Subscription implementation, templated on the type of message this subscription receives. More...

#include <subscription.hpp>

Inheritance diagram for rclcpp::Subscription< CallbackMessageT, Alloc >:

Collaboration diagram for rclcpp::Subscription< CallbackMessageT, Alloc >:

Public Types
using	MessageAllocTraits = allocator::AllocRebind< CallbackMessageT, Alloc >

using	MessageAlloc = typename MessageAllocTraits::allocator_type

using	MessageDeleter = allocator::Deleter< MessageAlloc, CallbackMessageT >

using	MessageUniquePtr = std::unique_ptr< CallbackMessageT, MessageDeleter >

using	GetMessageCallbackType = std::function< void(uint64_t, uint64_t, uint64_t, MessageUniquePtr &)>

using	MatchesAnyPublishersCallbackType = std::function< bool(const rmw_gid_t *)>

Public Member Functions
	Subscription (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, AnySubscriptionCallback< CallbackMessageT, Alloc > callback, typename message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, Alloc >::SharedPtr memory_strategy=message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, Alloc >::create_default())
	Default constructor. More...

void	set_message_memory_strategy (typename message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, Alloc >::SharedPtr message_memory_strategy)
	Support dynamically setting the message memory strategy. More...

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

std::shared_ptr< rcl_serialized_message_t >	create_serialized_message ()
	Borrow a new serialized message. More...

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. More...

void	return_message (std::shared_ptr< void > &message)
	Return the loaned message. More...

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

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

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. More...

const std::shared_ptr< rcl_subscription_t >	get_intra_process_subscription_handle () const
	Implemenation detail. More...

Public Member Functions inherited from 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, bool is_serialized=false)
	Default constructor. More...

virtual	~SubscriptionBase ()
	Default 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 ()

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

const rosidl_message_type_support_t &	get_message_type_support_handle () const

bool	is_serialized () const

Friends
class	rclcpp::node_interfaces::NodeTopicsInterface

Additional Inherited Members
Protected Attributes inherited from rclcpp::SubscriptionBase
std::shared_ptr< rcl_subscription_t >	intra_process_subscription_handle_

std::shared_ptr< rcl_subscription_t >	subscription_handle_

std::shared_ptr< rcl_node_t >	node_handle_

Detailed Description

template<typename CallbackMessageT, typename Alloc = std::allocator<void>>
class rclcpp::Subscription< CallbackMessageT, Alloc >

Subscription implementation, templated on the type of message this subscription receives.

Member Typedef Documentation

◆ MessageAllocTraits

template<typename CallbackMessageT , typename Alloc = std::allocator<void>>

using rclcpp::Subscription< CallbackMessageT, Alloc >::MessageAllocTraits = allocator::AllocRebind<CallbackMessageT, Alloc>

◆ MessageAlloc

template<typename CallbackMessageT , typename Alloc = std::allocator<void>>

using rclcpp::Subscription< CallbackMessageT, Alloc >::MessageAlloc = typename MessageAllocTraits::allocator_type

◆ MessageDeleter

template<typename CallbackMessageT , typename Alloc = std::allocator<void>>

using rclcpp::Subscription< CallbackMessageT, Alloc >::MessageDeleter = allocator::Deleter<MessageAlloc, CallbackMessageT>

◆ MessageUniquePtr

template<typename CallbackMessageT , typename Alloc = std::allocator<void>>

using rclcpp::Subscription< CallbackMessageT, Alloc >::MessageUniquePtr = std::unique_ptr<CallbackMessageT, MessageDeleter>

◆ GetMessageCallbackType

template<typename CallbackMessageT , typename Alloc = std::allocator<void>>

using rclcpp::Subscription< CallbackMessageT, Alloc >::GetMessageCallbackType = std::function<void (uint64_t, uint64_t, uint64_t, MessageUniquePtr &)>

◆ MatchesAnyPublishersCallbackType

template<typename CallbackMessageT , typename Alloc = std::allocator<void>>

using rclcpp::Subscription< CallbackMessageT, Alloc >::MatchesAnyPublishersCallbackType = std::function<bool (const rmw_gid_t *)>

Constructor & Destructor Documentation

◆ Subscription()

template<typename CallbackMessageT , typename Alloc = std::allocator<void>>

rclcpp::Subscription< CallbackMessageT, Alloc >::Subscription	(	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,
		AnySubscriptionCallback< CallbackMessageT, Alloc >	callback,
		typename message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, Alloc >::SharedPtr	memory_strategy = `message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, Alloc>::create_default()`
	)

inline

Default constructor.

The constructor for a subscription is almost never called directly. Instead, subscriptions should be instantiated through Node::create_subscription.

Parameters

[in]	node_handle	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.
[in]	callback	User defined callback to call when a message is received.
[in]	memory_strategy	The memory strategy to be used for managing message memory.

Member Function Documentation

◆ set_message_memory_strategy()

template<typename CallbackMessageT , typename Alloc = std::allocator<void>>

void rclcpp::Subscription< CallbackMessageT, Alloc >::set_message_memory_strategy ( typename message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, Alloc >::SharedPtr message_memory_strategy )

inline

Support dynamically setting the message memory strategy.

Behavior may be undefined if called while the subscription could be executing.

Parameters

[in] message_memory_strategy Shared pointer to the memory strategy to set.

◆ create_message()

template<typename CallbackMessageT , typename Alloc = std::allocator<void>>

std::shared_ptr<void> rclcpp::Subscription< CallbackMessageT, Alloc >::create_message ( )

inlinevirtual

Borrow a new message.

Returns: Shared pointer to the fresh message.

Implements rclcpp::SubscriptionBase.

◆ create_serialized_message()

template<typename CallbackMessageT , typename Alloc = std::allocator<void>>

std::shared_ptr<rcl_serialized_message_t> rclcpp::Subscription< CallbackMessageT, Alloc >::create_serialized_message ( )

inlinevirtual

Borrow a new serialized message.

Returns: Shared pointer to a rcl_message_serialized_t.

Implements rclcpp::SubscriptionBase.

◆ handle_message()

template<typename CallbackMessageT , typename Alloc = std::allocator<void>>

void rclcpp::Subscription< CallbackMessageT, Alloc >::handle_message	(	std::shared_ptr< void > &	message,
		const rmw_message_info_t &	message_info
	)

inlinevirtual

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.

Implements rclcpp::SubscriptionBase.

◆ return_message()

template<typename CallbackMessageT , typename Alloc = std::allocator<void>>

void rclcpp::Subscription< CallbackMessageT, Alloc >::return_message ( std::shared_ptr< void > & message )

inlinevirtual

Return the loaned message.

Parameters

message message to be returned

Implements rclcpp::SubscriptionBase.

◆ return_serialized_message()

template<typename CallbackMessageT , typename Alloc = std::allocator<void>>

void rclcpp::Subscription< CallbackMessageT, Alloc >::return_serialized_message ( std::shared_ptr< rcl_serialized_message_t > & message )

inlinevirtual

Return the message borrowed in create_serialized_message.

Parameters

[in] message Shared pointer to the returned message.

Implements rclcpp::SubscriptionBase.

◆ handle_intra_process_message()

template<typename CallbackMessageT , typename Alloc = std::allocator<void>>

void rclcpp::Subscription< CallbackMessageT, Alloc >::handle_intra_process_message	(	rcl_interfaces::msg::IntraProcessMessage &	ipm,
		const rmw_message_info_t &	message_info
	)

inlinevirtual

Implements rclcpp::SubscriptionBase.

◆ setup_intra_process()

template<typename CallbackMessageT , typename Alloc = std::allocator<void>>

void rclcpp::Subscription< CallbackMessageT, Alloc >::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
	)

inline

Implemenation detail.

◆ get_intra_process_subscription_handle()

template<typename CallbackMessageT , typename Alloc = std::allocator<void>>

const std::shared_ptr<rcl_subscription_t> rclcpp::Subscription< CallbackMessageT, Alloc >::get_intra_process_subscription_handle ( ) const

inlinevirtual

Implemenation detail.

Reimplemented from rclcpp::SubscriptionBase.

Friends And Related Function Documentation

◆ rclcpp::node_interfaces::NodeTopicsInterface

template<typename CallbackMessageT , typename Alloc = std::allocator<void>>

friend class rclcpp::node_interfaces::NodeTopicsInterface

friend

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

include/rclcpp/subscription.hpp

Public Types

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

template<typename CallbackMessageT, typename Alloc = std::allocator<void>> class rclcpp::Subscription< CallbackMessageT, Alloc >

Member Typedef Documentation

◆ MessageAllocTraits

◆ MessageAlloc

◆ MessageDeleter

◆ MessageUniquePtr

◆ GetMessageCallbackType

◆ MatchesAnyPublishersCallbackType

Constructor & Destructor Documentation

◆ Subscription()

Member Function Documentation

◆ set_message_memory_strategy()

◆ create_message()

◆ create_serialized_message()

◆ handle_message()

◆ return_message()

◆ return_serialized_message()

◆ handle_intra_process_message()

◆ setup_intra_process()

◆ get_intra_process_subscription_handle()

Friends And Related Function Documentation

◆ rclcpp::node_interfaces::NodeTopicsInterface

template<typename CallbackMessageT, typename Alloc = std::allocator<void>>
class rclcpp::Subscription< CallbackMessageT, Alloc >