Class DesertSubscriber

Class Documentation

class DesertSubscriber

Public Functions

DesertSubscriber(std::string topic_name, const rosidl_message_type_support_t *type_supports, rmw_gid_t gid)

Create a subscriber.

Parameters:

  • topic_name – Name of the topic used for the registration

  • type_supports – Pointer to the message data structure coming from the ROS upper layers

  • gid – Global identifier of the entity

bool has_data()

Check if there is available data for the registered topic.

The has_data function calls the interpret_packets method in RxStream and then verifies if in the map of subscriber packets there is a correspondence with the topic name of the current instance.

Returns:

True if data is present otherwise false

void read_data(void *msg)

Read a publication from the publisher.

The read_data function interprets a transmission with the topic name present in the current instance deserializing the message using the method from the MessageSerialization namespace. A discrimination is made between C members and C++ members based on the type support.

Parameters:

msg – Pointer to the memory location used to store the message

rmw_gid_t get_gid()

Retreive the gid of the current entity.

This function returns the global identifier of the current entity in the rmw format.

Returns:

Global identifier of the entity

std::string get_topic_name()

Retreive the topic name of the current entity.

This function returns a string containing the topic name of the current entity.

Returns:

Name of the topic

std::string get_type_name()

Retreive the message type of the current entity.

This function returns a string containing the message type name of the current entity.

Returns:

Type of the message