15 #ifndef RCLCPP__SUBSCRIPTION_HPP_ 16 #define RCLCPP__SUBSCRIPTION_HPP_ 30 #include "rcl_interfaces/msg/intra_process_message.hpp" 41 namespace node_interfaces
43 class NodeTopicsInterface;
46 namespace subscription
66 const rosidl_message_type_support_t & type_support_handle,
72 virtual ~SubscriptionBase();
77 get_topic_name()
const;
81 get_subscription_handle()
const;
85 get_intra_process_subscription_handle()
const;
105 handle_intra_process_message(
106 rcl_interfaces::msg::IntraProcessMessage & ipm,
121 template<
typename MessageT,
typename Alloc = std::allocator<
void>>
146 const
std::
string & topic_name,
149 typename message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr
150 memory_strategy = message_memory_strategy::MessageMemoryStrategy<MessageT,
151 Alloc>::create_default())
154 *rosidl_typesupport_cpp::get_message_type_support_handle<MessageT>(),
156 subscription_options),
157 any_callback_(callback),
158 message_memory_strategy_(memory_strategy),
159 get_intra_process_message_callback_(
nullptr),
160 matches_any_intra_process_publishers_(
nullptr)
170 Alloc>::SharedPtr message_memory_strategy)
172 message_memory_strategy_ = message_memory_strategy;
180 return message_memory_strategy_->borrow_message();
185 if (matches_any_intra_process_publishers_) {
186 if (matches_any_intra_process_publishers_(&message_info.
publisher_gid)) {
193 any_callback_.dispatch(typed_message, message_info);
201 message_memory_strategy_->return_message(typed_message);
205 rcl_interfaces::msg::IntraProcessMessage & ipm,
208 if (!get_intra_process_message_callback_) {
216 get_intra_process_message_callback_(
218 ipm.message_sequence,
219 intra_process_subscription_id_,
227 any_callback_.dispatch_intra_process(msg, message_info);
236 uint64_t intra_process_subscription_id,
242 &intra_process_subscription_handle_, node_handle_.get(),
244 (
std::string(get_topic_name()) +
"__intra").c_str(),
253 intra_process_subscription_id_ = intra_process_subscription_id;
254 get_intra_process_message_callback_ = get_message_callback;
255 matches_any_intra_process_publishers_ = matches_any_publisher_callback;
262 if (!get_intra_process_message_callback_) {
265 return &intra_process_subscription_handle_;
273 message_memory_strategy_;
277 uint64_t intra_process_subscription_id_;
283 #endif // RCLCPP__SUBSCRIPTION_HPP_ const rcl_subscription_t * get_intra_process_subscription_handle() const
Implemenation detail.
Definition: subscription.hpp:260
Definition: any_subscription_callback.hpp:37
#define RCLCPP_DISABLE_COPY(...)
Definition: macros.hpp:26
allocator::AllocRebind< MessageT, Alloc > MessageAllocTraits
Definition: subscription.hpp:127
Definition: allocator_common.hpp:24
rcl_ret_t rcl_subscription_init(rcl_subscription_t *subscription, const rcl_node_t *node, const rosidl_message_type_support_t *type_support, const char *topic_name, const rcl_subscription_options_t *options)
void return_message(std::shared_ptr< void > &message)
Return the loaned message.
Definition: subscription.hpp:198
allocator::Deleter< MessageAlloc, MessageT > MessageDeleter
Definition: subscription.hpp:129
Definition: subscription.hpp:51
Subscription implementation, templated on the type of message this subscription receives.
Definition: subscription.hpp:122
void set_message_memory_strategy(typename message_memory_strategy::MessageMemoryStrategy< MessageT, Alloc >::SharedPtr message_memory_strategy)
Support dynamically setting the message memory strategy.
Definition: subscription.hpp:168
void handle_intra_process_message(rcl_interfaces::msg::IntraProcessMessage &ipm, const rmw_message_info_t &message_info)
Definition: subscription.hpp:204
typename std::allocator_traits< Alloc >::template rebind_traits< T > AllocRebind
Definition: allocator_common.hpp:30
const rosidl_message_type_support_t * get_intra_process_message_msg_type_support()
#define RCLCPP_SMART_PTR_DEFINITIONS(...)
Definition: macros.hpp:36
typename MessageAllocTraits::allocator_type MessageAlloc
Definition: subscription.hpp:128
std::shared_ptr< rcl_node_t > node_handle_
Definition: subscription.hpp:112
Pure virtual interface class for the NodeTopics part of the Node API.
Definition: node_topics_interface.hpp:38
std::shared_ptr< void > create_message()
Borrow a new message.
Definition: subscription.hpp:174
void handle_message(std::shared_ptr< void > &message, const rmw_message_info_t &message_info)
Check if we need to handle the message, and execute the callback if we do.
Definition: subscription.hpp:183
T static_pointer_cast(T... args)
#define rcl_get_error_string_safe
#define RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(...)
Definition: macros.hpp:51
Default allocation strategy for messages received by subscriptions.
Definition: message_memory_strategy.hpp:33
#define RCLCPP_PUBLIC
Definition: visibility_control.hpp:50
typename std::conditional< std::is_same< typename std::allocator_traits< Alloc >::template rebind_alloc< T >, typename std::allocator< void >::template rebind< T >::other >::value, std::default_delete< T >, AllocatorDeleter< Alloc > >::type Deleter
Definition: allocator_deleter.hpp:101
void setup_intra_process(uint64_t intra_process_subscription_id, GetMessageCallbackType get_message_callback, MatchesAnyPublishersCallbackType matches_any_publisher_callback, const rcl_subscription_options_t &intra_process_options)
Implemenation detail.
Definition: subscription.hpp:235
rcl_subscription_t rcl_get_zero_initialized_subscription(void)