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)
	~SubscriptionIntraProcess ()
bool	is_ready (rcl_wait_set_t *wait_set)
	Check if the Waitable is ready. More...
std::shared_ptr< void >	take_data ()
	Take the data so that it can be consumed with execute. More...
void	execute (std::shared_ptr< void > &data)
	Execute data that is passed in. 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	~Waitable ()=default
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...
bool	exchange_in_use_by_wait_set_state (bool in_use_state)
	Exchange the "in use by wait set" state for this timer. 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

~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 ( )

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 *  wait_set )

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.

take_data()

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

std::shared_ptr<void> rclcpp::experimental::SubscriptionIntraProcess< MessageT, Alloc, Deleter, CallbackMessageT >::take_data ( )

inlinevirtual

Take the data so that it can be consumed with execute.

NOTE: take_data is a partial fix to a larger design issue with the multithreaded executor. This method is likely to be removed when a more permanent fix is implemented. A longterm fix is currently being discussed here: https://github.com/ros2/rclcpp/pull/1276

This method takes the data from the underlying data structure and writes it to the void shared pointer data that is passed into the method. The data can then be executed with the execute method.

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
std::shared_ptr<void> data = waitable.take_data();

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 ( std::shared_ptr< void > &  data )

inlinevirtual

Execute data that is passed in.

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

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
std::shared_ptr<void> data = waitable.take_data();
waitable.execute(data);

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