Base class to simplify implementing most plugins to Subscriber. More...
#include <simple_subscriber_plugin.h>
Classes | |
| struct | SimpleSubscriberPluginImpl |
Public Member Functions | |
| virtual uint32_t | getNumPublishers () const |
| Returns the number of publishers this subscriber is connected to. | |
| virtual std::string | getTopic () const |
| Get the transport-specific communication topic. | |
| virtual void | shutdown () |
| Unsubscribe the callback associated with this SubscriberPlugin. | |
| virtual | ~SimpleSubscriberPlugin () |
Protected Member Functions | |
| virtual std::string | getTopicToSubscribe (const std::string &base_topic) const |
| Return the communication topic name for a given base topic. | |
| virtual void | internalCallback (const typename M::ConstPtr &message, const typename SubscriberPlugin< Base >::Callback &user_cb)=0 |
| Process a message. Must be implemented by the subclass. | |
| ros::NodeHandle & | nh () |
| Returns the ros::NodeHandle to be used for parameter lookup. | |
| virtual void | subscribeImpl (ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size, const typename SubscriberPlugin< Base >::Callback &callback, const ros::VoidPtr &tracked_object, const TransportHints &transport_hints) |
Private Attributes | |
| boost::scoped_ptr < SimpleSubscriberPluginImpl > | simple_impl_ |
Detailed Description
template<class Base, class M>
class message_transport::SimpleSubscriberPlugin< Base, M >
Base class to simplify implementing most plugins to Subscriber.
The base class simplifies implementing a SubscriberPlugin in the common case that all communication with the matching PublisherPlugin happens over a single ROS topic using a transport-specific message type. SimpleSubscriberPlugin is templated on the transport-specific message type.
A subclass need implement only two methods:
- getTransportName() from SubscriberPlugin
- internalCallback() - processes a message and invoked the user Message callback if appropriate.
For access to the parameter server and name remappings, use nh().
getTopicToSubscribe() controls the name of the internal communication topic. It defaults to <base topic>/<transport name>.
Definition at line 28 of file simple_subscriber_plugin.h.
Constructor & Destructor Documentation
| virtual message_transport::SimpleSubscriberPlugin< Base, M >::~SimpleSubscriberPlugin | ( | ) | [inline, virtual] |
Definition at line 31 of file simple_subscriber_plugin.h.
Member Function Documentation
| virtual uint32_t message_transport::SimpleSubscriberPlugin< Base, M >::getNumPublishers | ( | ) | const [inline, virtual] |
Returns the number of publishers this subscriber is connected to.
Implements message_transport::SubscriberPluginGen.
Definition at line 39 of file simple_subscriber_plugin.h.
| virtual std::string message_transport::SimpleSubscriberPlugin< Base, M >::getTopic | ( | ) | const [inline, virtual] |
Get the transport-specific communication topic.
Implements message_transport::SubscriberPluginGen.
Definition at line 33 of file simple_subscriber_plugin.h.
| virtual std::string message_transport::SimpleSubscriberPlugin< Base, M >::getTopicToSubscribe | ( | const std::string & | base_topic | ) | const [inline, protected, virtual] |
Return the communication topic name for a given base topic.
Defaults to <base topic>/<transport name>.
Reimplemented in message_transport::RawSubscriber< M >.
Definition at line 65 of file simple_subscriber_plugin.h.
| virtual void message_transport::SimpleSubscriberPlugin< Base, M >::internalCallback | ( | const typename M::ConstPtr & | message, |
| const typename SubscriberPlugin< Base >::Callback & | user_cb | ||
| ) | [protected, pure virtual] |
Process a message. Must be implemented by the subclass.
- Parameters:
-
message A message from the PublisherPlugin. user_cb The user Message callback to invoke, if appropriate.
| ros::NodeHandle& message_transport::SimpleSubscriberPlugin< Base, M >::nh | ( | ) | [inline, protected] |
Returns the ros::NodeHandle to be used for parameter lookup.
Definition at line 84 of file simple_subscriber_plugin.h.
| virtual void message_transport::SimpleSubscriberPlugin< Base, M >::shutdown | ( | ) | [inline, virtual] |
Unsubscribe the callback associated with this SubscriberPlugin.
Implements message_transport::SubscriberPluginGen.
Definition at line 45 of file simple_subscriber_plugin.h.
| virtual void message_transport::SimpleSubscriberPlugin< Base, M >::subscribeImpl | ( | ros::NodeHandle & | nh, |
| const std::string & | base_topic, | ||
| uint32_t | queue_size, | ||
| const typename SubscriberPlugin< Base >::Callback & | callback, | ||
| const ros::VoidPtr & | tracked_object, | ||
| const TransportHints & | transport_hints | ||
| ) | [inline, protected, virtual] |
Definition at line 70 of file simple_subscriber_plugin.h.
Member Data Documentation
boost::scoped_ptr<SimpleSubscriberPluginImpl> message_transport::SimpleSubscriberPlugin< Base, M >::simple_impl_ [private] |
Definition at line 101 of file simple_subscriber_plugin.h.
The documentation for this class was generated from the following file: