rclcpp::SubscriptionBase Class Reference

#include <subscription.hpp>

Inheritance diagram for rclcpp::SubscriptionBase:

Public Member Functions
	SubscriptionBase (std::shared_ptr< rcl_node_t > node_handle, const rosidl_message_type_support_t &type_support_handle, const std::string &topic_name, const rcl_subscription_options_t &subscription_options)
	Default constructor. More...
virtual	~SubscriptionBase ()
	Default destructor. More...
const char *	get_topic_name () const
	Get the topic that this subscription is subscribed on. More...
rcl_subscription_t *	get_subscription_handle ()
const rcl_subscription_t *	get_subscription_handle () const
virtual const rcl_subscription_t *	get_intra_process_subscription_handle () const
virtual std::shared_ptr< void >	create_message ()=0
	Borrow a new message. More...
virtual void	handle_message (std::shared_ptr< void > &message, const rmw_message_info_t &message_info)=0
	Check if we need to handle the message, and execute the callback if we do. More...
virtual void	return_message (std::shared_ptr< void > &message)=0
	Return the message borrowed in create_message. More...
virtual void	handle_intra_process_message (rcl_interfaces::msg::IntraProcessMessage &ipm, const rmw_message_info_t &message_info)=0

Protected Attributes
rcl_subscription_t	intra_process_subscription_handle_ = rcl_get_zero_initialized_subscription()
rcl_subscription_t	subscription_handle_ = rcl_get_zero_initialized_subscription()
std::shared_ptr< rcl_node_t >	node_handle_

Detailed Description

Virtual base class for subscriptions. This pattern allows us to iterate over different template specializations of Subscription, among other things.

Constructor & Destructor Documentation

SubscriptionBase()

rclcpp::SubscriptionBase::SubscriptionBase	(	std::shared_ptr< rcl_node_t >	node_handle,
		const rosidl_message_type_support_t &	type_support_handle,
		const std::string &	topic_name,
		const rcl_subscription_options_t &	subscription_options
	)

Default constructor.

Parameters

[in]	node_handle	The rcl representation of the node that owns this subscription.
[in]	type_support_handle	rosidl type support struct, for the Message type of the topic.
[in]	topic_name	Name of the topic to subscribe to.
[in]	subscription_options	options for the subscription.

~SubscriptionBase()

virtual rclcpp::SubscriptionBase::~SubscriptionBase ( )

virtual

Default destructor.

Member Function Documentation

get_topic_name()

const char* rclcpp::SubscriptionBase::get_topic_name

(

)

const

Get the topic that this subscription is subscribed on.

get_subscription_handle() [1/2]

rcl_subscription_t* rclcpp::SubscriptionBase::get_subscription_handle

(

)

get_subscription_handle() [2/2]

const rcl_subscription_t* rclcpp::SubscriptionBase::get_subscription_handle

(

)

const

get_intra_process_subscription_handle()

virtual const rcl_subscription_t* rclcpp::SubscriptionBase::get_intra_process_subscription_handle ( ) const

virtual

Reimplemented in rclcpp::Subscription< MessageT, Alloc >.

create_message()

virtual std::shared_ptr<void> rclcpp::SubscriptionBase::create_message ( )

pure virtual

Borrow a new message.

Returns

Shared pointer to the fresh message.

Implemented in rclcpp::Subscription< MessageT, Alloc >.

handle_message()

virtual void rclcpp::SubscriptionBase::handle_message ( std::shared_ptr< void > &  message, const rmw_message_info_t &  message_info  )

pure virtual

Check if we need to handle the message, and execute the callback if we do.

Parameters

[in]	message	Shared pointer to the message to handle.
[in]	message_info	Metadata associated with this message.

Implemented in rclcpp::Subscription< MessageT, Alloc >.

return_message()

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

pure virtual

Return the message borrowed in create_message.

Parameters

[in]

message

Shared pointer to the returned message.

Implemented in rclcpp::Subscription< MessageT, Alloc >.

handle_intra_process_message()

virtual void rclcpp::SubscriptionBase::handle_intra_process_message ( rcl_interfaces::msg::IntraProcessMessage &  ipm, const rmw_message_info_t &  message_info  )

pure virtual

Implemented in rclcpp::Subscription< MessageT, Alloc >.

Member Data Documentation

intra_process_subscription_handle_

rcl_subscription_t rclcpp::SubscriptionBase::intra_process_subscription_handle_ = rcl_get_zero_initialized_subscription()

protected

subscription_handle_

rcl_subscription_t rclcpp::SubscriptionBase::subscription_handle_ = rcl_get_zero_initialized_subscription()

protected

node_handle_

std::shared_ptr<rcl_node_t> rclcpp::SubscriptionBase::node_handle_

protected

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

• rclcpp/subscription.hpp