The MessagePair stores a pointer to a variable and translates the value of this pointer back and forth between the corresponding ROS messages. More...

#include <MessagePair.hpp>

Inheritance diagram for modulo_core::communication::MessagePair< MsgT, DataT >:

Public Member Functions
	MessagePair (std::shared_ptr< DataT > data, std::shared_ptr< rclcpp::Clock > clock)
	Constructor of the MessagePair.

	MessagePair (std::shared_ptr< DataT > data, std::shared_ptr< rclcpp::Clock > clock)
	Constructor of the MessagePair that requires custom message types only.

MsgT	write_message () const
	Write the value of the data pointer to a ROS message.

void	read_message (const MsgT &message)
	Read a ROS message and store the value in the data pointer.

std::shared_ptr< DataT >	get_data () const
	Get the data pointer.

void	set_data (const std::shared_ptr< DataT > &data)
	Set the data pointer.

	MessagePair (std::shared_ptr< bool > data, std::shared_ptr< rclcpp::Clock > clock)

	MessagePair (std::shared_ptr< double > data, std::shared_ptr< rclcpp::Clock > clock)

	MessagePair (std::shared_ptr< std::vector< double > > data, std::shared_ptr< rclcpp::Clock > clock)

	MessagePair (std::shared_ptr< int > data, std::shared_ptr< rclcpp::Clock > clock)

	MessagePair (std::shared_ptr< std::string > data, std::shared_ptr< rclcpp::Clock > clock)

	MessagePair (std::shared_ptr< state_representation::State > data, std::shared_ptr< rclcpp::Clock > clock)

Public Member Functions inherited from modulo_core::communication::MessagePairInterface
	MessagePairInterface (MessageType type)
	Constructor with the message type.

virtual	~MessagePairInterface ()=default
	Default virtual destructor.

	MessagePairInterface (const MessagePairInterface &message_pair)=default
	Copy constructor from another MessagePairInterface.

template<typename MsgT , typename DataT >
std::shared_ptr< MessagePair< MsgT, DataT > >	get_message_pair (bool validate_pointer=true)
	Get a pointer to a derived MessagePair instance from a MessagePairInterface pointer.

template<typename MsgT , typename DataT >
MsgT	write ()
	Get the ROS message of a derived MessagePair instance through the MessagePairInterface pointer.

template<typename MsgT , typename DataT >
void	read (const MsgT &message)
	Read a ROS message and set the data of the derived MessagePair instance through the MessagePairInterface pointer.

MessageType	get_type () const
	Get the MessageType of the MessagePairInterface.

Detailed Description

template<typename MsgT, typename DataT>
class modulo_core::communication::MessagePair< MsgT, DataT >

The MessagePair stores a pointer to a variable and translates the value of this pointer back and forth between the corresponding ROS messages.

Template Parameters

MsgT	ROS message type of the MessagePair
DataT	Data type corresponding to the ROS message type

Definition at line 12 of file MessagePairInterface.hpp.

Constructor & Destructor Documentation

◆ MessagePair() [1/8]

template<typename MsgT , typename DataT >

modulo_core::communication::MessagePair< MsgT, DataT >::MessagePair	(	std::shared_ptr< DataT >	data,
		std::shared_ptr< rclcpp::Clock >	clock )

Constructor of the MessagePair.

Parameters

data	The pointer referring to the data stored in the MessagePair
clock	The ROS clock for translating messages

◆ MessagePair() [2/8]

template<typename MsgT , typename DataT >

modulo_core::communication::MessagePair< MsgT, DataT >::MessagePair	(	std::shared_ptr< DataT >	data,
		std::shared_ptr< rclcpp::Clock >	clock )

inline

Constructor of the MessagePair that requires custom message types only.

Parameters

data	The pointer referring to the data stored in the MessagePair
clock	The ROS clock for translating messages

Definition at line 34 of file MessagePair.hpp.

◆ MessagePair() [3/8]

modulo_core::communication::MessagePair< std_msgs::msg::Bool, bool >::MessagePair	(	std::shared_ptr< bool >	data,
		std::shared_ptr< rclcpp::Clock >	clock )

Definition at line 8 of file MessagePair.cpp.

◆ MessagePair() [4/8]

modulo_core::communication::MessagePair< std_msgs::msg::Float64, double >::MessagePair	(	std::shared_ptr< double >	data,
		std::shared_ptr< rclcpp::Clock >	clock )

Definition at line 12 of file MessagePair.cpp.

◆ MessagePair() [5/8]

modulo_core::communication::MessagePair< std_msgs::msg::Float64MultiArray, std::vector< double > >::MessagePair	(	std::shared_ptr< std::vector< double > >	data,
		std::shared_ptr< rclcpp::Clock >	clock )

Definition at line 17 of file MessagePair.cpp.

◆ MessagePair() [6/8]

modulo_core::communication::MessagePair< std_msgs::msg::Int32, int >::MessagePair	(	std::shared_ptr< int >	data,
		std::shared_ptr< rclcpp::Clock >	clock )

Definition at line 22 of file MessagePair.cpp.

◆ MessagePair() [7/8]

modulo_core::communication::MessagePair< std_msgs::msg::String, std::string >::MessagePair	(	std::shared_ptr< std::string >	data,
		std::shared_ptr< rclcpp::Clock >	clock )

Definition at line 26 of file MessagePair.cpp.

◆ MessagePair() [8/8]

modulo_core::communication::MessagePair< EncodedState, state_representation::State >::MessagePair	(	std::shared_ptr< state_representation::State >	data,
		std::shared_ptr< rclcpp::Clock >	clock )

Definition at line 31 of file MessagePair.cpp.

Member Function Documentation

◆ get_data()

template<typename MsgT , typename DataT >

std::shared_ptr< DataT > modulo_core::communication::MessagePair< MsgT, DataT >::get_data ( ) const

inlinenodiscard

Get the data pointer.

Definition at line 178 of file MessagePair.hpp.

◆ read_message()

template<typename MsgT , typename DataT >

void modulo_core::communication::MessagePair< MsgT, DataT >::read_message ( const MsgT & message )

inline

Read a ROS message and store the value in the data pointer.

Parameters

message The ROS message to read

Exceptions

modulo_core::exceptions::NullPointerException	if the data pointer is null
modulo_core::exceptions::MessageTranslationException	if the message could not be read

Definition at line 148 of file MessagePair.hpp.

◆ set_data()

template<typename MsgT , typename DataT >

void modulo_core::communication::MessagePair< MsgT, DataT >::set_data ( const std::shared_ptr< DataT > & data )

inline

Set the data pointer.

Exceptions

modulo_core::exceptions::NullPointerException if the provided data pointer is null

Definition at line 183 of file MessagePair.hpp.

◆ write_message()

template<typename MsgT , typename DataT >

MsgT modulo_core::communication::MessagePair< MsgT, DataT >::write_message ( ) const

inlinenodiscard

Write the value of the data pointer to a ROS message.

Returns: The value of the data pointer as a ROS message

Exceptions

modulo_core::exceptions::NullPointerException	if the data pointer is null
modulo_core::exceptions::MessageTranslationException	if the data could not be written to message

Definition at line 112 of file MessagePair.hpp.

The documentation for this class was generated from the following files:

/github/workspace/source/modulo_core/include/modulo_core/communication/MessagePair.hpp
/github/workspace/source/modulo_core/include/modulo_core/communication/MessagePairInterface.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ MessagePair() [1/8]

◆ MessagePair() [2/8]

◆ MessagePair() [3/8]

◆ MessagePair() [4/8]

◆ MessagePair() [5/8]

◆ MessagePair() [6/8]

◆ MessagePair() [7/8]

◆ MessagePair() [8/8]

Member Function Documentation

◆ get_data()

◆ read_message()

◆ set_data()

◆ write_message()