Inheritance diagram for TestLazyPubSub:

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Public Member Functions
ros::Publisher &	getPub ()

ros::Subscriber &	getSub ()

	TestLazyPubSub (const ::std::string &topicIn, const ::std::string &topicOut, const ::ros::NodeHandle &nh={}, const size_t inQueueSize=10, const size_t outQueueSize=10)

Public Member Functions inherited from cras::GenericLazyPubSub
	GenericLazyPubSub (const ::ros::NodeHandle &nh, const ::std::string &topicIn, const ::std::string &topicOut, CallbackType callback, ::ros::SubscribeOptions subscribeOptions={}, const ::cras::LogHelperPtr &logHelper=::std::make_shared<::cras::NodeLogHelper >())
	Create the pair of lazy subscriber and publisher (with the same node handle used for input and output and both using queue size of 10). More...

	GenericLazyPubSub (const ::ros::NodeHandle &nh, const ::std::string &topicIn, const ::std::string &topicOut, size_t inQueueSize, size_t outQueueSize, CallbackType callback, ::ros::SubscribeOptions subscribeOptions={}, const ::cras::LogHelperPtr &logHelper=::std::make_shared<::cras::NodeLogHelper >())
	Create the pair of lazy subscriber and publisher (with the same node handle used for input and output). More...

	GenericLazyPubSub (const ::ros::NodeHandle &nh, const ::std::string &topicIn, const ::std::string &topicOut, size_t queueSize, CallbackType callback, ::ros::SubscribeOptions subscribeOptions={}, const ::cras::LogHelperPtr &logHelper=::std::make_shared<::cras::NodeLogHelper >())
	Create the pair of lazy subscriber and publisher (with the same node handle and queue size used for input and output). More...

	GenericLazyPubSub (const ::ros::NodeHandle &nhIn, const ::std::string &topicIn, const ::ros::NodeHandle &nhOut, const ::std::string &topicOut, CallbackType callback, ::ros::SubscribeOptions subscribeOptions={}, const ::cras::LogHelperPtr &logHelper=::std::make_shared<::cras::NodeLogHelper >())
	Create the pair of lazy subscriber and publisher (with input and output queue size of 10). More...

	GenericLazyPubSub (const ::ros::NodeHandle &nhIn, const ::std::string &topicIn, const ::ros::NodeHandle &nhOut, const ::std::string &topicOut, size_t inQueueSize, size_t outQueueSize, CallbackType callback, ::ros::SubscribeOptions subscribeOptions={}, const ::cras::LogHelperPtr &logHelper=::std::make_shared<::cras::NodeLogHelper >())
	Create the pair of lazy subscriber and publisher. More...

	GenericLazyPubSub (const ::ros::NodeHandle &nhIn, const ::std::string &topicIn, const ::ros::NodeHandle &nhOut, const ::std::string &topicOut, size_t queueSize, CallbackType callback, ::ros::SubscribeOptions subscribeOptions={}, const ::cras::LogHelperPtr &logHelper=::std::make_shared<::cras::NodeLogHelper >())
	Create the pair of lazy subscriber and publisher (with equal input and output queue size). More...

Public Member Functions inherited from cras::ConditionalSubscriber
	ConditionalSubscriber (ConnectFn connectFn, const ::cras::LogHelperPtr &logHelper=::std::make_shared<::cras::NodeLogHelper >())
	Create the conditional subscriber. More...

	ConditionalSubscriber (ConnectFn connectFn, DisconnectFn disconnectFn, const ::cras::LogHelperPtr &logHelper=::std::make_shared<::cras::NodeLogHelper >())
	Create the conditional subscriber. More...

bool	isLazy () const
	Tell whether this subscriber has the lazy behavior enabled. More...

bool	isSubscribed () const
	Whether the subscriber is currently subscribed to its topic or not. More...

void	setLazy (bool lazy)
	Set whether the subscriber behaves in the lazy way. More...

virtual	~ConditionalSubscriber ()
	Destroy this object and unsubscribe the subscriber if it was subscribed. More...

Public Member Functions inherited from cras::HasLogger
::cras::LogHelperConstPtr	getCrasLogger () const

	HasLogger (const ::cras::LogHelperPtr &log)

void	setCrasLogger (const ::cras::LogHelperPtr &log)

Public Attributes
size_t	numProcessed {0}

Public Attributes inherited from cras::GenericLazyPubSub
const typedef ::ros::MessageEvent<::topic_tools::ShapeShifter const > &	CallbackMessageType
	Signature of the subscriber's callback. More...

Protected Member Functions
void	processMessage (const ros::MessageEvent< topic_tools::ShapeShifter const > &event, ros::Publisher &pub)

Protected Member Functions inherited from cras::GenericLazyPubSub
void	cb (const ::ros::MessageEvent<::topic_tools::ShapeShifter const > &event)
	Callback for the received messages from subscriber. It also handles publisher creation if none exists. More...

void	connectCb (const ::ros::SingleSubscriberPublisher &)
	Callback that is called whenever someone (un)subscribes from the publisher. More...

virtual ::ros::AdvertiseOptions	createAdvertiseOptions (const ::ros::MessageEvent<::topic_tools::ShapeShifter const > &event)
	Create ros::AdvertiseOptions from a message event. More...

bool	shouldBeSubscribed () const override
	Returns true when the subscriber should be connected - i.e. either at the start, or when pub has clients. More...

void	subscribe (::ros::Subscriber &sub)
	Perform the subscription to the input topic. More...

Protected Member Functions inherited from cras::ConditionalSubscriber
void	connectNoLock ()
	Connect the subscriber to its input. More...

void	disconnectNoLock ()
	Disconnect the subscriber from its input. More...

void	updateSubscription ()
	The callback called when the condition might have changed. More...

void	updateSubscriptionNoLock ()
	The callback called when the condition might have changed. More...

Additional Inherited Members
Public Types inherited from cras::GenericLazyPubSub
typedef ::boost::function< void(::cras::GenericLazyPubSub::CallbackMessageType, ::ros::Publisher &)>	CallbackType
	Type of the user callback passed to this class. More...

Public Types inherited from cras::ConditionalSubscriber
typedef ::std::function< void(::ros::Subscriber &sub)>	ConnectFn
	Type of the function that connects the subscriber. More...

typedef ::std::function< void(::ros::Subscriber &sub)>	DisconnectFn
	Type of the function that disconnects the subscriber. More...

Protected Attributes inherited from cras::GenericLazyPubSub
::cras::optional<::ros::AdvertiseOptions >	advertiseOptions
	The options used when the publisher was created. `nullopt` before the publisher is created. More...

::cras::GenericLazyPubSub::CallbackType	callback
	The user callback to be called when a message is received. More...

size_t	inQueueSize
	Queue size of the input subscriber. More...

::ros::NodeHandle	nhIn
	Node handle for topic subscription. More...

::ros::NodeHandle	nhOut
	Node handle for topic publication. More...

size_t	outQueueSize
	Queue size of the output publisher. More...

::ros::Publisher	pub
	The output publisher. It will be invalid until first message is received. More...

::std::mutex	pubCreateMutex
	Mutex protecting `pub`. More...

::ros::Subscriber	sub
	The input subscriber. More...

const ::ros::SubscribeOptions	subscribeOptions
	Options used when subscribing to the input topic. More...

::std::string	topicIn
	Input topic (relative to `nh`). More...

::std::string	topicOut
	Output topic (relative to `nh`). More...

Protected Attributes inherited from cras::ConditionalSubscriber
ConnectFn	connectFn
	The function used to establish connection. More...

mutable ::std::mutex	connectMutex
	Mutex protecting `sub` and `subscribed`. More...

DisconnectFn	disconnectFn
	The function used to close connection. More...

bool	lazy {true}
	Whether the lazy behavior is enabled (if false, the subscriber is always subscribed). More...

::ros::Subscriber	sub
	The underlying subscriber (valid only when `subscribed` is true). More...

bool	subscribed {false}
	Whether the subscriber is currently subscribed to its topic or not. More...

Protected Attributes inherited from cras::HasLogger
::cras::LogHelperPtr	log

Detailed Description

Definition at line 56 of file test_generic_lazy_pubsub.cpp.

Constructor & Destructor Documentation

◆ TestLazyPubSub()

TestLazyPubSub::TestLazyPubSub	(	const ::std::string &	topicIn,
		const ::std::string &	topicOut,
		const ::ros::NodeHandle &	nh = `{}`,
		const size_t	inQueueSize = `10`,
		const size_t	outQueueSize = `10`
	)