Represents ensemble of (to be constructed) ROS messages, to be handled at once by this class. More...

#include <callback_handlers.hpp>

Public Types
typedef std::multimap< std::string, boost::shared_ptr< AbstractCallbackHandler > >	CallbackMap

Public Member Functions
	CallbackHandlers (ROSaicNodeBase node, Settings settings)

void	handle ()
	Called every time rx_message is found to contain some potentially useful message. More...

template<typename T >
CallbackMap	insert (std::string message_key)
	Adds a pair to the multimap "callbackmap_", with the message_key being the key. More...

void	readCallback (Timestamp recvTimestamp, const uint8_t *data, std::size_t &size)
	Searches for Rx messages that could potentially be decoded/parsed/published. More...

Public Attributes
CallbackMap	callbackmap_

Private Types
typedef std::unordered_map< std::string, uint32_t >	DiagnosticArrayMap

typedef std::unordered_map< std::string, uint32_t >	GPSFixMap

typedef std::unordered_map< std::string, uint32_t >	ImuMap

typedef std::unordered_map< std::string, uint32_t >	LocalizationMap

typedef std::unordered_map< std::string, uint32_t >	NavSatFixMap

typedef std::unordered_map< std::string, uint32_t >	PoseWithCovarianceStampedMap

Private Attributes
ROSaicNodeBase *	node_
	Pointer to Node. More...

RxMessage	rx_message_
	RxMessage parser. More...

Settings *	settings_
	Settings. More...

Static Private Attributes
static boost::mutex	callback_mutex_

static DiagnosticArrayMap	diagnosticarray_map

static std::string	do_diagnostics_ = "4014"

static std::string	do_gpsfix_ = "4007"

static std::string	do_imu_ = "4226"

static std::string	do_insgpsfix_ = "4226"

static std::string	do_inslocalization_ = "4226"

static std::string	do_insnavsatfix_ = "4226"

static std::string	do_inspose_ = "4226"

static std::string	do_navsatfix_ = "4007"

static std::string	do_pose_ = "4007"

static GPSFixMap	gpsfix_map

static ImuMap	imu_map

static LocalizationMap	localization_map

static NavSatFixMap	navsatfix_map

static PoseWithCovarianceStampedMap	pose_map

Detailed Description

Represents ensemble of (to be constructed) ROS messages, to be handled at once by this class.

Definition at line 181 of file callback_handlers.hpp.

Member Typedef Documentation

◆ CallbackMap

typedef std::multimap<std::string, boost::shared_ptr<AbstractCallbackHandler> > io_comm_rx::CallbackHandlers::CallbackMap

Key is std::string and represents the ROS message key, value is boost::shared_ptr<CallbackHandler>

Definition at line 189 of file callback_handlers.hpp.

◆ DiagnosticArrayMap

typedef std::unordered_map<std::string, uint32_t> io_comm_rx::CallbackHandlers::DiagnosticArrayMap

private

Shorthand for the map responsible for matching ROS message identifiers relevant for DiagnosticArray to a uint32_t

Definition at line 328 of file callback_handlers.hpp.

◆ GPSFixMap

typedef std::unordered_map<std::string, uint32_t> io_comm_rx::CallbackHandlers::GPSFixMap

private

Shorthand for the map responsible for matching ROS message identifiers relevant for GPSFix to a uint32_t

Definition at line 304 of file callback_handlers.hpp.

◆ ImuMap

typedef std::unordered_map<std::string, uint32_t> io_comm_rx::CallbackHandlers::ImuMap

private

Shorthand for the map responsible for matching ROS message identifiers relevant for Imu to a uint32_t

Definition at line 336 of file callback_handlers.hpp.

◆ LocalizationMap

typedef std::unordered_map<std::string, uint32_t> io_comm_rx::CallbackHandlers::LocalizationMap

private

Shorthand for the map responsible for matching ROS message identifiers relevant for Localization to a uint32_t

Definition at line 344 of file callback_handlers.hpp.

◆ NavSatFixMap

typedef std::unordered_map<std::string, uint32_t> io_comm_rx::CallbackHandlers::NavSatFixMap

private

Shorthand for the map responsible for matching ROS message identifiers relevant for NavSatFix to a uint32_t

Definition at line 312 of file callback_handlers.hpp.

◆ PoseWithCovarianceStampedMap

typedef std::unordered_map<std::string, uint32_t> io_comm_rx::CallbackHandlers::PoseWithCovarianceStampedMap

private

Shorthand for the map responsible for matching ROS message identifiers relevant for PoseWithCovarianceStamped to a uint32_t

Definition at line 320 of file callback_handlers.hpp.

Constructor & Destructor Documentation

◆ CallbackHandlers()

io_comm_rx::CallbackHandlers::CallbackHandlers	(	ROSaicNodeBase *	node,
		Settings *	settings
	)

inline

Definition at line 191 of file callback_handlers.hpp.

Member Function Documentation

◆ handle()

void io_comm_rx::CallbackHandlers::handle ( )

Called every time rx_message is found to contain some potentially useful message.

The for loop forwards to a ROS message specific handle if the latter was added via callbackmap_.insert at some earlier point.

Definition at line 90 of file callback_handlers.cpp.

◆ insert()

template<typename T >

CallbackMap io_comm_rx::CallbackHandlers::insert ( std::string message_key )

inline

Adds a pair to the multimap "callbackmap_", with the message_key being the key.

This method is called by "handlers_" in rosaic_node.cpp. T would be a (custom or not) ROS message, e.g. PVTGeodeticMsg, or nmea_msgs::GPGGA. Note that "typename" could be omitted in the argument.

Parameters

message_key The pair's key

Returns: The modified multimap "callbackmap_"

Definition at line 209 of file callback_handlers.hpp.

◆ readCallback()

void io_comm_rx::CallbackHandlers::readCallback	(	Timestamp	recvTimestamp,
		const uint8_t *	data,
		std::size_t &	size
	)

Searches for Rx messages that could potentially be decoded/parsed/published.

Parameters

[in]	recvTimestamp	Timestamp of buffer reception passed on from AsyncManager class
[in]	data	Buffer passed on from AsyncManager class
[in]	size	Size of the buffer

Definition at line 468 of file callback_handlers.cpp.

Member Data Documentation

◆ callback_mutex_

boost::mutex io_comm_rx::CallbackHandlers::callback_mutex_

staticprivate

The "static" keyword resolves construct-by-copying issues related to this mutex by making it available throughout the code unit. The mutex constructor list contains "mutex (const mutex&) = delete", hence construct-by-copying a mutex is explicitly prohibited. The get_handlers() method of the Comm_IO class hence forces us to make this mutex static.

Definition at line 258 of file callback_handlers.hpp.

◆ callbackmap_

CallbackMap io_comm_rx::CallbackHandlers::callbackmap_

Callback handlers multimap for Rx messages; it needs to be public since we copy-assign (did not work otherwise) new callbackmap_, after inserting a pair to the multimap within the DefineMessages() method of the ROSaicNode class, onto its old version.

Definition at line 241 of file callback_handlers.hpp.

◆ diagnosticarray_map

CallbackHandlers::DiagnosticArrayMap io_comm_rx::CallbackHandlers::diagnosticarray_map

staticprivate

All instances of the CallbackHandlers class shall have access to the map without reinitializing it, hence static

Definition at line 332 of file callback_handlers.hpp.

◆ do_diagnostics_

std::string io_comm_rx::CallbackHandlers::do_diagnostics_ = "4014"

staticprivate

Determines which of the SBF blocks necessary for the diagnostic_msgs/DiagnosticArray ROS message arrives last and thus launches its construction

Definition at line 290 of file callback_handlers.hpp.

◆ do_gpsfix_

std::string io_comm_rx::CallbackHandlers::do_gpsfix_ = "4007"

staticprivate

Determines which of the SBF blocks necessary for the gps_common::GPSFix ROS message arrives last and thus launches its construction

Definition at line 262 of file callback_handlers.hpp.

◆ do_imu_

std::string io_comm_rx::CallbackHandlers::do_imu_ = "4226"

staticprivate

Determines which of the SBF blocks necessary for the sensor_msgs/Imu ROS message arrives last and thus launches its construction

Definition at line 295 of file callback_handlers.hpp.

◆ do_insgpsfix_

std::string io_comm_rx::CallbackHandlers::do_insgpsfix_ = "4226"

staticprivate

Determines which of the INS integrated SBF blocks necessary for the gps_common::GPSFix ROS message arrives last and thus launches its construction

Definition at line 266 of file callback_handlers.hpp.

◆ do_inslocalization_

std::string io_comm_rx::CallbackHandlers::do_inslocalization_ = "4226"

staticprivate

Determines which of the SBF blocks necessary for the nav_msgs/Odometry ROS message arrives last and thus launches its construction

Definition at line 300 of file callback_handlers.hpp.

◆ do_insnavsatfix_

std::string io_comm_rx::CallbackHandlers::do_insnavsatfix_ = "4226"

staticprivate

Determines which of the INS integrated SBF blocks necessary for the NavSatFixMsg ROS message arrives last and thus launches its construction

Definition at line 275 of file callback_handlers.hpp.

◆ do_inspose_

std::string io_comm_rx::CallbackHandlers::do_inspose_ = "4226"

staticprivate

Determines which of the INS integrated SBF blocks necessary for the geometry_msgs/PoseWithCovarianceStamped ROS message arrives last and thus launches its construction

Definition at line 285 of file callback_handlers.hpp.

◆ do_navsatfix_

std::string io_comm_rx::CallbackHandlers::do_navsatfix_ = "4007"

staticprivate

Determines which of the SBF blocks necessary for the NavSatFixMsg ROS message arrives last and thus launches its construction

Definition at line 271 of file callback_handlers.hpp.

◆ do_pose_

std::string io_comm_rx::CallbackHandlers::do_pose_ = "4007"

staticprivate

Determines which of the SBF blocks necessary for the geometry_msgs/PoseWithCovarianceStamped ROS message arrives last and thus launches its construction

Definition at line 280 of file callback_handlers.hpp.

◆ gpsfix_map

CallbackHandlers::GPSFixMap io_comm_rx::CallbackHandlers::gpsfix_map

staticprivate

All instances of the CallbackHandlers class shall have access to the map without reinitializing it, hence static

Definition at line 308 of file callback_handlers.hpp.

◆ imu_map

CallbackHandlers::ImuMap io_comm_rx::CallbackHandlers::imu_map

staticprivate

All instances of the CallbackHandlers class shall have access to the map without reinitializing it, hence static

Definition at line 340 of file callback_handlers.hpp.

◆ localization_map

CallbackHandlers::LocalizationMap io_comm_rx::CallbackHandlers::localization_map

staticprivate

All instances of the CallbackHandlers class shall have access to the map without reinitializing it, hence static

Definition at line 348 of file callback_handlers.hpp.

◆ navsatfix_map

CallbackHandlers::NavSatFixMap io_comm_rx::CallbackHandlers::navsatfix_map

staticprivate

All instances of the CallbackHandlers class shall have access to the map without reinitializing it, hence static

Definition at line 316 of file callback_handlers.hpp.

◆ node_

ROSaicNodeBase* io_comm_rx::CallbackHandlers::node_

private

Pointer to Node.

Definition at line 245 of file callback_handlers.hpp.

◆ pose_map

CallbackHandlers::PoseWithCovarianceStampedMap io_comm_rx::CallbackHandlers::pose_map

staticprivate

All instances of the CallbackHandlers class shall have access to the map without reinitializing it, hence static

Definition at line 324 of file callback_handlers.hpp.

◆ rx_message_

RxMessage io_comm_rx::CallbackHandlers::rx_message_

private

RxMessage parser.

Definition at line 248 of file callback_handlers.hpp.

◆ settings_

Settings* io_comm_rx::CallbackHandlers::settings_

private

Settings.

Definition at line 251 of file callback_handlers.hpp.

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

Public Types

Public Member Functions

Public Attributes

Private Types

Private Attributes

Static Private Attributes

Detailed Description

Member Typedef Documentation

◆ CallbackMap

◆ DiagnosticArrayMap

◆ GPSFixMap

◆ ImuMap

◆ LocalizationMap

◆ NavSatFixMap

◆ PoseWithCovarianceStampedMap

Constructor & Destructor Documentation

◆ CallbackHandlers()

Member Function Documentation

◆ handle()

◆ insert()

◆ readCallback()

Member Data Documentation

◆ callback_mutex_

◆ callbackmap_

◆ diagnosticarray_map

◆ do_diagnostics_

◆ do_gpsfix_

◆ do_imu_

◆ do_insgpsfix_

◆ do_inslocalization_

◆ do_insnavsatfix_

◆ do_inspose_

◆ do_navsatfix_

◆ do_pose_

◆ gpsfix_map

◆ imu_map

◆ localization_map

◆ navsatfix_map

◆ node_

◆ pose_map

◆ rx_message_

◆ settings_