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

#include <subscription.hpp>

Inheritance diagram for rclcpp::Subscription< CallbackMessageT, AllocatorT, MessageMemoryStrategyT >:

Collaboration diagram for rclcpp::Subscription< CallbackMessageT, AllocatorT, MessageMemoryStrategyT >:

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Public Types
using	MessageAllocatorTraits = allocator::AllocRebind< CallbackMessageT, AllocatorT >

using	MessageAllocator = typename MessageAllocatorTraits::allocator_type

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

using	ConstMessageSharedPtr = std::shared_ptr< const CallbackMessageT >

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

using	SubscriptionTopicStatisticsSharedPtr = std::shared_ptr< rclcpp::topic_statistics::SubscriptionTopicStatistics< CallbackMessageT > >

Public Types inherited from rclcpp::SubscriptionBase
using	IntraProcessManagerWeakPtr = std::weak_ptr< rclcpp::experimental::IntraProcessManager >

Public Member Functions
	Subscription (rclcpp::node_interfaces::NodeBaseInterface *node_base, const rosidl_message_type_support_t &type_support_handle, const std::string &topic_name, const rclcpp::QoS &qos, AnySubscriptionCallback< CallbackMessageT, AllocatorT > callback, const rclcpp::SubscriptionOptionsWithAllocator< AllocatorT > &options, typename MessageMemoryStrategyT::SharedPtr message_memory_strategy, SubscriptionTopicStatisticsSharedPtr subscription_topic_statistics=nullptr)
	Default constructor. More...

void	post_init_setup (rclcpp::node_interfaces::NodeBaseInterface *node_base, const rclcpp::QoS &qos, const rclcpp::SubscriptionOptionsWithAllocator< AllocatorT > &options)
	Called after construction to continue setup that requires shared_from_this(). More...

bool	take (CallbackMessageT &message_out, rclcpp::MessageInfo &message_info_out)
	Take the next message from the inter-process subscription. More...

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

std::shared_ptr< rclcpp::SerializedMessage >	create_serialized_message () override
	Borrow a new serialized message. More...

void	handle_message (std::shared_ptr< void > &message, const rclcpp::MessageInfo &message_info) override
	Check if we need to handle the message, and execute the callback if we do. More...

void	handle_loaned_message (void *loaned_message, const rclcpp::MessageInfo &message_info) override

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

void	return_serialized_message (std::shared_ptr< rclcpp::SerializedMessage > &message) override
	Return the borrowed serialized message. More...

bool	use_take_shared_method () const

Public Member Functions inherited from rclcpp::SubscriptionBase
	SubscriptionBase (rclcpp::node_interfaces::NodeBaseInterface *node_base, 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 ()

std::shared_ptr< const rcl_subscription_t >	get_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...

rclcpp::QoS	get_actual_qos () const
	Get the actual QoS settings, after the defaults have been determined. More...

bool	take_type_erased (void *message_out, rclcpp::MessageInfo &message_info_out)
	Take the next inter-process message from the subscription as a type erased pointer. More...

bool	take_serialized (rclcpp::SerializedMessage &message_out, rclcpp::MessageInfo &message_info_out)
	Take the next inter-process message, in its serialized form, from the subscription. More...

const rosidl_message_type_support_t &	get_message_type_support_handle () const

bool	is_serialized () const
	Return if the subscription is serialized. More...

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

bool	can_loan_messages () const
	Check if subscription instance can loan messages. More...

void	setup_intra_process (uint64_t intra_process_subscription_id, IntraProcessManagerWeakPtr weak_ipm)
	Implemenation detail. More...

rclcpp::Waitable::SharedPtr	get_intra_process_waitable () const
	Return the waitable for intra-process. More...

bool	exchange_in_use_by_wait_set_state (void *pointer_to_subscription_part, bool in_use_state)
	Exchange state of whether or not a part of the subscription is used by a wait set. More...

Public Member Functions inherited from std::enable_shared_from_this< SubscriptionBase >
T	enable_shared_from_this (T... args)

T	operator= (T... args)

T	shared_from_this (T... args)

T	~enable_shared_from_this (T... args)

Friends
class	rclcpp::node_interfaces::NodeTopicsInterface

Additional Inherited Members
Protected Member Functions inherited from rclcpp::SubscriptionBase
template<typename EventCallbackT >
void	add_event_handler (const EventCallbackT &callback, const rcl_subscription_event_type_t event_type)

void	default_incompatible_qos_callback (QOSRequestedIncompatibleQoSInfo &info) const

bool	matches_any_intra_process_publishers (const rmw_gid_t *sender_gid) const

Protected Attributes inherited from rclcpp::SubscriptionBase
rclcpp::node_interfaces::NodeBaseInterface *const	node_base_

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

template<typename CallbackMessageT, typename AllocatorT = std::allocator<void>, typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >>
class rclcpp::Subscription< CallbackMessageT, AllocatorT, MessageMemoryStrategyT >

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

Member Typedef Documentation

◆ MessageAllocatorTraits

template<typename CallbackMessageT , typename AllocatorT = std::allocator<void>, typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >>

using rclcpp::Subscription< CallbackMessageT, AllocatorT, MessageMemoryStrategyT >::MessageAllocatorTraits = allocator::AllocRebind<CallbackMessageT, AllocatorT>

◆ MessageAllocator

template<typename CallbackMessageT , typename AllocatorT = std::allocator<void>, typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >>

using rclcpp::Subscription< CallbackMessageT, AllocatorT, MessageMemoryStrategyT >::MessageAllocator = typename MessageAllocatorTraits::allocator_type

◆ MessageDeleter

template<typename CallbackMessageT , typename AllocatorT = std::allocator<void>, typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >>

using rclcpp::Subscription< CallbackMessageT, AllocatorT, MessageMemoryStrategyT >::MessageDeleter = allocator::Deleter<MessageAllocator, CallbackMessageT>

◆ ConstMessageSharedPtr

template<typename CallbackMessageT , typename AllocatorT = std::allocator<void>, typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >>

using rclcpp::Subscription< CallbackMessageT, AllocatorT, MessageMemoryStrategyT >::ConstMessageSharedPtr = std::shared_ptr<const CallbackMessageT>

◆ MessageUniquePtr

template<typename CallbackMessageT , typename AllocatorT = std::allocator<void>, typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >>

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

◆ SubscriptionTopicStatisticsSharedPtr

template<typename CallbackMessageT , typename AllocatorT = std::allocator<void>, typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >>

using rclcpp::Subscription< CallbackMessageT, AllocatorT, MessageMemoryStrategyT >::SubscriptionTopicStatisticsSharedPtr = std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<CallbackMessageT> >

Constructor & Destructor Documentation

◆ Subscription()

template<typename CallbackMessageT , typename AllocatorT = std::allocator<void>, typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >>

rclcpp::Subscription< CallbackMessageT, AllocatorT, MessageMemoryStrategyT >::Subscription	(	rclcpp::node_interfaces::NodeBaseInterface *	node_base,
		const rosidl_message_type_support_t &	type_support_handle,
		const std::string &	topic_name,
		const rclcpp::QoS &	qos,
		AnySubscriptionCallback< CallbackMessageT, AllocatorT >	callback,
		const rclcpp::SubscriptionOptionsWithAllocator< AllocatorT > &	options,
		typename MessageMemoryStrategyT::SharedPtr	message_memory_strategy,
		SubscriptionTopicStatisticsSharedPtr	subscription_topic_statistics = `nullptr`
	)

inline

Default constructor.

The constructor for a subscription is almost never called directly. Instead, subscriptions should be instantiated through the function rclcpp::create_subscription().

Parameters

[in]	node_base	NodeBaseInterface pointer that is used in part of the setup.
[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]	qos	QoS profile for Subcription.
[in]	callback	User defined callback to call when a message is received.
[in]	options	options for the subscription.
[in]	message_memory_strategy	The memory strategy to be used for managing message memory.
[in]	subscription_topic_statistics	Optional pointer to a topic statistics subcription.

Exceptions

std::invalid_argument if the QoS is uncompatible with intra-process (if one of the following conditions are true: qos_profile.history == RMW_QOS_POLICY_HISTORY_KEEP_ALL, qos_profile.depth == 0 or qos_profile.durability != RMW_QOS_POLICY_DURABILITY_VOLATILE).

Member Function Documentation

◆ post_init_setup()

template<typename CallbackMessageT , typename AllocatorT = std::allocator<void>, typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >>

void rclcpp::Subscription< CallbackMessageT, AllocatorT, MessageMemoryStrategyT >::post_init_setup	(	rclcpp::node_interfaces::NodeBaseInterface *	node_base,
		const rclcpp::QoS &	qos,
		const rclcpp::SubscriptionOptionsWithAllocator< AllocatorT > &	options
	)

inline

Called after construction to continue setup that requires shared_from_this().

◆ take()

template<typename CallbackMessageT , typename AllocatorT = std::allocator<void>, typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >>

bool rclcpp::Subscription< CallbackMessageT, AllocatorT, MessageMemoryStrategyT >::take	(	CallbackMessageT &	message_out,
		rclcpp::MessageInfo &	message_info_out
	)

inline

Take the next message from the inter-process subscription.

Data may be taken (written) into the message_out and message_info_out even if false is returned. Specifically in the case of dropping redundant intra-process data, where data is received via both intra-process and inter-process (due to the underlying middleware being unabled to avoid this duplicate delivery) and so inter-process data from those intra-process publishers is ignored, but it has to be taken to know if it came from an intra-process publisher or not, and therefore could be dropped.

See also: SubscriptionBase::take_type_erased()

Parameters

[out]	message_out	The message into which take will copy the data.
[out]	message_info_out	The message info for the taken message.

Returns: true if data was taken and is valid, otherwise false

Exceptions

any	rcl errors from rcl_take,

See also: rclcpp::exceptions::throw_from_rcl_error()

◆ create_message()

template<typename CallbackMessageT , typename AllocatorT = std::allocator<void>, typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >>

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

inlineoverridevirtual

Borrow a new message.

Returns: Shared pointer to the fresh message.

Implements rclcpp::SubscriptionBase.

◆ create_serialized_message()

template<typename CallbackMessageT , typename AllocatorT = std::allocator<void>, typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >>

std::shared_ptr<rclcpp::SerializedMessage> rclcpp::Subscription< CallbackMessageT, AllocatorT, MessageMemoryStrategyT >::create_serialized_message ( )

inlineoverridevirtual

Borrow a new serialized message.

Returns: Shared pointer to a rcl_message_serialized_t.

Implements rclcpp::SubscriptionBase.

◆ handle_message()

template<typename CallbackMessageT , typename AllocatorT = std::allocator<void>, typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >>

void rclcpp::Subscription< CallbackMessageT, AllocatorT, MessageMemoryStrategyT >::handle_message	(	std::shared_ptr< void > &	message,
		const rclcpp::MessageInfo &	message_info
	)

inlineoverridevirtual

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.

◆ handle_loaned_message()

template<typename CallbackMessageT , typename AllocatorT = std::allocator<void>, typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >>

void rclcpp::Subscription< CallbackMessageT, AllocatorT, MessageMemoryStrategyT >::handle_loaned_message	(	void *	loaned_message,
		const rclcpp::MessageInfo &	message_info
	)

inlineoverridevirtual

Implements rclcpp::SubscriptionBase.

◆ return_message()

template<typename CallbackMessageT , typename AllocatorT = std::allocator<void>, typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >>

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

inlineoverridevirtual

Return the borrowed message.

Parameters

[in,out] message message to be returned

Implements rclcpp::SubscriptionBase.

◆ return_serialized_message()

template<typename CallbackMessageT , typename AllocatorT = std::allocator<void>, typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >>

void rclcpp::Subscription< CallbackMessageT, AllocatorT, MessageMemoryStrategyT >::return_serialized_message ( std::shared_ptr< rclcpp::SerializedMessage > & message )

inlineoverridevirtual

Return the borrowed serialized message.

Parameters

[in,out] message serialized message to be returned

Implements rclcpp::SubscriptionBase.

◆ use_take_shared_method()

template<typename CallbackMessageT , typename AllocatorT = std::allocator<void>, typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >>

bool rclcpp::Subscription< CallbackMessageT, AllocatorT, MessageMemoryStrategyT >::use_take_shared_method ( ) const

inline

Friends And Related Function Documentation

◆ rclcpp::node_interfaces::NodeTopicsInterface

template<typename CallbackMessageT , typename AllocatorT = std::allocator<void>, typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >>

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 AllocatorT = std::allocator<void>, typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >> class rclcpp::Subscription< CallbackMessageT, AllocatorT, MessageMemoryStrategyT >

Member Typedef Documentation

◆ MessageAllocatorTraits

◆ MessageAllocator

◆ MessageDeleter

◆ ConstMessageSharedPtr

◆ MessageUniquePtr

◆ SubscriptionTopicStatisticsSharedPtr

Constructor & Destructor Documentation

◆ Subscription()

Member Function Documentation

◆ post_init_setup()

◆ take()

◆ create_message()

◆ create_serialized_message()

◆ handle_message()

◆ handle_loaned_message()

◆ return_message()

◆ return_serialized_message()

◆ use_take_shared_method()

Friends And Related Function Documentation

◆ rclcpp::node_interfaces::NodeTopicsInterface

template<typename CallbackMessageT, typename AllocatorT = std::allocator<void>, typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >>
class rclcpp::Subscription< CallbackMessageT, AllocatorT, MessageMemoryStrategyT >