Implementation of Managed class for ros::Subscriber. More...

#include <managed_subscriber.h>

Inheritance diagram for robot_activity::resource::ManagedSubscriber:

Public Types
template<class Message >
using	MessageCallback = boost::function< void(Message)>
	Typedef for ROS subscriber callbacks. More...

Public Types inherited from robot_activity::resource::Managed< ManagedSubscriber, ros::Subscriber >
typedef std::shared_ptr< Managed< ManagedSubscriber, ros::Subscriber > >	SharedPtr

Public Member Functions
template<class Message >
LazyAcquirer	makeLazyAcquirer (const std::string &topic, uint32_t queue_size, const MessageCallback< Message > &callback, const ros::VoidConstPtr &tracked_object=ros::VoidConstPtr(), const ros::TransportHints &transport_hints=ros::TransportHints()) const
	Creates a function that when called subscribes to a ROS topic. More...

template<class M , class T >
LazyAcquirer	makeLazyAcquirer (const std::string &topic, uint32_t queue_size, void(T::fp)(M), T obj, const ros::TransportHints &transport_hints=ros::TransportHints()) const
	Creates a function that when called subscribes to a ROS topic. More...

template<class M , class T >
LazyAcquirer	makeLazyAcquirer (const std::string &topic, uint32_t queue_size, void(T::fp)(M) const, T obj, const ros::TransportHints &transport_hints=ros::TransportHints()) const
	Creates a function that when called subscribes to a ROS topic. More...

template<class M , class T >
LazyAcquirer	makeLazyAcquirer (const std::string &topic, uint32_t queue_size, void(T::fp)(const boost::shared_ptr< M const > &), T obj, const ros::TransportHints &transport_hints=ros::TransportHints()) const
	Creates a function that when called subscribes to a ROS topic. More...

template<class M , class T >
LazyAcquirer	makeLazyAcquirer (const std::string &topic, uint32_t queue_size, void(T::fp)(const boost::shared_ptr< M const > &) const, T obj, const ros::TransportHints &transport_hints=ros::TransportHints()) const
	Creates a function that when called subscribes to a ROS topic. More...

template<class M , class T >
LazyAcquirer	makeLazyAcquirer (const std::string &topic, uint32_t queue_size, void(T::*fp)(M), const boost::shared_ptr< T > &obj, const ros::TransportHints &transport_hints=ros::TransportHints()) const
	Creates a function that when called subscribes to a ROS topic. More...

template<class M , class T >
LazyAcquirer	makeLazyAcquirer (const std::string &topic, uint32_t queue_size, void(T::*fp)(M) const, const boost::shared_ptr< T > &obj, const ros::TransportHints &transport_hints=ros::TransportHints()) const
	Creates a function that when called subscribes to a ROS topic. More...

template<class M , class T >
LazyAcquirer	makeLazyAcquirer (const std::string &topic, uint32_t queue_size, void(T::*fp)(const boost::shared_ptr< M const > &), const boost::shared_ptr< T > &obj, const ros::TransportHints &transport_hints=ros::TransportHints()) const
	Creates a function that when called subscribes to a ROS topic. More...

template<class M , class T >
LazyAcquirer	makeLazyAcquirer (const std::string &topic, uint32_t queue_size, void(T::*fp)(const boost::shared_ptr< M const > &) const, const boost::shared_ptr< T > &obj, const ros::TransportHints &transport_hints=ros::TransportHints()) const
	Creates a function that when called subscribes to a ROS topic. More...

template<class M >
LazyAcquirer	makeLazyAcquirer (const std::string &topic, uint32_t queue_size, void(*fp)(M), const ros::TransportHints &transport_hints=ros::TransportHints()) const
	Creates a function that when called subscribes to a ROS topic. More...

template<class M >
LazyAcquirer	makeLazyAcquirer (const std::string &topic, uint32_t queue_size, void(*fp)(const boost::shared_ptr< M const > &), const ros::TransportHints &transport_hints=ros::TransportHints()) const
	Creates a function that when called subscribes to a ROS topic. More...

void	shutdown ()
	Shutdowns the ROS subscriber. More...

void	subscribe (const ros::NodeHandlePtr &node_handle)
	Subscribes to a ROS topic given a node handle. More...

Public Member Functions inherited from robot_activity::resource::Managed< ManagedSubscriber, ros::Subscriber >
void	acquire (const ros::NodeHandlePtr &node_handle)
	Acquires the resource if it's not already acquired. More...

	Managed ()=delete
	Default empty constructor is deleted. More...

	Managed (Args &&...args)
	Variadic constructor. More...

void	pause ()
	Pauses the resource. More...

void	release ()
	Releases the resource if it's already acquired. shutdown() method in case of ros::Subscriber and ros::ServiceServer. More...

void	resume ()
	Resumes the resource. More...

	~Managed ()
	Destructor. More...

Private Member Functions
template<class Message >
MessageCallback< Message >	wrapMessageCallback (const MessageCallback< Message > &callback) const
	Wraps the message callback. More...

Additional Inherited Members
Protected Types inherited from robot_activity::resource::Managed< ManagedSubscriber, ros::Subscriber >
typedef std::function< ros::Subscriber(const ros::NodeHandlePtr &)>	LazyAcquirer

Protected Member Functions inherited from robot_activity::resource::Managed< ManagedSubscriber, ros::Subscriber >
LazyAcquirer	makeLazyAcquirer (Args &&...args) const
	Lazily acquires a resource. More...

Protected Attributes inherited from robot_activity::resource::Managed< ManagedSubscriber, ros::Subscriber >
std::atomic< bool >	acquired_
	Atomic flag specifing whether the resource is acquired or not. More...

LazyAcquirer	lazy_acquirer_
	Function that will acquire the resource upon calling with a node handle. More...

std::atomic< bool >	paused_
	Atomic flag specifing whether the resource is paused or not. More...

ros::Subscriber	resource_
	The actual resource controlled by this class. More...

Detailed Description

Implementation of Managed class for ros::Subscriber.

Adds additional functionality to ros::Subscriber resource by wrapping it. The subsciber can be shutdowned, subscribed and paused. Shutting down has the same effect as in ROS, while subscribing does not require any arguments, since they are passed in the inherited constructor. Pausing the service, will cause the callback to return immediately without any execution.

Definition at line 71 of file managed_subscriber.h.

Member Typedef Documentation

template<class Message >

using robot_activity::resource::ManagedSubscriber::MessageCallback = boost::function<void(Message)>

Typedef for ROS subscriber callbacks.

Template Parameters

Callback argument - Message type

Definition at line 125 of file managed_subscriber.h.

Member Function Documentation

template<class Message >

LazyAcquirer robot_activity::resource::ManagedSubscriber::makeLazyAcquirer	(	const std::string &	topic,
		uint32_t	queue_size,
		const MessageCallback< Message > &	callback,
		const ros::VoidConstPtr &	tracked_object = `ros::VoidConstPtr()`,
		const ros::TransportHints &	transport_hints = `ros::TransportHints()`
	)		const

inline

Creates a function that when called subscribes to a ROS topic.

Returns a lambda, which given a node handle will subscribe to a ROS topic. This lambda is called during subscribe call and the result is assigned as the managed resource, which in this case is the ros::Subscriber

Parameters

topic	Name of the ROS topic to subscribe to
queue_size	Subscriber's queue size, 0 signifies an infinite queue
callback	Subscriber callback specified as boost::function accepting one argument - message type
tracked_object	Object to be tracked, whose destruction will terminate the subscriber
transport_hints	Options describing the ROS subscriber

Template Parameters

Message Message type

Returns: Lambda, which return a ros::Subscriber

Definition at line 145 of file managed_subscriber.h.

template<class M , class T >

LazyAcquirer robot_activity::resource::ManagedSubscriber::makeLazyAcquirer	(	const std::string &	topic,
		uint32_t	queue_size,
		void(T::*)(M)	fp,
		T *	obj,
		const ros::TransportHints &	transport_hints = `ros::TransportHints()`
	)		const

inline

Creates a function that when called subscribes to a ROS topic.

Returns a lambda, which given a node handle will subscribe to a ROS topic. This lambda is called during subscribe call and the result is assigned as the managed resource, which in this case is the ros::Subscriber

Parameters

topic	Name of the ROS topic to subscribe to
queue_size	Subscriber's queue size, 0 signifies an infinite queue
fp	Subscriber callback specified as a pointer to a member function
obj	Raw pointer to an object used when calling the member function.
transport_hints	Options describing the ROS subscriber

Template Parameters

M	Message type
T	Object type on which the member function is called

Returns: Lambda, which return a ros::Subscriber

Definition at line 181 of file managed_subscriber.h.

template<class M , class T >

LazyAcquirer robot_activity::resource::ManagedSubscriber::makeLazyAcquirer	(	const std::string &	topic,
		uint32_t	queue_size,
		void(T::*)(M) const	fp,
		T *	obj,
		const ros::TransportHints &	transport_hints = `ros::TransportHints()`
	)		const

inline

Creates a function that when called subscribes to a ROS topic.

Returns a lambda, which given a node handle will subscribe to a ROS topic. This lambda is called during subscribe call and the result is assigned as the managed resource, which in this case is the ros::Subscriber

Parameters

topic	Name of the ROS topic to subscribe to
queue_size	Subscriber's queue size, 0 signifies an infinite queue
fp	Subscriber callback specified as a pointer to a member const function
obj	Raw pointer to an object used when calling the member function
transport_hints	Options describing the ROS subscriber

Template Parameters

M	Message type
T	Object type on which the member function is called

Returns: Lambda, which return a ros::Subscriber

Definition at line 207 of file managed_subscriber.h.

template<class M , class T >

LazyAcquirer robot_activity::resource::ManagedSubscriber::makeLazyAcquirer	(	const std::string &	topic,
		uint32_t	queue_size,
		void(T::*)(const boost::shared_ptr< M const > &)	fp,
		T *	obj,
		const ros::TransportHints &	transport_hints = `ros::TransportHints()`
	)		const

inline

Creates a function that when called subscribes to a ROS topic.

Returns a lambda, which given a node handle will subscribe to a ROS topic. This lambda is called during subscribe call and the result is assigned as the managed resource, which in this case is the ros::Subscriber

Parameters

topic	Name of the ROS topic to subscribe to
queue_size	Subscriber's queue size, 0 signifies an infinite queue
fp	Subscriber callback specified as a pointer to a member function, which accepts a boost::shared_ptr to a const message
obj	Raw pointer to an object used when calling the member function.
transport_hints	Options describing the ROS subscriber

Template Parameters

M	Message type
T	Object type on which the member function is called

Returns: Lambda, which return a ros::Subscriber

Definition at line 234 of file managed_subscriber.h.

template<class M , class T >

LazyAcquirer robot_activity::resource::ManagedSubscriber::makeLazyAcquirer	(	const std::string &	topic,
		uint32_t	queue_size,
		void(T::*)(const boost::shared_ptr< M const > &) const	fp,
		T *	obj,
		const ros::TransportHints &	transport_hints = `ros::TransportHints()`
	)		const

inline

Creates a function that when called subscribes to a ROS topic.

Returns a lambda, which given a node handle will subscribe to a ROS topic. This lambda is called during subscribe call and the result is assigned as the managed resource, which in this case is the ros::Subscriber

Parameters

topic	Name of the ROS topic to subscribe to
queue_size	Subscriber's queue size, 0 signifies an infinite queue
fp	Subscriber callback specified as a pointer to a const member function, which accepts a boost::shared_ptr to a const message
obj	Raw pointer to an object used when calling the member function.
transport_hints	Options describing the ROS subscriber

Template Parameters

M	Message type
T	Object type on which the member function is called

Returns: Lambda, which return a ros::Subscriber

Definition at line 264 of file managed_subscriber.h.

template<class M , class T >

LazyAcquirer robot_activity::resource::ManagedSubscriber::makeLazyAcquirer	(	const std::string &	topic,
		uint32_t	queue_size,
		void(T::*)(M)	fp,
		const boost::shared_ptr< T > &	obj,
		const ros::TransportHints &	transport_hints = `ros::TransportHints()`
	)		const

inline

Creates a function that when called subscribes to a ROS topic.

Returns a lambda, which given a node handle will subscribe to a ROS topic. This lambda is called during subscribe call and the result is assigned as the managed resource, which in this case is the ros::Subscriber

Parameters

topic	Name of the ROS topic to subscribe to
queue_size	Subscriber's queue size, 0 signifies an infinite queue
fp	Subscriber callback specified as a pointer to a member function, which accepts a message
obj	Boost shared pointer to an object used when calling the member function. Destruction of this object causes subscriber to shutdown.
transport_hints	Options describing the ROS subscriber

Template Parameters

M	Message type
T	Object type on which the member function is called

Returns: Lambda, which return a ros::Subscriber

Definition at line 296 of file managed_subscriber.h.

template<class M , class T >

LazyAcquirer robot_activity::resource::ManagedSubscriber::makeLazyAcquirer	(	const std::string &	topic,
		uint32_t	queue_size,
		void(T::*)(M) const	fp,
		const boost::shared_ptr< T > &	obj,
		const ros::TransportHints &	transport_hints = `ros::TransportHints()`
	)		const

inline

Creates a function that when called subscribes to a ROS topic.

Returns a lambda, which given a node handle will subscribe to a ROS topic. This lambda is called during subscribe call and the result is assigned as the managed resource, which in this case is the ros::Subscriber

Parameters

topic	Name of the ROS topic to subscribe to
queue_size	Subscriber's queue size, 0 signifies an infinite queue
fp	Subscriber callback specified as a pointer to a const member function, which accepts a message
obj	Boost shared pointer to an object used when calling the member function. Destruction of this object causes subscriber to shutdown.
transport_hints	Options describing the ROS subscriber

Template Parameters

M	Message type
T	Object type on which the member function is called

Returns: Lambda, which return a ros::Subscriber

Definition at line 328 of file managed_subscriber.h.

template<class M , class T >

LazyAcquirer robot_activity::resource::ManagedSubscriber::makeLazyAcquirer	(	const std::string &	topic,
		uint32_t	queue_size,
		void(T::*)(const boost::shared_ptr< M const > &)	fp,
		const boost::shared_ptr< T > &	obj,
		const ros::TransportHints &	transport_hints = `ros::TransportHints()`
	)		const

inline

Creates a function that when called subscribes to a ROS topic.

Returns a lambda, which given a node handle will subscribe to a ROS topic. This lambda is called during subscribe call and the result is assigned as the managed resource, which in this case is the ros::Subscriber

Parameters

topic	Name of the ROS topic to subscribe to
queue_size	Subscriber's queue size, 0 signifies an infinite queue
fp	Subscriber callback specified as a pointer to a member function, which accepts a boost::shared_ptr to a const message
obj	Boost shared pointer to an object used when calling the member function. Destruction of this object causes subscriber to shutdown.
transport_hints	Options describing the ROS subscriber

Template Parameters

M	Message type
T	Object type on which the member function is called

Returns: Lambda, which return a ros::Subscriber

Definition at line 360 of file managed_subscriber.h.

template<class M , class T >

LazyAcquirer robot_activity::resource::ManagedSubscriber::makeLazyAcquirer	(	const std::string &	topic,
		uint32_t	queue_size,
		void(T::*)(const boost::shared_ptr< M const > &) const	fp,
		const boost::shared_ptr< T > &	obj,
		const ros::TransportHints &	transport_hints = `ros::TransportHints()`
	)		const

inline

Creates a function that when called subscribes to a ROS topic.

Returns a lambda, which given a node handle will subscribe to a ROS topic. This lambda is called during subscribe call and the result is assigned as the managed resource, which in this case is the ros::Subscriber

Parameters

topic	Name of the ROS topic to subscribe to
queue_size	Subscriber's queue size, 0 signifies an infinite queue
fp	Subscriber callback specified as a pointer to a const member function, which accepts a boost::shared_ptr to a const message
obj	Boost shared pointer to an object used when calling the member function. Destruction of this object causes subscriber to shutdown.
transport_hints	Options describing the ROS subscriber

Template Parameters

M	Message type
T	Object type on which the member function is called

Returns: Lambda, which return a ros::Subscriber

Definition at line 393 of file managed_subscriber.h.

template<class M >

LazyAcquirer robot_activity::resource::ManagedSubscriber::makeLazyAcquirer	(	const std::string &	topic,
		uint32_t	queue_size,
		void(*)(M)	fp,
		const ros::TransportHints &	transport_hints = `ros::TransportHints()`
	)		const

inline

Creates a function that when called subscribes to a ROS topic.

Returns a lambda, which given a node handle will subscribe to a ROS topic. This lambda is called during subscribe call and the result is assigned as the managed resource, which in this case is the ros::Subscriber

Parameters

topic	Name of the ROS topic to subscribe to
queue_size	Subscriber's queue size, 0 signifies an infinite queue
fp	Subscriber callback specified as a pointer to a function
transport_hints	Options describing the ROS subscriber

Template Parameters

M	Message type
T	Object type on which the member function is called

Returns: Lambda, which return a ros::Subscriber

Definition at line 422 of file managed_subscriber.h.

template<class M >

LazyAcquirer robot_activity::resource::ManagedSubscriber::makeLazyAcquirer	(	const std::string &	topic,
		uint32_t	queue_size,
		void(*)(const boost::shared_ptr< M const > &)	fp,
		const ros::TransportHints &	transport_hints = `ros::TransportHints()`
	)		const

inline

Creates a function that when called subscribes to a ROS topic.

Returns a lambda, which given a node handle will subscribe to a ROS topic. This lambda is called during subscribe call and the result is assigned as the managed resource, which in this case is the ros::Subscriber

Parameters

topic	Name of the ROS topic to subscribe to
queue_size	Subscriber's queue size, 0 signifies an infinite queue
fp	Subscriber callback specified as a pointer to a function, which accepts a boost shared pointer to a const message
transport_hints	Options describing the ROS subscriber

Template Parameters

M	Message type
T	Object type on which the member function is called

Returns: Lambda, which return a ros::Subscriber

Definition at line 449 of file managed_subscriber.h.

void robot_activity::resource::ManagedSubscriber::shutdown ( )

inline

Shutdowns the ROS subscriber.

Has the same effect as ros::Subscriber::shutdown function if the topic was subscribed, otherwise does not have any effect

Definition at line 114 of file managed_subscriber.h.

void robot_activity::resource::ManagedSubscriber::subscribe ( const ros::NodeHandlePtr & node_handle )

inline

Subscribes to a ROS topic given a node handle.

Since the ROS subsciber is fully desribed upon instantiation, the actual subscribe call only requires a node handle. The function is idempotent and can be called multiple times without any side-effect. The topic can be also re-subscribed after being shutdowned without respecifying arguments describing the subscription.

Parameters

node_handle Node handle required for the actual call to ros::NodeHandle::subscribe embedded inside

Definition at line 103 of file managed_subscriber.h.

template<class Message >

MessageCallback<Message> robot_activity::resource::ManagedSubscriber::wrapMessageCallback ( const MessageCallback< Message > & callback ) const

inlineprivate

Wraps the message callback.

Allows for pausing/resuming the servce by adding a check at run-time. If paused, the service will return immediately.

Parameters

callback [description]

Returns: [description]

Definition at line 496 of file managed_subscriber.h.

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

managed_subscriber.h

Public Types

Public Member Functions

Private Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Member Function Documentation