#include <TypedSubscriber.h>

Public Member Functions
bool	getLastMessage (MessageType &msg) const
bool	isActive () const
bool	isRunning () const
void	setActive (bool flag)
void	start (const std::string &_topic)
void	stop ()
	TypedSubscriber (ros::NodeHandle &_node)
bool	waitForNextMessage (MessageType &msg, float timeout=-1, float wait_step=0.05) const
	~TypedSubscriber ()
Private Types
typedef baselib_binding::condition_variable	condition_variable
typedef baselib_binding::mutex	mutex
typedef baselib_binding::recursive_mutex	recursive_mutex
typedef TypedSubscriber < MessageType >	Self
typedef baselib_binding::unique_lock < mutex >::type	unique_lock
typedef baselib_binding::unique_lock < recursive_mutex >::type	unique_recursive_lock
Private Member Functions
ros::Time	getLastUpdateTime () const
void	msgCallback (const MessageType &_msg)
Private Attributes
recursive_mutex	generalMutex
MessageType	lastArrivedMessage
ros::Time	lastUpdateTime
condition_variable	messageArrivedCondition
mutex	messageArrivedMutex
ros::NodeHandle &	node
bool	running
ros::Subscriber	sub
bool	subscriberActive
std::string	topic

Detailed Description

template<class MessageType>
class convenience_ros_functions::TypedSubscriber< MessageType >

Subscribes to a topic of a message type and provides the functionality to wait for the next message.

Author:: Jennifer Buehler

Date:: March 2016

Definition at line 19 of file TypedSubscriber.h.

Member Typedef Documentation

template<class MessageType >

typedef baselib_binding::condition_variable convenience_ros_functions::TypedSubscriber< MessageType >::condition_variable [private]

Definition at line 82 of file TypedSubscriber.h.

template<class MessageType >

typedef baselib_binding::mutex convenience_ros_functions::TypedSubscriber< MessageType >::mutex [private]

Definition at line 79 of file TypedSubscriber.h.

template<class MessageType >

typedef baselib_binding::recursive_mutex convenience_ros_functions::TypedSubscriber< MessageType >::recursive_mutex [private]

Definition at line 78 of file TypedSubscriber.h.

template<class MessageType >

typedef TypedSubscriber<MessageType> convenience_ros_functions::TypedSubscriber< MessageType >::Self [private]

Definition at line 21 of file TypedSubscriber.h.

template<class MessageType >

typedef baselib_binding::unique_lock<mutex>::type convenience_ros_functions::TypedSubscriber< MessageType >::unique_lock [private]

Definition at line 80 of file TypedSubscriber.h.

template<class MessageType >

typedef baselib_binding::unique_lock<recursive_mutex>::type convenience_ros_functions::TypedSubscriber< MessageType >::unique_recursive_lock [private]

Definition at line 81 of file TypedSubscriber.h.

Constructor & Destructor Documentation

template<class MessageType >

convenience_ros_functions::TypedSubscriber< MessageType >::TypedSubscriber ( ros::NodeHandle & _node ) [inline]

Definition at line 25 of file TypedSubscriber.h.

template<class MessageType >

convenience_ros_functions::TypedSubscriber< MessageType >::~TypedSubscriber ( ) [inline]

Definition at line 32 of file TypedSubscriber.h.

Member Function Documentation

template<class MessageType >

bool TypedSubscriber::getLastMessage ( MessageType & msg ) const

returns last arrived message in msg.

Returns:: false if no message has arrived yet.

Definition at line 47 of file TypedSubscriber.hpp.

template<class MessageType >

ros::Time TypedSubscriber::getLastUpdateTime ( ) const [private]

Definition at line 106 of file TypedSubscriber.hpp.

template<class MessageType >

bool TypedSubscriber::isActive ( ) const

Returns:: is active. This does not mean isRunning() also returns true: the service may have been stopped, but as soon as it is re-launched, the subscriber would automatically be active.

Definition at line 33 of file TypedSubscriber.hpp.

template<class MessageType >

bool TypedSubscriber::isRunning ( ) const

Returns:: if it is subscribed to a topic. May not necessarily be active, use isActive() to check for this.

Definition at line 40 of file TypedSubscriber.hpp.

template<class MessageType >

void TypedSubscriber::msgCallback ( const MessageType & _msg ) [private]

Definition at line 113 of file TypedSubscriber.hpp.

template<class MessageType >

void TypedSubscriber::setActive ( bool flag )

Activates or deactivates the processing of incoming messages. This can be used to save a bit of processing time when updates are currently not required, but it is not desired to completely stop the subscriber (with stop()) at times when updates are not required.

Definition at line 20 of file TypedSubscriber.hpp.

template<class MessageType >

void TypedSubscriber::start ( const std::string & _topic )

Definition at line 2 of file TypedSubscriber.hpp.

template<class MessageType >

void TypedSubscriber::stop ( )

Definition at line 12 of file TypedSubscriber.hpp.

template<class MessageType >

bool TypedSubscriber::waitForNextMessage	(	MessageType &	msg,
		float	timeout = `-1`,
		float	wait_step = `0.05`
	)		const

Blocks while it waits for the incoming new message and returns it in . Only succeeds if active (isActive() returns true)

Parameters:

timeout	the timeout, or negative if no timeout to be used
wait_step	time (in seconds) to sleep in-between checks wheter a new joint state has arrived.

Returns:: true if successfully waited until next message or false if timeout reached (or isActive() returned false)

Definition at line 56 of file TypedSubscriber.hpp.

Member Data Documentation

template<class MessageType >

recursive_mutex convenience_ros_functions::TypedSubscriber< MessageType >::generalMutex [mutable, private]

Definition at line 90 of file TypedSubscriber.h.

template<class MessageType >

MessageType convenience_ros_functions::TypedSubscriber< MessageType >::lastArrivedMessage [private]

Definition at line 96 of file TypedSubscriber.h.

template<class MessageType >

ros::Time convenience_ros_functions::TypedSubscriber< MessageType >::lastUpdateTime [private]

Definition at line 98 of file TypedSubscriber.h.

template<class MessageType >

condition_variable convenience_ros_functions::TypedSubscriber< MessageType >::messageArrivedCondition [mutable, private]

Definition at line 92 of file TypedSubscriber.h.

template<class MessageType >

mutex convenience_ros_functions::TypedSubscriber< MessageType >::messageArrivedMutex [mutable, private]

Definition at line 94 of file TypedSubscriber.h.

template<class MessageType >

ros::NodeHandle& convenience_ros_functions::TypedSubscriber< MessageType >::node [private]

Definition at line 105 of file TypedSubscriber.h.

template<class MessageType >

bool convenience_ros_functions::TypedSubscriber< MessageType >::running [private]

Definition at line 100 of file TypedSubscriber.h.

template<class MessageType >

ros::Subscriber convenience_ros_functions::TypedSubscriber< MessageType >::sub [private]

Definition at line 107 of file TypedSubscriber.h.

template<class MessageType >

bool convenience_ros_functions::TypedSubscriber< MessageType >::subscriberActive [private]

Definition at line 101 of file TypedSubscriber.h.

template<class MessageType >

std::string convenience_ros_functions::TypedSubscriber< MessageType >::topic [private]

Definition at line 103 of file TypedSubscriber.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

template<class MessageType> class convenience_ros_functions::TypedSubscriber< MessageType >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class MessageType>
class convenience_ros_functions::TypedSubscriber< MessageType >