rclcpp::experimental::SubscriptionIntraProcessBase Class Reference

#include <subscription_intra_process_base.hpp>

Inheritance diagram for rclcpp::experimental::SubscriptionIntraProcessBase:

Collaboration diagram for rclcpp::experimental::SubscriptionIntraProcessBase:

Public Member Functions
	SubscriptionIntraProcessBase (const std::string &topic_name, rmw_qos_profile_t qos_profile)
virtual	~SubscriptionIntraProcessBase ()=default
size_t	get_number_of_ready_guard_conditions ()
	Get the number of ready guard_conditions. More...
bool	add_to_wait_set (rcl_wait_set_t *wait_set)
	Add the Waitable to a wait set. More...
virtual bool	is_ready (rcl_wait_set_t *wait_set)=0
	Check if the Waitable is ready. More...
virtual std::shared_ptr< void >	take_data ()=0
	Take the data so that it can be consumed with execute. More...
virtual void	execute (std::shared_ptr< void > &data)=0
	Execute data that is passed in. More...
virtual bool	use_take_shared_method () const =0
const char *	get_topic_name () const
rmw_qos_profile_t	get_actual_qos () const
Public Member Functions inherited from rclcpp::Waitable
virtual	~Waitable ()=default
virtual size_t	get_number_of_ready_subscriptions ()
	Get the number of ready subscriptions. More...
virtual size_t	get_number_of_ready_timers ()
	Get the number of ready timers. More...
virtual size_t	get_number_of_ready_clients ()
	Get the number of ready clients. More...
virtual size_t	get_number_of_ready_events ()
	Get the number of ready events. More...
virtual size_t	get_number_of_ready_services ()
	Get the number of ready services. More...
bool	exchange_in_use_by_wait_set_state (bool in_use_state)
	Exchange the "in use by wait set" state for this timer. More...

Protected Attributes
std::recursive_mutex	reentrant_mutex_
rcl_guard_condition_t	gc_

Constructor & Destructor Documentation

SubscriptionIntraProcessBase()

rclcpp::experimental::SubscriptionIntraProcessBase::SubscriptionIntraProcessBase ( const std::string &  topic_name, rmw_qos_profile_t  qos_profile  )

inline

~SubscriptionIntraProcessBase()

virtual rclcpp::experimental::SubscriptionIntraProcessBase::~SubscriptionIntraProcessBase ( )

virtualdefault

Member Function Documentation

get_number_of_ready_guard_conditions()

size_t rclcpp::experimental::SubscriptionIntraProcessBase::get_number_of_ready_guard_conditions ( )

inlinevirtual

Get the number of ready guard_conditions.

Returns a value of 0 by default. This should be overridden if the Waitable contains one or more guard_conditions.

Returns

The number of guard_conditions associated with the Waitable.

Reimplemented from rclcpp::Waitable.

add_to_wait_set()

bool rclcpp::experimental::SubscriptionIntraProcessBase::add_to_wait_set ( rcl_wait_set_t *  wait_set )

virtual

Add the Waitable to a wait set.

Parameters

[in]

wait_set

A handle to the wait set to add the Waitable to.

Returns

true if the Waitable is added successfully, false otherwise.

Exceptions

rclcpp::execptions::RCLError

from rcl_wait_set_add_*()

Implements rclcpp::Waitable.

is_ready()

virtual bool rclcpp::experimental::SubscriptionIntraProcessBase::is_ready ( rcl_wait_set_t *  wait_set )

pure virtual

Check if the Waitable is ready.

The input wait set should be the same that was used in a previously call to add_to_wait_set(). The wait set should also have been previously waited on with rcl_wait().

Parameters

[in]

wait_set

A handle to the wait set the Waitable was previously added to and that has been waited on.

Returns

true if the Waitable is ready, false otherwise.

Implements rclcpp::Waitable.

Implemented in rclcpp::experimental::SubscriptionIntraProcess< MessageT, Alloc, Deleter, CallbackMessageT >.

take_data()

virtual std::shared_ptr<void> rclcpp::experimental::SubscriptionIntraProcessBase::take_data ( )

pure virtual

Take the data so that it can be consumed with execute.

NOTE: take_data is a partial fix to a larger design issue with the multithreaded executor. This method is likely to be removed when a more permanent fix is implemented. A longterm fix is currently being discussed here: https://github.com/ros2/rclcpp/pull/1276

This method takes the data from the underlying data structure and writes it to the void shared pointer data that is passed into the method. The data can then be executed with the execute method.

Before calling this method, the Waitable should be added to a wait set, waited on, and then updated.

Example usage:

// ... create a wait set and a Waitable
// Add the Waitable to the wait set
bool add_ret = waitable.add_to_wait_set(wait_set);
// ... error handling
// Wait
rcl_ret_t wait_ret = rcl_wait(wait_set);
// ... error handling
// Update the Waitable
waitable.update(wait_set);
// Execute any entities of the Waitable that may be ready
std::shared_ptr<void> data = waitable.take_data();

Implements rclcpp::Waitable.

Implemented in rclcpp::experimental::SubscriptionIntraProcess< MessageT, Alloc, Deleter, CallbackMessageT >.

execute()

virtual void rclcpp::experimental::SubscriptionIntraProcessBase::execute ( std::shared_ptr< void > &  data )

pure virtual

Execute data that is passed in.

Before calling this method, the Waitable should be added to a wait set, waited on, and then updated - and the take_data method should be called.

Example usage:

// ... create a wait set and a Waitable
// Add the Waitable to the wait set
bool add_ret = waitable.add_to_wait_set(wait_set);
// ... error handling
// Wait
rcl_ret_t wait_ret = rcl_wait(wait_set);
// ... error handling
// Update the Waitable
waitable.update(wait_set);
// Execute any entities of the Waitable that may be ready
std::shared_ptr<void> data = waitable.take_data();
waitable.execute(data);

Implements rclcpp::Waitable.

Implemented in rclcpp::experimental::SubscriptionIntraProcess< MessageT, Alloc, Deleter, CallbackMessageT >.

use_take_shared_method()

virtual bool rclcpp::experimental::SubscriptionIntraProcessBase::use_take_shared_method ( ) const

pure virtual

Implemented in rclcpp::experimental::SubscriptionIntraProcess< MessageT, Alloc, Deleter, CallbackMessageT >.

get_topic_name()

const char* rclcpp::experimental::SubscriptionIntraProcessBase::get_topic_name

(

)

const

get_actual_qos()

rmw_qos_profile_t rclcpp::experimental::SubscriptionIntraProcessBase::get_actual_qos

(

)

const

Member Data Documentation

reentrant_mutex_

std::recursive_mutex rclcpp::experimental::SubscriptionIntraProcessBase::reentrant_mutex_

protected

gc_

rcl_guard_condition_t rclcpp::experimental::SubscriptionIntraProcessBase::gc_

protected

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

• include/rclcpp/experimental/subscription_intra_process_base.hpp