Inheritance diagram for rclcpp::experimental::SubscriptionIntraProcess< MessageT, SubscribedType, SubscribedTypeAlloc, SubscribedTypeDeleter, ROSMessageType, Alloc >:

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Collaboration diagram for rclcpp::experimental::SubscriptionIntraProcess< MessageT, SubscribedType, SubscribedTypeAlloc, SubscribedTypeDeleter, ROSMessageType, Alloc >:

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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)

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 () override
	Take the data so that it can be consumed with `execute`. More...

void	execute (const 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)

void	add_to_wait_set (rcl_wait_set_t &wait_set) override
	Add the Waitable to a wait set. More...

bool	is_ready ([[maybe_unused]] const rcl_wait_set_t &wait_set) override

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

size_t	available_capacity () 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 bool	is_durability_transient_local () const

bool	is_ready (const rcl_wait_set_t &wait_set) override=0
	Check if the Waitable is ready. More...

std::shared_ptr< void >	take_data_by_entity_id ([[maybe_unused]] size_t id) override

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.

RCLCPP_PUBLIC std::vector< std::shared_ptr< rclcpp::TimerBase > >	get_timers () const override
	Returns all timers used by this waitable. More...

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...

virtual RCLCPP_PUBLIC std::shared_ptr< void >	take_data_by_entity_id (size_t id)=0
	Take the data so that it can be consumed with `execute`. 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 (const std::shared_ptr< void > &)

template<class T >
std::enable_if<!std::is_same< T, rcl_serialized_message_t >::value, void >::type	execute_impl (const 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

◆ add_to_wait_set()

template<typename MessageT , typename SubscribedType , typename SubscribedTypeAlloc = std::allocator<SubscribedType>, typename SubscribedTypeDeleter = std::default_delete<SubscribedType>, typename ROSMessageType = SubscribedType, typename Alloc = std::allocator<void>>

void rclcpp::experimental::SubscriptionIntraProcess< MessageT, SubscribedType, SubscribedTypeAlloc, SubscribedTypeDeleter, ROSMessageType, Alloc >::add_to_wait_set ( rcl_wait_set_t & wait_set )

inlineoverridevirtual

Add the Waitable to a wait set.

Parameters

[in] wait_set A handle to the wait set to add the Waitable to.

Exceptions

rclcpp::execptions::RCLError from rcl_wait_set_add_*()

Implements rclcpp::Waitable.

Definition at line 105 of file subscription_intra_process.hpp.

References rclcpp::experimental::SubscriptionIntraProcessBuffer< SubscribedType, Alloc, Deleter, ROSMessageType >::add_to_wait_set().

Here is the call graph for this function:

◆ 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>>

void rclcpp::experimental::SubscriptionIntraProcess< MessageT, SubscribedType, SubscribedTypeAlloc, SubscribedTypeDeleter, ROSMessageType, Alloc >::execute ( const std::shared_ptr< void > & data )

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
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.

Definition at line 152 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>>

std::shared_ptr<void> rclcpp::experimental::SubscriptionIntraProcess< MessageT, SubscribedType, SubscribedTypeAlloc, SubscribedTypeDeleter, ROSMessageType, Alloc >::take_data ( )

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
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.

Definition at line 122 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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ add_to_wait_set()

◆ execute()

◆ take_data()