The SubscriptionHandler handles different types of ROS subscriptions to receive data from those subscriptions. More...

#include <SubscriptionHandler.hpp>

Inheritance diagram for modulo_core::communication::SubscriptionHandler< MsgT >:

Public Member Functions
	SubscriptionHandler (std::shared_ptr< MessagePairInterface > message_pair=nullptr, const rclcpp::Logger &logger=rclcpp::get_logger("SubscriptionHandler"))
	Constructor with the message pair.

	~SubscriptionHandler () override
	Destructor to explicitly reset the subscription pointer.

std::shared_ptr< rclcpp::Subscription< MsgT > >	get_subscription () const
	Getter of the ROS subscription.

void	set_subscription (const std::shared_ptr< rclcpp::Subscription< MsgT > > &subscription)
	Setter of the ROS subscription.

void	set_user_callback (const std::function< void()> &user_callback)
	Setter of a user callback function to be executed after the subscription callback.

std::function< void(const std::shared_ptr< MsgT >)>	get_callback ()
	Get a callback function that will be associated with the ROS subscription to receive and translate messages.

std::function< void(const std::shared_ptr< MsgT >)>	get_callback (const std::function< void()> &user_callback)
	Get a callback function that will be associated with the ROS subscription to receive and translate messages.

std::shared_ptr< SubscriptionInterface >	create_subscription_interface (const std::shared_ptr< rclcpp::Subscription< MsgT > > &subscription)
	Create a SubscriptionInterface pointer through an instance of a SubscriptionHandler by providing a ROS subscription.

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

	SubscriptionInterface (const SubscriptionInterface &subscription)=default
	Copy constructor from another SubscriptionInterface.

virtual	~SubscriptionInterface ()=default
	Default virtual destructor.

template<typename MsgT >
std::shared_ptr< SubscriptionHandler< MsgT > >	get_handler (bool validate_pointer=true)
	Get a pointer to a derived SubscriptionHandler instance from a SubscriptionInterface pointer.

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

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

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

Detailed Description

template<typename MsgT>
class modulo_core::communication::SubscriptionHandler< MsgT >

The SubscriptionHandler handles different types of ROS subscriptions to receive data from those subscriptions.

Template Parameters

MsgT	The ROS message type of the ROS subscription

Definition at line 15 of file SubscriptionHandler.hpp.

Constructor & Destructor Documentation

◆ SubscriptionHandler()

template<typename MsgT >

modulo_core::communication::SubscriptionHandler< MsgT >::SubscriptionHandler	(	std::shared_ptr< MessagePairInterface >	message_pair = `nullptr`,
		const rclcpp::Logger &	logger = `rclcpp::get_logger("SubscriptionHandler< MsgT >")`
	)

explicit

Constructor with the message pair.

Parameters

message_pair	The pointer to the message pair with the data that should be updated through the subscription
logger	An optional ROS logger to do logging from the subscription callback

Definition at line 102 of file SubscriptionHandler.hpp.

◆ ~SubscriptionHandler()

template<typename MsgT >

modulo_core::communication::SubscriptionHandler< MsgT >::~SubscriptionHandler ( )

override

Destructor to explicitly reset the subscription pointer.

Definition at line 107 of file SubscriptionHandler.hpp.

Member Function Documentation

◆ create_subscription_interface()

template<typename MsgT >

std::shared_ptr< SubscriptionInterface > modulo_core::communication::SubscriptionHandler< MsgT >::create_subscription_interface ( const std::shared_ptr< rclcpp::Subscription< MsgT > > & subscription )

Create a SubscriptionInterface pointer through an instance of a SubscriptionHandler by providing a ROS subscription.

This throws a NullPointerException if the ROS subscription is null.

See also: SubscriptionHandler::set_subscription

Parameters

subscription The ROS subscription

Returns: The resulting SubscriptionInterface pointer

Definition at line 158 of file SubscriptionHandler.hpp.

◆ get_callback() [1/2]

template<typename MsgT >

std::function< void(const std::shared_ptr< MsgT >)> modulo_core::communication::SubscriptionHandler< MsgT >::get_callback ( )

inline

Get a callback function that will be associated with the ROS subscription to receive and translate messages.

Definition at line 125 of file SubscriptionHandler.hpp.

◆ get_callback() [2/2]

template<typename MsgT >

std::function< void(const std::shared_ptr< MsgT >)> modulo_core::communication::SubscriptionHandler< MsgT >::get_callback ( const std::function< void()> & user_callback )

Get a callback function that will be associated with the ROS subscription to receive and translate messages.

This variant also takes a user callback function to execute after the message is received and translated.

Parameters

user_callback Void callback function for additional logic after the message is received and translated.

Definition at line 152 of file SubscriptionHandler.hpp.

◆ get_subscription()

template<typename MsgT >

std::shared_ptr< rclcpp::Subscription< MsgT > > modulo_core::communication::SubscriptionHandler< MsgT >::get_subscription ( ) const

Getter of the ROS subscription.

Definition at line 112 of file SubscriptionHandler.hpp.

◆ set_subscription()

template<typename MsgT >

void modulo_core::communication::SubscriptionHandler< MsgT >::set_subscription ( const std::shared_ptr< rclcpp::Subscription< MsgT > > & subscription )

Setter of the ROS subscription.

Parameters

subscription The ROS subscription

Exceptions

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

Definition at line 117 of file SubscriptionHandler.hpp.

◆ set_user_callback()

template<typename MsgT >

void modulo_core::communication::SubscriptionHandler< MsgT >::set_user_callback ( const std::function< void()> & user_callback )

Setter of a user callback function to be executed after the subscription callback.

Parameters

user_callback The ser callback function

Definition at line 146 of file SubscriptionHandler.hpp.

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

/github/workspace/source/modulo_core/include/modulo_core/communication/SubscriptionHandler.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SubscriptionHandler()

◆ ~SubscriptionHandler()

Member Function Documentation

◆ create_subscription_interface()

◆ get_callback() [1/2]

◆ get_callback() [2/2]

◆ get_subscription()

◆ set_subscription()

◆ set_user_callback()