Interface class to enable non-templated activating/deactivating/publishing of ROS publishers from derived PublisherHandler instances through dynamic down-casting. More...

#include <PublisherInterface.hpp>

Inheritance diagram for modulo_core::communication::PublisherInterface:

Public Member Functions
	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.

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

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

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

Protected Attributes
std::shared_ptr< MessagePairInterface >	message_pair_
	The pointer to the stored MessagePair instance.

Detailed Description

Interface class to enable non-templated activating/deactivating/publishing of ROS publishers from derived PublisherHandler instances through dynamic down-casting.

Definition at line 20 of file PublisherInterface.hpp.

Constructor & Destructor Documentation

◆ PublisherInterface()

modulo_core::communication::PublisherInterface::PublisherInterface	(	PublisherType	type,
		std::shared_ptr< MessagePairInterface >	message_pair = nullptr )

explicit

Constructor with the message type and message pair.

Parameters

type	The type of the publisher interface
message_pair	The message pair with the data to be published

Definition at line 17 of file PublisherInterface.cpp.

Member Function Documentation

◆ activate()

void modulo_core::communication::PublisherInterface::activate ( )

virtual

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 in modulo_core::communication::PublisherHandler< PubT, MsgT >.

Definition at line 20 of file PublisherInterface.cpp.

◆ deactivate()

void modulo_core::communication::PublisherInterface::deactivate ( )

virtual

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 in modulo_core::communication::PublisherHandler< PubT, MsgT >.

Definition at line 25 of file PublisherInterface.cpp.

◆ get_handler()

template<typename PubT , typename MsgT >

std::shared_ptr< PublisherHandler< PubT, MsgT > > modulo_core::communication::PublisherInterface::get_handler ( bool validate_pointer = true )

inline

Get a pointer to a derived PublisherHandler instance from a PublisherInterface pointer.

If a PublisherInterface pointer is used to address a derived PublisherHandler instance, this method will return a pointer to that derived instance through dynamic down-casting. The downcast will fail if the base PublisherInterface object has no reference count (if the object is not owned by any pointer), or if the derived object is not a correctly typed instance of a PublisherHandler. By default, an InvalidPointerCastException is thrown when the downcast fails. If this validation is disabled by setting the validate_pointer flag to false, it will not throw an exception and instead return a null pointer.

Template Parameters

PubT	The ROS publisher type
MsgT	The ROS message type

Exceptions

modulo_core::exceptions::InvalidPointerException	if the base PublisherInterface object has no reference count and validate_pointer is set to true
modulo_core::exceptions::InvalidPointerCastException	if the derived object from the dynamic down-casting is not a correctly typed instance of a PublisherHandler

Parameters

validate_pointer If true, throw an exception when down-casting fails

Returns: A pointer to a derived PublisherHandler instance of the desired type, or a null pointer if down-casting failed and validate_pointer was set to false.

Definition at line 130 of file PublisherInterface.hpp.

◆ get_message_pair()

std::shared_ptr< MessagePairInterface > modulo_core::communication::PublisherInterface::get_message_pair ( ) const

nodiscard

Get the pointer to the message pair of the PublisherInterface.

Definition at line 78 of file PublisherInterface.cpp.

◆ get_type()

PublisherType modulo_core::communication::PublisherInterface::get_type ( ) const

Get the type of the publisher interface.

See also: PublisherType

Definition at line 89 of file PublisherInterface.cpp.

◆ publish()

void modulo_core::communication::PublisherInterface::publish ( )

virtual

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 in modulo_core::communication::PublisherHandler< PubT, MsgT >.

Definition at line 30 of file PublisherInterface.cpp.

◆ set_message_pair()

void modulo_core::communication::PublisherInterface::set_message_pair ( const std::shared_ptr< MessagePairInterface > & message_pair )

Set the pointer to the message pair of the PublisherInterface.

Exceptions

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

Definition at line 82 of file PublisherInterface.cpp.

Member Data Documentation

◆ message_pair_

std::shared_ptr<MessagePairInterface> modulo_core::communication::PublisherInterface::message_pair_

protected

The pointer to the stored MessagePair instance.

Definition at line 110 of file PublisherInterface.hpp.

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

/github/workspace/source/modulo_core/include/modulo_core/communication/PublisherInterface.hpp
/github/workspace/source/modulo_core/src/communication/PublisherInterface.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PublisherInterface()

Member Function Documentation

◆ activate()

◆ deactivate()

◆ get_handler()

◆ get_message_pair()

◆ get_type()

◆ publish()

◆ set_message_pair()

Member Data Documentation

◆ message_pair_