rclcpp::experimental::SubscriptionIntraProcess< MessageT, Alloc, Deleter, CallbackMessageT > Class Template Reference

#include <subscription_intra_process.hpp>

Inheritance diagram for rclcpp::experimental::SubscriptionIntraProcess< MessageT, Alloc, Deleter, CallbackMessageT >:

Collaboration diagram for rclcpp::experimental::SubscriptionIntraProcess< MessageT, Alloc, Deleter, CallbackMessageT >:

Public Types
using	MessageAllocTraits = allocator::AllocRebind< MessageT, Alloc >
using	MessageAlloc = typename MessageAllocTraits::allocator_type
using	ConstMessageSharedPtr = std::shared_ptr< const MessageT >
using	MessageUniquePtr = std::unique_ptr< MessageT, Deleter >
using	BufferUniquePtr = typename rclcpp::experimental::buffers::IntraProcessBuffer< MessageT, Alloc, Deleter >::UniquePtr

Public Member Functions
	SubscriptionIntraProcess (AnySubscriptionCallback< CallbackMessageT, Alloc > callback, std::shared_ptr< Alloc > allocator, rclcpp::Context::SharedPtr context, const std::string &topic_name, rmw_qos_profile_t qos_profile, rclcpp::IntraProcessBufferType buffer_type)
bool	is_ready (rcl_wait_set_t *wait_set)
	Check if the Waitable is ready. More...
void	execute ()
	Execute any entities of the Waitable that are ready. More...
void	provide_intra_process_message (ConstMessageSharedPtr message)
void	provide_intra_process_message (MessageUniquePtr message)
bool	use_take_shared_method () const
Public Member Functions inherited from rclcpp::experimental::SubscriptionIntraProcessBase
	SubscriptionIntraProcessBase (const std::string &topic_name, rmw_qos_profile_t qos_profile)
virtual	~SubscriptionIntraProcessBase ()=default
size_t	get_number_of_ready_guard_conditions ()
	Get the number of ready guard_conditions. More...
bool	add_to_wait_set (rcl_wait_set_t *wait_set)
	Add the Waitable to a wait set. More...
const char *	get_topic_name () const
rmw_qos_profile_t	get_actual_qos () const
Public Member Functions inherited from rclcpp::Waitable
virtual size_t	get_number_of_ready_subscriptions ()
	Get the number of ready subscriptions. More...
virtual size_t	get_number_of_ready_timers ()
	Get the number of ready timers. More...
virtual size_t	get_number_of_ready_clients ()
	Get the number of ready clients. More...
virtual size_t	get_number_of_ready_events ()
	Get the number of ready events. More...
virtual size_t	get_number_of_ready_services ()
	Get the number of ready services. More...

Additional Inherited Members
Protected Attributes inherited from rclcpp::experimental::SubscriptionIntraProcessBase
std::recursive_mutex	reentrant_mutex_
rcl_guard_condition_t	gc_

Member Typedef Documentation

MessageAllocTraits

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

using rclcpp::experimental::SubscriptionIntraProcess< MessageT, Alloc, Deleter, CallbackMessageT >::MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>

MessageAlloc

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

using rclcpp::experimental::SubscriptionIntraProcess< MessageT, Alloc, Deleter, CallbackMessageT >::MessageAlloc = typename MessageAllocTraits::allocator_type

ConstMessageSharedPtr

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

using rclcpp::experimental::SubscriptionIntraProcess< MessageT, Alloc, Deleter, CallbackMessageT >::ConstMessageSharedPtr = std::shared_ptr<const MessageT>

MessageUniquePtr

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

using rclcpp::experimental::SubscriptionIntraProcess< MessageT, Alloc, Deleter, CallbackMessageT >::MessageUniquePtr = std::unique_ptr<MessageT, Deleter>

BufferUniquePtr

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

using rclcpp::experimental::SubscriptionIntraProcess< MessageT, Alloc, Deleter, CallbackMessageT >::BufferUniquePtr = typename rclcpp::experimental::buffers::IntraProcessBuffer< MessageT, Alloc, Deleter >::UniquePtr

Constructor & Destructor Documentation

SubscriptionIntraProcess()

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

rclcpp::experimental::SubscriptionIntraProcess< MessageT, Alloc, Deleter, CallbackMessageT >::SubscriptionIntraProcess ( AnySubscriptionCallback< CallbackMessageT, Alloc >  callback, std::shared_ptr< Alloc >  allocator, rclcpp::Context::SharedPtr  context, const std::string &  topic_name, rmw_qos_profile_t  qos_profile, rclcpp::IntraProcessBufferType  buffer_type  )

inline

Member Function Documentation

is_ready()

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

bool rclcpp::experimental::SubscriptionIntraProcess< MessageT, Alloc, Deleter, CallbackMessageT >::is_ready ( rcl_wait_set_t *  )

inlinevirtual

Check if the Waitable is ready.

The input wait set should be the same that was used in a previously call to add_to_wait_set(). The wait set should also have been previously waited on with rcl_wait().

Parameters

[in]

wait_set

A handle to the wait set the Waitable was previously added to and that has been waited on.

Returns

true if the Waitable is ready, false otherwise.

Implements rclcpp::experimental::SubscriptionIntraProcessBase.

execute()

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

void rclcpp::experimental::SubscriptionIntraProcess< MessageT, Alloc, Deleter, CallbackMessageT >::execute ( )

inlinevirtual

Execute any entities of the Waitable that are ready.

Before calling this method, the Waitable should be added to a wait set, waited on, and then updated.

Example usage:

// ... create a wait set and a Waitable
// Add the Waitable to the wait set
bool add_ret = waitable.add_to_wait_set(wait_set);
// ... error handling
// Wait
rcl_ret_t wait_ret = rcl_wait(wait_set);
// ... error handling
// Update the Waitable
waitable.update(wait_set);
// Execute any entities of the Waitable that may be ready
waitable.execute();

Implements rclcpp::experimental::SubscriptionIntraProcessBase.

provide_intra_process_message() [1/2]

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

void rclcpp::experimental::SubscriptionIntraProcess< MessageT, Alloc, Deleter, CallbackMessageT >::provide_intra_process_message ( ConstMessageSharedPtr  message )

inline

provide_intra_process_message() [2/2]

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

void rclcpp::experimental::SubscriptionIntraProcess< MessageT, Alloc, Deleter, CallbackMessageT >::provide_intra_process_message ( MessageUniquePtr  message )

inline

use_take_shared_method()

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

bool rclcpp::experimental::SubscriptionIntraProcess< MessageT, Alloc, Deleter, CallbackMessageT >::use_take_shared_method ( ) const

inlinevirtual

Implements rclcpp::experimental::SubscriptionIntraProcessBase.

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

• include/rclcpp/experimental/subscription_intra_process.hpp