Subscription for serialized messages whose type is not known at compile time. More...

#include <generic_subscription.hpp>

Inheritance diagram for rclcpp::GenericSubscription:

Collaboration diagram for rclcpp::GenericSubscription:

[legend]

Public Member Functions
template<typename AllocatorT = std::allocator<void>>
	GenericSubscription (rclcpp::node_interfaces::NodeBaseInterface *node_base, const std::shared_ptr< rcpputils::SharedLibrary > ts_lib, const std::string &topic_name, const std::string &topic_type, const rclcpp::QoS &qos, std::function< void(std::shared_ptr< rclcpp::SerializedMessage >)> callback, const rclcpp::SubscriptionOptionsWithAllocator< AllocatorT > &options)
	Constructor. More...

virtual	~GenericSubscription ()=default

std::shared_ptr< void >	create_message () override
	Borrow a new message. More...

std::shared_ptr< rclcpp::SerializedMessage >	create_serialized_message () override
	Borrow a new serialized message. More...

void	handle_message (std::shared_ptr< void > &message, const rclcpp::MessageInfo &message_info) override
	Cast the message to a rclcpp::SerializedMessage and call the callback. More...

void	handle_loaned_message (void *loaned_message, const rclcpp::MessageInfo &message_info) override
	This function is currently not implemented. More...

void	return_message (std::shared_ptr< void > &message) override
	Return the message borrowed in create_message. More...

void	return_serialized_message (std::shared_ptr< rclcpp::SerializedMessage > &message) override
	Return the message borrowed in create_serialized_message. More...

Public Member Functions inherited from rclcpp::SubscriptionBase
	SubscriptionBase (rclcpp::node_interfaces::NodeBaseInterface *node_base, const rosidl_message_type_support_t &type_support_handle, const std::string &topic_name, const rcl_subscription_options_t &subscription_options, bool is_serialized=false)
	Constructor. More...

virtual	~SubscriptionBase ()
	Destructor. More...

const char *	get_topic_name () const
	Get the topic that this subscription is subscribed on. More...

std::shared_ptr< rcl_subscription_t >	get_subscription_handle ()

std::shared_ptr< const rcl_subscription_t >	get_subscription_handle () const

const std::vector< std::shared_ptr< rclcpp::QOSEventHandlerBase > > &	get_event_handlers () const
	Get all the QoS event handlers associated with this subscription. More...

rclcpp::QoS	get_actual_qos () const
	Get the actual QoS settings, after the defaults have been determined. More...

bool	take_type_erased (void *message_out, rclcpp::MessageInfo &message_info_out)
	Take the next inter-process message from the subscription as a type erased pointer. More...

bool	take_serialized (rclcpp::SerializedMessage &message_out, rclcpp::MessageInfo &message_info_out)
	Take the next inter-process message, in its serialized form, from the subscription. More...

const rosidl_message_type_support_t &	get_message_type_support_handle () const

bool	is_serialized () const
	Return if the subscription is serialized. More...

size_t	get_publisher_count () const
	Get matching publisher count. More...

bool	can_loan_messages () const
	Check if subscription instance can loan messages. More...

void	setup_intra_process (uint64_t intra_process_subscription_id, IntraProcessManagerWeakPtr weak_ipm)
	Implemenation detail. More...

rclcpp::Waitable::SharedPtr	get_intra_process_waitable () const
	Return the waitable for intra-process. More...

bool	exchange_in_use_by_wait_set_state (void *pointer_to_subscription_part, bool in_use_state)
	Exchange state of whether or not a part of the subscription is used by a wait set. More...

std::vector< rclcpp::NetworkFlowEndpoint >	get_network_flow_endpoints () const
	Get network flow endpoints. More...

Public Member Functions inherited from std::enable_shared_from_this< SubscriptionBase >
T	enable_shared_from_this (T... args)

T	operator= (T... args)

T	shared_from_this (T... args)

T	~enable_shared_from_this (T... args)

Additional Inherited Members
Public Types inherited from rclcpp::SubscriptionBase
using	IntraProcessManagerWeakPtr = std::weak_ptr< rclcpp::experimental::IntraProcessManager >

Protected Member Functions inherited from rclcpp::SubscriptionBase
template<typename EventCallbackT >
void	add_event_handler (const EventCallbackT &callback, const rcl_subscription_event_type_t event_type)

void	default_incompatible_qos_callback (QOSRequestedIncompatibleQoSInfo &info) const

bool	matches_any_intra_process_publishers (const rmw_gid_t *sender_gid) const

Protected Attributes inherited from rclcpp::SubscriptionBase
rclcpp::node_interfaces::NodeBaseInterface *const	node_base_

std::shared_ptr< rcl_node_t >	node_handle_

std::shared_ptr< rcl_subscription_t >	subscription_handle_

std::shared_ptr< rcl_subscription_t >	intra_process_subscription_handle_

std::vector< std::shared_ptr< rclcpp::QOSEventHandlerBase > >	event_handlers_

bool	use_intra_process_

IntraProcessManagerWeakPtr	weak_ipm_

uint64_t	intra_process_subscription_id_

Detailed Description

Subscription for serialized messages whose type is not known at compile time.

Since the type is not known at compile time, this is not a template, and the dynamic library containing type support information has to be identified and loaded based on the type name.

It does not support intra-process handling.

Constructor & Destructor Documentation

◆ GenericSubscription()

template<typename AllocatorT = std::allocator<void>>

rclcpp::GenericSubscription::GenericSubscription	(	rclcpp::node_interfaces::NodeBaseInterface *	node_base,
		const std::shared_ptr< rcpputils::SharedLibrary >	ts_lib,
		const std::string &	topic_name,
		const std::string &	topic_type,
		const rclcpp::QoS &	qos,
		std::function< void(std::shared_ptr< rclcpp::SerializedMessage >)>	callback,
		const rclcpp::SubscriptionOptionsWithAllocator< AllocatorT > &	options
	)

inline

Constructor.

In order to properly subscribe to a topic, this subscription needs to be added to the node_topic_interface of the node passed into this constructor.

See also: rclcpp::Node::create_generic_subscription() or rclcpp::create_generic_subscription() for creating an instance of this class and adding it to the node_topic_interface.

Parameters

node_base	Pointer to parent node's NodeBaseInterface
ts_lib	Type support library, needs to correspond to topic_type
topic_name	Topic name
topic_type	Topic type
qos	QoS settings
callback	Callback for new messages of serialized form
options	Subscription options. Not all subscription options are currently respected, the only relevant options for this subscription are `event_callbacks`, `use_default_callbacks`, `ignore_local_publications`, and `callback_group`.

◆ ~GenericSubscription()

virtual rclcpp::GenericSubscription::~GenericSubscription ( )

virtualdefault

Member Function Documentation

◆ create_message()

std::shared_ptr<void> rclcpp::GenericSubscription::create_message ( )

overridevirtual

Borrow a new message.

Returns: Shared pointer to the fresh message.

Implements rclcpp::SubscriptionBase.

◆ create_serialized_message()

std::shared_ptr<rclcpp::SerializedMessage> rclcpp::GenericSubscription::create_serialized_message ( )

overridevirtual

Borrow a new serialized message.

Returns: Shared pointer to a rcl_message_serialized_t.

Implements rclcpp::SubscriptionBase.

◆ handle_message()

void rclcpp::GenericSubscription::handle_message	(	std::shared_ptr< void > &	message,
		const rclcpp::MessageInfo &	message_info
	)

overridevirtual

Cast the message to a rclcpp::SerializedMessage and call the callback.

Implements rclcpp::SubscriptionBase.

◆ handle_loaned_message()

void rclcpp::GenericSubscription::handle_loaned_message	(	void *	loaned_message,
		const rclcpp::MessageInfo &	message_info
	)

overridevirtual

This function is currently not implemented.

Implements rclcpp::SubscriptionBase.

◆ return_message()

void rclcpp::GenericSubscription::return_message ( std::shared_ptr< void > & message )

overridevirtual

Return the message borrowed in create_message.

Parameters

[in] message Shared pointer to the returned message.

Implements rclcpp::SubscriptionBase.

◆ return_serialized_message()

void rclcpp::GenericSubscription::return_serialized_message ( std::shared_ptr< rclcpp::SerializedMessage > & message )

overridevirtual

Return the message borrowed in create_serialized_message.

Parameters

[in] message Shared pointer to the returned message.

Implements rclcpp::SubscriptionBase.

The documentation for this class was generated from the following file:

include/rclcpp/generic_subscription.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ GenericSubscription()

◆ ~GenericSubscription()

Member Function Documentation

◆ create_message()

◆ create_serialized_message()

◆ handle_message()

◆ handle_loaned_message()

◆ return_message()

◆ return_serialized_message()