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

Public Member Functions
	CallbackHandlers ()=default

void	handle (RxMessage &rx_message)
	Ćalled 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 (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::map< std::string, uint32_t >	DiagnosticArrayMap

typedef std::map< std::string, uint32_t >	GPSFixMap
	Shorthand for the map responsible for matching ROS message identifiers relevant for GPSFix to a uint32_t. More...

typedef std::map< std::string, uint32_t >	NavSatFixMap
	Shorthand for the map responsible for matching ROS message identifiers relevant for NavSatFix to a uint32_t. More...

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

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_navsatfix_ = "4007"

static std::string	do_pose_ = "4007"

static GPSFixMap	gpsfix_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 207 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 213 of file callback_handlers.hpp.

◆ DiagnosticArrayMap

typedef std::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 307 of file callback_handlers.hpp.

◆ GPSFixMap

typedef std::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 284 of file callback_handlers.hpp.

◆ NavSatFixMap

typedef std::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 291 of file callback_handlers.hpp.

◆ PoseWithCovarianceStampedMap

typedef std::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 299 of file callback_handlers.hpp.

Constructor & Destructor Documentation

◆ CallbackHandlers()

io_comm_rx::CallbackHandlers::CallbackHandlers ( )

default

Member Function Documentation

◆ handle()

void io_comm_rx::CallbackHandlers::handle ( RxMessage & rx_message )

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

Parameters

rx_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. rosaic::PVTGeodetic, or nmea_msgs::GPGGA. Note that "typename" could be omitted in the argument.

Parameters

message_key	The pair's key
callback	The key's counterpart

Returns: The modified multimap "callbackmap_"

Definition at line 228 of file callback_handlers.hpp.

◆ readCallback()

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

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

Parameters

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

Definition at line 269 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 265 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 257 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 311 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 281 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 269 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 sensor_msgs::NavSatFix ROS message arrives last and thus launches its construction

Definition at line 273 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 277 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 288 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 295 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 303 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

Static Private Attributes

Detailed Description

Member Typedef Documentation

◆ CallbackMap

◆ DiagnosticArrayMap

◆ GPSFixMap

◆ 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_navsatfix_

◆ do_pose_

◆ gpsfix_map

◆ navsatfix_map

◆ pose_map