Subscription for serialized messages whose type is not known at compile time. More...

#include <rclcpp/generic_subscription.hpp>

Inheritance diagram for rclcpp::GenericSubscription:

Collaboration diagram for rclcpp::GenericSubscription:

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Public Member Functions
template<typename AllocatorT = std::allocator<void>>
	GenericSubscription (rclcpp::node_interfaces::NodeBaseInterface *node_base, const std::shared_ptr< rcpputils::SharedLibrary > ts_lib, const std::string &topic_name, const std::string &topic_type, const rclcpp::QoS &qos, AnySubscriptionCallback< rclcpp::SerializedMessage, AllocatorT > callback, const rclcpp::SubscriptionOptionsWithAllocator< AllocatorT > &options)
	Constructor. More...

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

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

RCLCPP_PUBLIC void	disable_callbacks () override
	Disable callbacks from being called. More...

RCLCPP_PUBLIC void	enable_callbacks () override
	Enable the callbacks to be called. More...

RCLCPP_PUBLIC void	handle_message (std::shared_ptr< void > &message, const rclcpp::MessageInfo &message_info) override
	Cast the message to a rclcpp::SerializedMessage and call the callback.

RCLCPP_PUBLIC void	handle_serialized_message (const std::shared_ptr< rclcpp::SerializedMessage > &serialized_message, const rclcpp::MessageInfo &message_info) override
	Handle dispatching rclcpp::SerializedMessage to user callback.

RCLCPP_PUBLIC void	handle_loaned_message (void *loaned_message, const rclcpp::MessageInfo &message_info) override
	This function is currently not implemented.

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

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

RCLCPP_PUBLIC rclcpp::dynamic_typesupport::DynamicMessageType::SharedPtr	get_shared_dynamic_message_type () override

RCLCPP_PUBLIC rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr	get_shared_dynamic_message () override

RCLCPP_PUBLIC rclcpp::dynamic_typesupport::DynamicSerializationSupport::SharedPtr	get_shared_dynamic_serialization_support () override

RCLCPP_PUBLIC rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr	create_dynamic_message () override
	Borrow a new serialized message (this clones!) More...

RCLCPP_PUBLIC void	return_dynamic_message (rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr &message) override

RCLCPP_PUBLIC void	handle_dynamic_message (const rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr &message, const rclcpp::MessageInfo &message_info) override

Public Member Functions inherited from rclcpp::SubscriptionBase
RCLCPP_PUBLIC	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, const SubscriptionEventCallbacks &event_callbacks, bool use_default_callbacks, DeliveredMessageKind delivered_message_kind=DeliveredMessageKind::ROS_MESSAGE)
	Constructor. More...

virtual RCLCPP_PUBLIC	~SubscriptionBase ()
	Destructor.

RCLCPP_PUBLIC void	bind_event_callbacks (const SubscriptionEventCallbacks &event_callbacks, bool use_default_callbacks)
	Add event handlers for passed in event_callbacks.

RCLCPP_PUBLIC const char *	get_topic_name () const
	Get the topic that this subscription is subscribed on.

RCLCPP_PUBLIC std::shared_ptr< rcl_subscription_t >	get_subscription_handle ()

RCLCPP_PUBLIC std::shared_ptr< const rcl_subscription_t >	get_subscription_handle () const

RCLCPP_PUBLIC const std::unordered_map< rcl_subscription_event_type_t, std::shared_ptr< rclcpp::EventHandlerBase > > &	get_event_handlers () const
	Get all the QoS event handlers associated with this subscription. More...

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

RCLCPP_PUBLIC 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...

RCLCPP_PUBLIC 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...

RCLCPP_PUBLIC const rosidl_message_type_support_t &	get_message_type_support_handle () const

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

RCLCPP_PUBLIC DeliveredMessageKind	get_delivered_message_kind () const
	Return the delivered message kind. More...

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

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

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

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

RCLCPP_PUBLIC 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...

RCLCPP_PUBLIC std::vector< rclcpp::NetworkFlowEndpoint >	get_network_flow_endpoints () const
	Get network flow endpoints. More...

void	set_on_new_message_callback (const std::function< void(size_t)> &callback)
	Set a callback to be called when each new message is received. More...

void	clear_on_new_message_callback ()
	Unset the callback registered for new messages, if any.

void	set_on_new_intra_process_message_callback (const std::function< void(size_t)> &callback)
	Set a callback to be called when each new intra-process message is received. More...

void	clear_on_new_intra_process_message_callback ()
	Unset the callback registered for new intra-process messages, if any.

void	set_on_new_qos_event_callback (const std::function< void(size_t)> &callback, rcl_subscription_event_type_t event_type)
	Set a callback to be called when each new qos event instance occurs. More...

void	clear_on_new_qos_event_callback (rcl_subscription_event_type_t event_type)
	Unset the callback registered for new qos events, if any.

RCLCPP_PUBLIC bool	is_cft_supported () const
	Check if content filtered topic feature of the subscription instance is supported. More...

RCLCPP_PUBLIC bool	is_cft_enabled () const
	Check if content filtered topic feature of the subscription instance is enabled. More...

RCLCPP_PUBLIC void	set_content_filter (const std::string &filter_expression, const std::vector< std::string > &expression_parameters={})
	Set the filter expression and expression parameters for the subscription. More...

RCLCPP_PUBLIC rclcpp::ContentFilterOptions	get_content_filter () const
	Get the filter expression and expression parameters for the subscription. More...

RCLCPP_PUBLIC bool	take_dynamic_message (rclcpp::dynamic_typesupport::DynamicMessage &message_out, rclcpp::MessageInfo &message_info_out)

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

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)

RCLCPP_PUBLIC void	default_incompatible_qos_callback (QOSRequestedIncompatibleQoSInfo &info) const

RCLCPP_PUBLIC void	default_incompatible_type_callback (IncompatibleTypeInfo &info) const

RCLCPP_PUBLIC bool	matches_any_intra_process_publishers (const rmw_gid_t *sender_gid) const

RCLCPP_PUBLIC void	set_on_new_message_callback (rcl_event_callback_t callback, const void *user_data)

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

std::shared_ptr< rcl_node_t >	node_handle_

std::recursive_mutex	on_new_message_callback_mutex_

std::function< void(size_t)>	on_new_message_callback_ {nullptr}

std::shared_ptr< rcl_subscription_t >	subscription_handle_

std::shared_ptr< rcl_subscription_t >	intra_process_subscription_handle_

rclcpp::Logger	node_logger_

std::unordered_map< rcl_subscription_event_type_t, std::shared_ptr< rclcpp::EventHandlerBase > >	event_handlers_

bool	use_intra_process_

IntraProcessManagerWeakPtr	weak_ipm_

uint64_t	intra_process_subscription_id_

std::shared_ptr< rclcpp::experimental::SubscriptionIntraProcessBase >	subscription_intra_process_

const SubscriptionEventCallbacks	event_callbacks_

Detailed Description

Subscription for serialized messages whose type is not known at compile time.

Since the type is not known at compile time, this is not a template, and the dynamic library containing type support information has to be identified and loaded based on the type name.

It does not support intra-process handling.

Definition at line 45 of file generic_subscription.hpp.

Constructor & Destructor Documentation

◆ GenericSubscription()

template<typename AllocatorT = std::allocator<void>>

rclcpp::GenericSubscription::GenericSubscription	(	rclcpp::node_interfaces::NodeBaseInterface *	node_base,
		const std::shared_ptr< rcpputils::SharedLibrary >	ts_lib,
		const std::string &	topic_name,
		const std::string &	topic_type,
		const rclcpp::QoS &	qos,
		AnySubscriptionCallback< rclcpp::SerializedMessage, AllocatorT >	callback,
		const rclcpp::SubscriptionOptionsWithAllocator< AllocatorT > &	options
	)

inline

Constructor.

In order to properly subscribe to a topic, this subscription needs to be added to the node_topic_interface of the node passed into this constructor.

See also: rclcpp::Node::create_generic_subscription() or rclcpp::create_generic_subscription() for creating an instance of this class and adding it to the node_topic_interface.

Parameters

node_base	Pointer to parent node's NodeBaseInterface
ts_lib	Type support library, needs to correspond to topic_type
topic_name	Topic name
topic_type	Topic type
qos	QoS settings
callback	Callback for new messages of serialized form
options	Subscription options. Not all subscription options are currently respected, the only relevant options for this subscription are `event_callbacks`, `use_default_callbacks`, `ignore_local_publications`, and `callback_group`.

Definition at line 71 of file generic_subscription.hpp.

Member Function Documentation

◆ create_dynamic_message()

rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr rclcpp::GenericSubscription::create_dynamic_message ( )

overridevirtual

Borrow a new serialized message (this clones!)

Returns: Shared pointer to a rclcpp::dynamic_typesupport::DynamicMessage.

Implements rclcpp::SubscriptionBase.

Definition at line 129 of file generic_subscription.cpp.

◆ create_message()

std::shared_ptr< void > rclcpp::GenericSubscription::create_message ( )

overridevirtual

Borrow a new message.

Returns: Shared pointer to the fresh message.

Implements rclcpp::SubscriptionBase.

Definition at line 29 of file generic_subscription.cpp.

References create_serialized_message().

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◆ create_serialized_message()

std::shared_ptr< rclcpp::SerializedMessage > rclcpp::GenericSubscription::create_serialized_message ( )

overridevirtual

Borrow a new serialized message.

Returns: Shared pointer to a rcl_message_serialized_t.

Implements rclcpp::SubscriptionBase.

Definition at line 35 of file generic_subscription.cpp.

Referenced by create_message().

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◆ disable_callbacks()

void rclcpp::GenericSubscription::disable_callbacks ( )

overridevirtual

Disable callbacks from being called.

This method will block, until any subscription's callbacks provided during construction currently being executed are finished.

Note: This method also temporary removes the on new message callback and all on new event callbacks from the rmw layer to prevent them from being called. However, this method will not block and wait until the currently executing on_new_[message]event callbacks are finished.

Reimplemented from rclcpp::SubscriptionBase.

Definition at line 41 of file generic_subscription.cpp.

References rclcpp::AnySubscriptionCallback< MessageT, AllocatorT >::disable(), and rclcpp::SubscriptionBase::disable_callbacks().

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