Interface class to enable non-templated subscriptions with ROS subscriptions from derived SubscriptionHandler instances through dynamic down-casting. More...

#include <SubscriptionInterface.hpp>

Inheritance diagram for modulo_core::communication::SubscriptionInterface:

Public Member Functions
	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.

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

Detailed Description

Interface class to enable non-templated subscriptions with ROS subscriptions from derived SubscriptionHandler instances through dynamic down-casting.

Definition at line 19 of file SubscriptionInterface.hpp.

Constructor & Destructor Documentation

◆ SubscriptionInterface()

modulo_core::communication::SubscriptionInterface::SubscriptionInterface ( std::shared_ptr< MessagePairInterface > message_pair = nullptr )

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

Definition at line 5 of file SubscriptionInterface.cpp.

Member Function Documentation

◆ get_handler()

template<typename MsgT >

std::shared_ptr< SubscriptionHandler< MsgT > > modulo_core::communication::SubscriptionInterface::get_handler ( bool validate_pointer = true )

inline

Get a pointer to a derived SubscriptionHandler instance from a SubscriptionInterface pointer.

If a SubscriptionInterface pointer is used to address a derived SubscriptionHandler instance, this method will return a pointer to that derived instance through dynamic down-casting. The downcast will fail if the base SubscriptionInterface 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 SubscriptionHandler. 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 SubscriptionInterface 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 SubscriptionHandler

Parameters

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

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

Definition at line 74 of file SubscriptionInterface.hpp.

◆ get_message_pair()

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

nodiscard

Get the pointer to the message pair of the SubscriptionInterface.

Definition at line 8 of file SubscriptionInterface.cpp.

◆ set_message_pair()

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

Set the pointer to the message pair of the SubscriptionInterface.

Exceptions

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

Definition at line 12 of file SubscriptionInterface.cpp.

Member Data Documentation

◆ message_pair_

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

protected

The pointer to the stored MessagePair instance.

Definition at line 70 of file SubscriptionInterface.hpp.

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

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

Public Member Functions

Protected Attributes