The PublisherHandler handles different types of ROS publishers to activate, deactivate and publish data with those publishers. More...

#include <PublisherHandler.hpp>

Inheritance diagram for modulo_core::communication::PublisherHandler< PubT, MsgT >:

Public Member Functions
	PublisherHandler (PublisherType type, std::shared_ptr< PubT > publisher)
	Constructor with the publisher type and the pointer to the ROS publisher.

	~PublisherHandler () override
	Destructor to explicitly reset the publisher pointer.

virtual void	activate () override
	Activate ROS publisher of a derived PublisherHandler instance through the PublisherInterface pointer.

virtual void	deactivate () override
	Deactivate ROS publisher of a derived PublisherHandler instance through the PublisherInterface pointer.

void	publish () override
	Publish the data stored in the message pair through the ROS publisher of a derived PublisherHandler instance through the PublisherInterface pointer.

void	publish (const MsgT &message) const
	Publish the ROS message through the ROS publisher.

std::shared_ptr< PublisherInterface >	create_publisher_interface (const std::shared_ptr< MessagePairInterface > &message_pair)
	Create a PublisherInterface instance from the current PublisherHandler.

Public Member Functions inherited from modulo_core::communication::PublisherInterface
	PublisherInterface (PublisherType type, std::shared_ptr< MessagePairInterface > message_pair=nullptr)
	Constructor with the message type and message pair.

	PublisherInterface (const PublisherInterface &publisher)=default
	Copy constructor from another PublisherInterface.

virtual	~PublisherInterface ()=default
	Default virtual destructor.

template<typename PubT , typename MsgT >
std::shared_ptr< PublisherHandler< PubT, MsgT > >	get_handler (bool validate_pointer=true)
	Get a pointer to a derived PublisherHandler instance from a PublisherInterface pointer.

std::shared_ptr< MessagePairInterface >	get_message_pair () const
	Get the pointer to the message pair of the PublisherInterface.

void	set_message_pair (const std::shared_ptr< MessagePairInterface > &message_pair)
	Set the pointer to the message pair of the PublisherInterface.

PublisherType	get_type () const
	Get the type of the publisher interface.

Additional Inherited Members
Protected Attributes inherited from modulo_core::communication::PublisherInterface
std::shared_ptr< MessagePairInterface >	message_pair_
	The pointer to the stored MessagePair instance.

Detailed Description

template<typename PubT, typename MsgT>
class modulo_core::communication::PublisherHandler< PubT, MsgT >

The PublisherHandler handles different types of ROS publishers to activate, deactivate and publish data with those publishers.

Template Parameters

PubT	The ROS publisher type
MsgT	The ROS message type of the ROS publisher

Definition at line 13 of file PublisherInterface.hpp.

Constructor & Destructor Documentation

◆ PublisherHandler()

template<typename PubT , typename MsgT >

modulo_core::communication::PublisherHandler< PubT, MsgT >::PublisherHandler	(	PublisherType	type,
		std::shared_ptr< PubT >	publisher )

Constructor with the publisher type and the pointer to the ROS publisher.

Parameters

type	The publisher type
publisher	The pointer to the ROS publisher

Definition at line 69 of file PublisherHandler.hpp.

◆ ~PublisherHandler()

template<typename PubT , typename MsgT >

modulo_core::communication::PublisherHandler< PubT, MsgT >::~PublisherHandler ( )

override

Destructor to explicitly reset the publisher pointer.

Definition at line 73 of file PublisherHandler.hpp.

Member Function Documentation

◆ activate()

template<typename PubT , typename MsgT >

void modulo_core::communication::PublisherHandler< PubT, MsgT >::activate ( )

inlineoverridevirtual

Activate ROS publisher of a derived PublisherHandler instance through the PublisherInterface pointer.

This throws an InvalidPointerCastException if the PublisherInterface does not point to a valid PublisherHandler instance or if the type of the message pair does not match the type of the PublisherHandler instance.

See also: PublisherInterface::get_handler

Exceptions

modulo_core::exceptions::NullPointerException if the message pair pointer is null

Reimplemented from modulo_core::communication::PublisherInterface.

Definition at line 78 of file PublisherHandler.hpp.

◆ create_publisher_interface()

template<typename PubT , typename MsgT >

std::shared_ptr< PublisherInterface > modulo_core::communication::PublisherHandler< PubT, MsgT >::create_publisher_interface ( const std::shared_ptr< MessagePairInterface > & message_pair )

inline

Create a PublisherInterface instance from the current PublisherHandler.

Parameters

message_pair The message pair of the PublisherInterface

Definition at line 142 of file PublisherHandler.hpp.

◆ deactivate()

template<typename PubT , typename MsgT >

void modulo_core::communication::PublisherHandler< PubT, MsgT >::deactivate ( )

inlineoverridevirtual

Deactivate ROS publisher of a derived PublisherHandler instance through the PublisherInterface pointer.

This throws an InvalidPointerCastException if the PublisherInterface does not point to a valid PublisherHandler instance or if the type of the message pair does not match the type of the PublisherHandler instance.

See also: PublisherInterface::get_handler

Exceptions

modulo_core::exceptions::NullPointerException if the message pair pointer is null

Reimplemented from modulo_core::communication::PublisherInterface.

Definition at line 92 of file PublisherHandler.hpp.

◆ publish() [1/2]

template<typename PubT , typename MsgT >

void modulo_core::communication::PublisherHandler< PubT, MsgT >::publish ( )

inlineoverridevirtual

Publish the data stored in the message pair through the ROS publisher of a derived PublisherHandler instance through the PublisherInterface pointer.

This throws an InvalidPointerCastException if the PublisherInterface does not point to a valid PublisherHandler instance or if the type of the message pair does not match the type of the PublisherHandler instance.

See also: PublisherInterface::get_handler

Exceptions

modulo_core::exceptions::CoreException if the publishing failed for some reason (translation, null pointer, pointer cast, ...)

Reimplemented from modulo_core::communication::PublisherInterface.

Definition at line 106 of file PublisherHandler.hpp.

◆ publish() [2/2]

template<typename PubT , typename MsgT >

void modulo_core::communication::PublisherHandler< PubT, MsgT >::publish ( const MsgT & message ) const

Publish the ROS message through the ROS publisher.

Parameters

message The ROS message to publish

Exceptions

modulo_core::exceptions::NullPointerException if the publisher pointer is null

Definition at line 129 of file PublisherHandler.hpp.

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

/github/workspace/source/modulo_core/include/modulo_core/communication/PublisherHandler.hpp
/github/workspace/source/modulo_core/include/modulo_core/communication/PublisherInterface.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PublisherHandler()

◆ ~PublisherHandler()

Member Function Documentation

◆ activate()

◆ create_publisher_interface()

◆ deactivate()

◆ publish() [1/2]

◆ publish() [2/2]