utils::InterProcessPollingSubscriber<typename InterFaceSpec::Message>>
+create_polling_subscriber(rclcpp::Node * node)
+{
+  auto qos = get_qos_profile<InterFaceSpec>();
+  return std::make_shared<
+    tier4_autoware_utils::InterProcessPollingSubscriber<typename InterFaceSpec::Message>>(
+    node, InterFaceSpec::name, qos);
+}
+
+}  // namespace default_ad_api
+
+#endif  // UTILS__INTERFACE_SUBSCRIBER_HPP_