Inheritance diagram for rclcpp::experimental::SubscriptionIntraProcess< MessageT, SubscribedType, SubscribedTypeAlloc, SubscribedTypeDeleter, ROSMessageType, Alloc >:
Collaboration diagram for rclcpp::experimental::SubscriptionIntraProcess< MessageT, SubscribedType, SubscribedTypeAlloc, SubscribedTypeDeleter, ROSMessageType, Alloc >:
Public Types | |
| using | MessageAllocTraits = typename SubscriptionIntraProcessBufferT::SubscribedTypeAllocatorTraits |
| using | MessageAlloc = typename SubscriptionIntraProcessBufferT::SubscribedTypeAllocator |
| using | ConstMessageSharedPtr = typename SubscriptionIntraProcessBufferT::ConstDataSharedPtr |
| using | MessageUniquePtr = typename SubscriptionIntraProcessBufferT::SubscribedTypeUniquePtr |
| using | BufferUniquePtr = typename SubscriptionIntraProcessBufferT::BufferUniquePtr |
 Public Types inherited from rclcpp::experimental::SubscriptionIntraProcessBuffer< SubscribedType, std::allocator< SubscribedType >, std::default_delete< SubscribedType >, SubscribedType > | |
| using | SubscribedTypeAllocatorTraits = allocator::AllocRebind< SubscribedType, std::allocator< SubscribedType > > |
| using | SubscribedTypeAllocator = typename SubscribedTypeAllocatorTraits::allocator_type |
| using | SubscribedTypeDeleter = allocator::Deleter< SubscribedTypeAllocator, SubscribedType > |
| using | ROSMessageTypeAllocatorTraits = allocator::AllocRebind< SubscribedType, std::allocator< SubscribedType > > |
| using | ROSMessageTypeAllocator = typename ROSMessageTypeAllocatorTraits::allocator_type |
| using | ROSMessageTypeDeleter = allocator::Deleter< ROSMessageTypeAllocator, SubscribedType > |
| using | ConstMessageSharedPtr = std::shared_ptr< const SubscribedType > |
| using | MessageUniquePtr = std::unique_ptr< SubscribedType, ROSMessageTypeDeleter > |
| using | ConstDataSharedPtr = std::shared_ptr< const SubscribedType > |
| using | SubscribedTypeUniquePtr = std::unique_ptr< SubscribedType, SubscribedTypeDeleter > |
| using | BufferUniquePtr = typename rclcpp::experimental::buffers::IntraProcessBuffer< SubscribedType, std::allocator< SubscribedType >, SubscribedTypeDeleter >::UniquePtr |
| Public Types inherited from rclcpp::experimental::SubscriptionROSMsgIntraProcessBuffer< SubscribedType, allocator::AllocRebind< SubscribedType, std::allocator< SubscribedType > >::allocator_type, allocator::Deleter< allocator::AllocRebind< SubscribedType, std::allocator< SubscribedType > >::allocator_type, SubscribedType > > | |
| using | ROSMessageTypeAllocatorTraits = allocator::AllocRebind< SubscribedType, allocator::AllocRebind< SubscribedType, std::allocator< SubscribedType > >::allocator_type > |
| using | ROSMessageTypeAllocator = typename ROSMessageTypeAllocatorTraits::allocator_type |
| using | ROSMessageTypeDeleter = allocator::Deleter< ROSMessageTypeAllocator, SubscribedType > |
| using | ConstMessageSharedPtr = std::shared_ptr< const SubscribedType > |
| using | MessageUniquePtr = std::unique_ptr< SubscribedType, ROSMessageTypeDeleter > |
| Public Types inherited from rclcpp::experimental::SubscriptionIntraProcessBase | |
| enum class | EntityType : std::size_t { Subscription } |
Public Member Functions | |
| SubscriptionIntraProcess (AnySubscriptionCallback< MessageT, Alloc > callback, std::shared_ptr< Alloc > allocator, rclcpp::Context::SharedPtr context, const std::string &topic_name, const rclcpp::QoS &qos_profile, rclcpp::IntraProcessBufferType buffer_type) | |
| std::shared_ptr< void > | take_data () override |
Take the data so that it can be consumed with execute. More... | |
| void | execute (std::shared_ptr< void > &data) override |
| Execute data that is passed in. More... | |
| Public Member Functions inherited from rclcpp::experimental::SubscriptionIntraProcessBuffer< SubscribedType, std::allocator< SubscribedType >, std::default_delete< SubscribedType >, SubscribedType > | |
| SubscriptionIntraProcessBuffer (std::shared_ptr< std::allocator< SubscribedType > > allocator, rclcpp::Context::SharedPtr context, const std::string &topic_name, const rclcpp::QoS &qos_profile, rclcpp::IntraProcessBufferType buffer_type) | |
| bool | is_ready (rcl_wait_set_t *wait_set) override |
| Check if the Waitable is ready. More... | |
| SubscribedTypeUniquePtr | convert_ros_message_to_subscribed_type_unique_ptr (const SubscribedType &msg) |
| void | provide_intra_process_message (ConstMessageSharedPtr message) override |
| void | provide_intra_process_message (MessageUniquePtr message) override |
| void | provide_intra_process_data (ConstDataSharedPtr message) |
| void | provide_intra_process_data (SubscribedTypeUniquePtr message) |
| bool | use_take_shared_method () const override |
| Public Member Functions inherited from rclcpp::experimental::SubscriptionROSMsgIntraProcessBuffer< SubscribedType, allocator::AllocRebind< SubscribedType, std::allocator< SubscribedType > >::allocator_type, allocator::Deleter< allocator::AllocRebind< SubscribedType, std::allocator< SubscribedType > >::allocator_type, SubscribedType > > | |
| SubscriptionROSMsgIntraProcessBuffer (rclcpp::Context::SharedPtr context, const std::string &topic_name, const rclcpp::QoS &qos_profile) | |
| Public Member Functions inherited from rclcpp::experimental::SubscriptionIntraProcessBase | |
| RCLCPP_PUBLIC | SubscriptionIntraProcessBase (rclcpp::Context::SharedPtr context, const std::string &topic_name, const rclcpp::QoS &qos_profile) |
| RCLCPP_PUBLIC size_t | get_number_of_ready_guard_conditions () override |
| Get the number of ready guard_conditions. More... | |
| RCLCPP_PUBLIC void | add_to_wait_set (rcl_wait_set_t *wait_set) override |
| Add the Waitable to a wait set. More... | |
| std::shared_ptr< void > | take_data_by_entity_id (size_t id) override |
Take the data so that it can be consumed with execute. More... | |
| RCLCPP_PUBLIC const char * | get_topic_name () const |
| RCLCPP_PUBLIC QoS | get_actual_qos () const |
| void | set_on_ready_callback (std::function< void(size_t, int)> callback) override |
| Set a callback to be called when each new message arrives. More... | |
| void | clear_on_ready_callback () override |
| Unset the callback registered for new messages, if any. | |
| Public Member Functions inherited from rclcpp::Waitable | |
| virtual RCLCPP_PUBLIC size_t | get_number_of_ready_subscriptions () |
| Get the number of ready subscriptions. More... | |
| virtual RCLCPP_PUBLIC size_t | get_number_of_ready_timers () |
| Get the number of ready timers. More... | |
| virtual RCLCPP_PUBLIC size_t | get_number_of_ready_clients () |
| Get the number of ready clients. More... | |
| virtual RCLCPP_PUBLIC size_t | get_number_of_ready_events () |
| Get the number of ready events. More... | |
| virtual RCLCPP_PUBLIC size_t | get_number_of_ready_services () |
| Get the number of ready services. More... | |
| RCLCPP_PUBLIC bool | exchange_in_use_by_wait_set_state (bool in_use_state) |
| Exchange the "in use by wait set" state for this timer. More... | |
Protected Member Functions | |
| template<typename T > | |
| std::enable_if< std::is_same< T, rcl_serialized_message_t >::value, void >::type | execute_impl (std::shared_ptr< void > &data) |
| template<class T > | |
| std::enable_if<!std::is_same< T, rcl_serialized_message_t >::value, void >::type | execute_impl (std::shared_ptr< void > &data) |
| Protected Member Functions inherited from rclcpp::experimental::SubscriptionIntraProcessBuffer< SubscribedType, std::allocator< SubscribedType >, std::default_delete< SubscribedType >, SubscribedType > | |
| void | trigger_guard_condition () override |
| Protected Member Functions inherited from rclcpp::experimental::SubscriptionIntraProcessBase | |
| void | invoke_on_new_message () |
Protected Attributes | |
| AnySubscriptionCallback< MessageT, Alloc > | any_callback_ |
| Protected Attributes inherited from rclcpp::experimental::SubscriptionIntraProcessBuffer< SubscribedType, std::allocator< SubscribedType >, std::default_delete< SubscribedType >, SubscribedType > | |
| BufferUniquePtr | buffer_ |
| SubscribedTypeAllocator | subscribed_type_allocator_ |
| SubscribedTypeDeleter | subscribed_type_deleter_ |
| Protected Attributes inherited from rclcpp::experimental::SubscriptionIntraProcessBase | |
| std::recursive_mutex | callback_mutex_ |
| std::function< void(size_t)> | on_new_message_callback_ {nullptr} |
| size_t | unread_count_ {0} |
| rclcpp::GuardCondition | gc_ |
Detailed Description
template<typename MessageT, typename SubscribedType, typename SubscribedTypeAlloc = std::allocator<SubscribedType>, typename SubscribedTypeDeleter = std::default_delete<SubscribedType>, typename ROSMessageType = SubscribedType, typename Alloc = std::allocator<void>>
class rclcpp::experimental::SubscriptionIntraProcess< MessageT, SubscribedType, SubscribedTypeAlloc, SubscribedTypeDeleter, ROSMessageType, Alloc >
Definition at line 49 of file subscription_intra_process.hpp.
Member Function Documentation
◆ execute()
template<typename MessageT , typename SubscribedType , typename SubscribedTypeAlloc = std::allocator<SubscribedType>, typename SubscribedTypeDeleter = std::default_delete<SubscribedType>, typename ROSMessageType = SubscribedType, typename Alloc = std::allocator<void>>
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inlineoverridevirtual |
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
waitable.add_to_wait_set(wait_set);
// Wait
// ... 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);
RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t rcl_wait(rcl_wait_set_t *wait_set, int64_t timeout)
Block until the wait set is ready or until the timeout has been exceeded.
Definition: wait.c:522
Implements rclcpp::experimental::SubscriptionIntraProcessBase.
Definition at line 135 of file subscription_intra_process.hpp.
◆ take_data()
template<typename MessageT , typename SubscribedType , typename SubscribedTypeAlloc = std::allocator<SubscribedType>, typename SubscribedTypeDeleter = std::default_delete<SubscribedType>, typename ROSMessageType = SubscribedType, typename Alloc = std::allocator<void>>
|
inlineoverridevirtual |
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
waitable.add_to_wait_set(wait_set);
// Wait
// ... 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.
Definition at line 105 of file subscription_intra_process.hpp.
The documentation for this class was generated from the following file:
- rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp
