#include <subscription_base.hpp>

Inheritance diagram for rclcpp::SubscriptionBase:

Collaboration diagram for rclcpp::SubscriptionBase:

[legend]

Public Types
using	IntraProcessManagerWeakPtr = std::weak_ptr< rclcpp::intra_process_manager::IntraProcessManager >

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

const std::vector< std::shared_ptr< rclcpp::QOSEventHandlerBase > > &	get_event_handlers () const
	Get all the QoS event handlers associated with this subscription. More...

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

size_t	get_publisher_count () const
	Get matching publisher count. More...

void	setup_intra_process (uint64_t intra_process_subscription_id, IntraProcessManagerWeakPtr weak_ipm, const rcl_subscription_options_t &intra_process_options)
	Implemenation detail. More...

Protected Member Functions
template<typename EventCallbackT >
void	add_event_handler (const EventCallbackT &callback, const rcl_subscription_event_type_t event_type)

Protected Attributes
std::shared_ptr< rcl_node_t >	node_handle_

std::shared_ptr< rcl_subscription_t >	subscription_handle_

std::shared_ptr< rcl_subscription_t >	intra_process_subscription_handle_

std::vector< std::shared_ptr< rclcpp::QOSEventHandlerBase > >	event_handlers_

bool	use_intra_process_

IntraProcessManagerWeakPtr	weak_ipm_

uint64_t	intra_process_subscription_id_

Detailed Description

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

Member Typedef Documentation

◆ IntraProcessManagerWeakPtr

using rclcpp::SubscriptionBase::IntraProcessManagerWeakPtr = std::weak_ptr<rclcpp::intra_process_manager::IntraProcessManager>

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 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]

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 const std::shared_ptr<rcl_subscription_t> rclcpp::SubscriptionBase::get_intra_process_subscription_handle ( ) const

virtual

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

◆ get_event_handlers()

const std::vector<std::shared_ptr<rclcpp::QOSEventHandlerBase> >& rclcpp::SubscriptionBase::get_event_handlers ( ) const

Get all the QoS event handlers associated with this subscription.

Returns: The vector of QoS event handlers.

◆ 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< CallbackMessageT, Alloc >.

◆ create_serialized_message()

virtual std::shared_ptr<rcl_serialized_message_t> rclcpp::SubscriptionBase::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()

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< CallbackMessageT, 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< CallbackMessageT, Alloc >.

◆ return_serialized_message()

virtual void rclcpp::SubscriptionBase::return_serialized_message ( std::shared_ptr< rcl_serialized_message_t > & 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()

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< 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

◆ get_publisher_count()

size_t rclcpp::SubscriptionBase::get_publisher_count ( ) const

Get matching publisher count.

Returns: The number of publishers on this topic.

◆ setup_intra_process()

void rclcpp::SubscriptionBase::setup_intra_process	(	uint64_t	intra_process_subscription_id,
		IntraProcessManagerWeakPtr	weak_ipm,
		const rcl_subscription_options_t &	intra_process_options
	)

Implemenation detail.

◆ add_event_handler()

template<typename EventCallbackT >

void rclcpp::SubscriptionBase::add_event_handler	(	const EventCallbackT &	callback,
		const rcl_subscription_event_type_t	event_type
	)

inlineprotected

Member Data Documentation

◆ node_handle_

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

protected

◆ subscription_handle_

std::shared_ptr<rcl_subscription_t> rclcpp::SubscriptionBase::subscription_handle_

protected

◆ intra_process_subscription_handle_

std::shared_ptr<rcl_subscription_t> rclcpp::SubscriptionBase::intra_process_subscription_handle_

protected

◆ event_handlers_

std::vector<std::shared_ptr<rclcpp::QOSEventHandlerBase> > rclcpp::SubscriptionBase::event_handlers_

protected

◆ use_intra_process_

bool rclcpp::SubscriptionBase::use_intra_process_

protected

◆ weak_ipm_

IntraProcessManagerWeakPtr rclcpp::SubscriptionBase::weak_ipm_

protected

◆ intra_process_subscription_id_

uint64_t rclcpp::SubscriptionBase::intra_process_subscription_id_

protected

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

include/rclcpp/subscription_base.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ IntraProcessManagerWeakPtr

Constructor & Destructor Documentation

◆ SubscriptionBase()

◆ ~SubscriptionBase()

Member Function Documentation

◆ get_topic_name()

◆ get_subscription_handle() [1/2]

◆ get_subscription_handle() [2/2]

◆ get_intra_process_subscription_handle()

◆ get_event_handlers()

◆ create_message()

◆ create_serialized_message()

◆ handle_message()

◆ return_message()

◆ return_serialized_message()

◆ handle_intra_process_message()

◆ get_message_type_support_handle()

◆ is_serialized()

◆ get_publisher_count()

◆ setup_intra_process()

◆ add_event_handler()

Member Data Documentation

◆ node_handle_

◆ subscription_handle_

◆ intra_process_subscription_handle_

◆ event_handlers_

◆ use_intra_process_

◆ weak_ipm_

◆ intra_process_subscription_id_