Class Ros2LogSource

Defined in File ros2_log_source.hpp

Inheritance Relationships

Base Type

public ros2_medkit_gateway::LogSource (Class LogSource)

Class Documentation

class Ros2LogSource : public ros2_medkit_gateway::LogSource 

rclcpp adapter implementing LogSource by subscribing to /rosout.

Owns the rclcpp::Subscription<rcl_interfaces::msg::Log> that previously lived inside LogManager. Performs the rcl_interfaces::msg::Log -> LogEntry conversion (level, name, message, function/file/line, timestamp) and delivers each entry to the registered callback. The manager body then lives in the ROS-free build layer.

Threading: the underlying rclcpp callback is invoked on the gateway’s executor thread. The shutdown guard pattern ensures that any in-flight callback short-circuits before the subscription is released, so the registered EntryCallback is guaranteed not to fire after stop() returns.

Public Functions

explicit Ros2LogSource(rclcpp::Node *node)

Parameters:: node – Non-owning ROS node used for subscription creation.

~Ros2LogSource() override

Ros2LogSource(const Ros2LogSource&) = delete

Ros2LogSource &operator=(const Ros2LogSource&) = delete

Ros2LogSource(Ros2LogSource&&) = delete

Ros2LogSource &operator=(Ros2LogSource&&) = delete

virtual void start(EntryCallback callback) override: Subscribe to /rosout and route each message through to callback. Idempotent: a second start() replaces the previous callback and reuses the existing subscription.

virtual void stop() override: Stop delivering entries. Idempotent. After stop() returns the registered callback is guaranteed not to fire again, even if rclcpp has not yet drained queued messages.