Template Class SubscriptionIntraProcess

Defined in File subscription_intra_process.hpp

Inheritance Relationships

Base Type

public rclcpp::experimental::SubscriptionIntraProcessBuffer< SubscribedType, std::allocator< SubscribedType >, std::default_delete< SubscribedType >, SubscribedType > (Template Class SubscriptionIntraProcessBuffer)

Class Documentation

template<typename MessageT, typename SubscribedType, typename SubscribedTypeAlloc = std::allocator<SubscribedType>, typename SubscribedTypeDeleter = std::default_delete<SubscribedType>, typename ROSMessageType = SubscribedType, typename Alloc = std::allocator<void>> class SubscriptionIntraProcess : public rclcpp::experimental::SubscriptionIntraProcessBuffer<SubscribedType, std::allocator<SubscribedType>, std::default_delete<SubscribedType>, SubscribedType>

Public Types

using MessageAllocTraits = typename SubscriptionIntraProcessBufferT::SubscribedTypeAllocatorTraits

using MessageAlloc = typename SubscriptionIntraProcessBufferT::SubscribedTypeAllocator

using ConstMessageSharedPtr = typename SubscriptionIntraProcessBufferT::ConstDataSharedPtr

using MessageUniquePtr = typename SubscriptionIntraProcessBufferT::SubscribedTypeUniquePtr

using BufferUniquePtr = typename SubscriptionIntraProcessBufferT::BufferUniquePtr

Public Functions

inline SubscriptionIntraProcess(AnySubscriptionCallback<MessageT, Alloc> callback, std::shared_ptr<Alloc> allocator, rclcpp::Context::SharedPtr context, const std::string &topic_name, const rclcpp::QoS &qos_profile, rclcpp::IntraProcessBufferType buffer_type)

virtual ~SubscriptionIntraProcess() = default

inline virtual void add_to_wait_set(rcl_wait_set_t &wait_set) override

Add the Waitable to a wait set.

Parameters:: wait_set – [in] A handle to the wait set to add the Waitable to.
Throws:: rclcpp::execptions::RCLError – from rcl_wait_set_add_*()

inline virtual std::shared_ptr<void> take_data() override

Take the data so that it can be consumed with execute.

NOTE: take_data is a partial fix to a larger design issue with the multithreaded executor. This method is likely to be removed when a more permanent fix is implemented. A longterm fix is currently being discussed here: https://github.com/ros2/rclcpp/pull/1276

This method takes the data from the underlying data structure and writes it to the void shared pointer data that is passed into the method. The data can then be executed with the execute method.

Before calling this method, the Waitable should be added to a wait set, waited on, and then updated.

Example usage:

// ... create a wait set and a Waitable
// Add the Waitable to the wait set
waitable.add_to_wait_set(wait_set);
// Wait
rcl_ret_t wait_ret = rcl_wait(wait_set);
// ... error handling
// Update the Waitable
waitable.update(wait_set);
// Execute any entities of the Waitable that may be ready
std::shared_ptr<void> data = waitable.take_data();

inline virtual void execute(const std::shared_ptr<void> &data) override

Execute data that is passed in.

Before calling this method, the Waitable should be added to a wait set, waited on, and then updated - and the take_data method should be called.

Example usage:

// ... create a wait set and a Waitable
// Add the Waitable to the wait set
waitable.add_to_wait_set(wait_set);
// Wait
rcl_ret_t wait_ret = rcl_wait(wait_set);
// ... error handling
// Update the Waitable
waitable.update(wait_set);
// Execute any entities of the Waitable that may be ready
std::shared_ptr<void> data = waitable.take_data();
waitable.execute(data);

Protected Functions

template<typename T> inline std::enable_if<std::is_same<T, rcl_serialized_message_t>::value, void>::type execute_impl(const std::shared_ptr<void>&)

template<class T> inline std::enable_if<!std::is_same<T, rcl_serialized_message_t>::value, void>::type execute_impl(const std::shared_ptr<void> &data)

Protected Attributes

AnySubscriptionCallback<MessageT, Alloc> any_callback_