#include <subscription.hpp>
Inheritance diagram for rclcpp::SubscriptionBase:
Collaboration 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, 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 |
| virtual const std::shared_ptr< rcl_subscription_t > | get_intra_process_subscription_handle () const |
| virtual std::shared_ptr< void > | create_message ()=0 |
| Borrow a new message. More... | |
| virtual std::shared_ptr< rcl_serialized_message_t > | create_serialized_message ()=0 |
| Borrow a new serialized 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 | return_serialized_message (std::shared_ptr< rcl_serialized_message_t > &message)=0 |
| Return the message borrowed in create_serialized_message. More... | |
| virtual void | handle_intra_process_message (rcl_interfaces::msg::IntraProcessMessage &ipm, const rmw_message_info_t &message_info)=0 |
| const rosidl_message_type_support_t & | get_message_type_support_handle () const |
| bool | is_serialized () const |
Protected Attributes | |
| 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
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, | ||
| bool | is_serialized = false |
||
| ) |
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. [in] is_serialized is true if the message will be delivered still serialized
◆ ~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]
| std::shared_ptr<rcl_subscription_t> rclcpp::SubscriptionBase::get_subscription_handle | ( | ) |
◆ get_subscription_handle() [2/2]
| const std::shared_ptr<rcl_subscription_t> rclcpp::SubscriptionBase::get_subscription_handle | ( | ) | const |
◆ get_intra_process_subscription_handle()
|
virtual |
Reimplemented in rclcpp::Subscription< CallbackMessageT, Alloc >.
◆ create_message()
|
pure virtual |
Borrow a new message.
- Returns
- Shared pointer to the fresh message.
Implemented in rclcpp::Subscription< CallbackMessageT, Alloc >.
◆ create_serialized_message()
|
pure virtual |
Borrow a new serialized message.
- Returns
- Shared pointer to a rcl_message_serialized_t.
Implemented in rclcpp::Subscription< CallbackMessageT, Alloc >.
◆ handle_message()
|
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< CallbackMessageT, Alloc >.
◆ return_message()
|
pure virtual |
Return the message borrowed in create_message.
- Parameters
-
[in] message Shared pointer to the returned message.
Implemented in rclcpp::Subscription< CallbackMessageT, Alloc >.
◆ return_serialized_message()
|
pure virtual |
Return the message borrowed in create_serialized_message.
- Parameters
-
[in] message Shared pointer to the returned message.
Implemented in rclcpp::Subscription< CallbackMessageT, Alloc >.
◆ handle_intra_process_message()
|
pure virtual |
Implemented in rclcpp::Subscription< CallbackMessageT, Alloc >.
◆ get_message_type_support_handle()
| const rosidl_message_type_support_t& rclcpp::SubscriptionBase::get_message_type_support_handle | ( | ) | const |
◆ is_serialized()
| bool rclcpp::SubscriptionBase::is_serialized | ( | ) | const |
Member Data Documentation
◆ intra_process_subscription_handle_
|
protected |
◆ subscription_handle_
|
protected |
◆ node_handle_
|
protected |
The documentation for this class was generated from the following file:
- include/rclcpp/subscription.hpp
