A pair of lazy subscriber and publisher which use the same message type (unknown at compile time). More...

#include <generic_lazy_pubsub.hpp>

Inheritance diagram for cras::GenericLazyPubSub:

[legend]

Public Types
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...

Public Member Functions
	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
const typedef ::ros::MessageEvent<::topic_tools::ShapeShifter const > &	CallbackMessageType
	Signature of the subscriber's callback. More...

Protected Member Functions
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...

Protected Attributes
::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

A pair of lazy subscriber and publisher which use the same message type (unknown at compile time).

Note: If publisher type is known at compile time, use LazySubscriber.; Even though the subscriber is lazy, it has to subscribe to the input topic and receive one message from which it can derive the publisher parameters. After receiving this first message, the subscriber is disconnected in case the publisher has no subscribers.

Definition at line 44 of file generic_lazy_pubsub.hpp.

Member Typedef Documentation

◆ CallbackType

typedef ::boost::function<void(::cras::GenericLazyPubSub::CallbackMessageType, ::ros::Publisher&)> cras::GenericLazyPubSub::CallbackType

Type of the user callback passed to this class.

Definition at line 51 of file generic_lazy_pubsub.hpp.

Constructor & Destructor Documentation

◆ GenericLazyPubSub() [1/6]

cras::GenericLazyPubSub::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.

Parameters

[in]	nhIn	Node handle for message subscription.
[in]	topicIn	Input topic (relative to `nhIn`).
[in]	nhOut	Node handle for message publication.
[in]	topicOut	Output topic (relative to `nhOut`).
[in]	inQueueSize	Queue size of the input subscriber.
[in]	outQueueSize	Queue size of the output publisher.
[in]	callback	The callback to call when a message is received.
[in]	subscribeOptions	Options used when creating the subscriber.
[in]	logHelper	Log helper.

◆ GenericLazyPubSub() [2/6]

cras::GenericLazyPubSub::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).

Parameters

[in]	nhIn	Node handle for message subscription.
[in]	topicIn	Input topic (relative to `nhIn`).
[in]	nhOut	Node handle for message publication.
[in]	topicOut	Output topic (relative to `nhOut`).
[in]	queueSize	Queue size of the subscriber and publisher.
[in]	callback	The callback to call when a message is received.
[in]	subscribeOptions	Options used when creating the subscriber.
[in]	logHelper	Log helper.

◆ GenericLazyPubSub() [3/6]

cras::GenericLazyPubSub::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).

Parameters

[in]	nhIn	Node handle for message subscription.
[in]	topicIn	Input topic (relative to `nhIn`).
[in]	nhOut	Node handle for message publication.
[in]	topicOut	Output topic (relative to `nhOut`).
[in]	callback	The callback to call when a message is received.
[in]	subscribeOptions	Options used when creating the subscriber.
[in]	logHelper	Log helper.

◆ GenericLazyPubSub() [4/6]

cras::GenericLazyPubSub::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).

Parameters

[in]	nh	Node handle for message subscription and publication.
[in]	topicIn	Input topic (relative to `nh`).
[in]	topicOut	Output topic (relative to `nh`).
[in]	inQueueSize	Queue size of the input subscriber.
[in]	outQueueSize	Queue size of the output publisher.
[in]	callback	The callback to call when a message is received.
[in]	subscribeOptions	Options used when creating the subscriber.
[in]	logHelper	Log helper.

◆ GenericLazyPubSub() [5/6]

cras::GenericLazyPubSub::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).

Parameters

[in]	nh	Node handle for message subscription and publication.
[in]	topicIn	Input topic (relative to `nh`).
[in]	topicOut	Output topic (relative to `nh`).
[in]	queueSize	Queue size of the subscriber and publisher.
[in]	callback	The callback to call when a message is received.
[in]	subscribeOptions	Options used when creating the subscriber.
[in]	logHelper	Log helper.

◆ GenericLazyPubSub() [6/6]

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).

Parameters

[in]	nh	Node handle for message subscription and publication.
[in]	topicIn	Input topic (relative to `nh`).
[in]	topicOut	Output topic (relative to `nh`).
[in]	callback	The callback to call when a message is received.
[in]	subscribeOptions	Options used when creating the subscriber.
[in]	logHelper	Log helper.

Member Function Documentation

◆ cb()

void cras::GenericLazyPubSub::cb ( const ::ros::MessageEvent<::topic_tools::ShapeShifter const > & event )

protected

Callback for the received messages from subscriber. It also handles publisher creation if none exists.

Parameters

[in] event The message event.

Definition at line 70 of file generic_lazy_pubsub.cpp.

◆ connectCb()

void cras::GenericLazyPubSub::connectCb ( const ::ros::SingleSubscriberPublisher & )

protected

Callback that is called whenever someone (un)subscribes from the publisher.

Definition at line 63 of file generic_lazy_pubsub.cpp.

◆ createAdvertiseOptions()

ros::AdvertiseOptions cras::GenericLazyPubSub::createAdvertiseOptions ( const ::ros::MessageEvent<::topic_tools::ShapeShifter const > & event )

protected

Create ros::AdvertiseOptions from a message event.

Parameters

[in] event The event to examine.

Returns: The advertise options.

Definition at line 98 of file generic_lazy_pubsub.cpp.

◆ shouldBeSubscribed()

bool cras::GenericLazyPubSub::shouldBeSubscribed ( ) const

overrideprotectedvirtual

Returns true when the subscriber should be connected - i.e. either at the start, or when pub has clients.

Returns: Whether the subscriber should be connected.

Implements cras::ConditionalSubscriber.

Definition at line 56 of file generic_lazy_pubsub.cpp.

◆ subscribe()

void cras::GenericLazyPubSub::subscribe ( ::ros::Subscriber & sub )

protected

Perform the subscription to the input topic.

Parameters

[out] sub The subscriber reference to fill with the created subscriber.

Definition at line 48 of file generic_lazy_pubsub.cpp.

Member Data Documentation

◆ advertiseOptions

::cras::optional<::ros::AdvertiseOptions> cras::GenericLazyPubSub::advertiseOptions

protected

The options used when the publisher was created. nullopt before the publisher is created.

Definition at line 209 of file generic_lazy_pubsub.hpp.

◆ callback

::cras::GenericLazyPubSub::CallbackType cras::GenericLazyPubSub::callback

protected

The user callback to be called when a message is received.

Definition at line 203 of file generic_lazy_pubsub.hpp.

◆ CallbackMessageType

const typedef ::ros::MessageEvent<::topic_tools::ShapeShifter const>& cras::GenericLazyPubSub::CallbackMessageType

Signature of the subscriber's callback.

Definition at line 48 of file generic_lazy_pubsub.hpp.

◆ inQueueSize

size_t cras::GenericLazyPubSub::inQueueSize

protected

Queue size of the input subscriber.

Definition at line 185 of file generic_lazy_pubsub.hpp.

◆ nhIn

::ros::NodeHandle cras::GenericLazyPubSub::nhIn

protected

Node handle for topic subscription.

Definition at line 197 of file generic_lazy_pubsub.hpp.

◆ nhOut

::ros::NodeHandle cras::GenericLazyPubSub::nhOut

protected

Node handle for topic publication.

Definition at line 200 of file generic_lazy_pubsub.hpp.

◆ outQueueSize

size_t cras::GenericLazyPubSub::outQueueSize

protected

Queue size of the output publisher.

Definition at line 188 of file generic_lazy_pubsub.hpp.

◆ pub

::ros::Publisher cras::GenericLazyPubSub::pub

protected

The output publisher. It will be invalid until first message is received.

Definition at line 191 of file generic_lazy_pubsub.hpp.

◆ pubCreateMutex

::std::mutex cras::GenericLazyPubSub::pubCreateMutex

protected

Mutex protecting pub.

Definition at line 206 of file generic_lazy_pubsub.hpp.

◆ sub

::ros::Subscriber cras::GenericLazyPubSub::sub

protected

The input subscriber.

Definition at line 194 of file generic_lazy_pubsub.hpp.

◆ subscribeOptions

const ::ros::SubscribeOptions cras::GenericLazyPubSub::subscribeOptions

protected

Options used when subscribing to the input topic.

Definition at line 212 of file generic_lazy_pubsub.hpp.

◆ topicIn

::std::string cras::GenericLazyPubSub::topicIn

protected

Input topic (relative to nh).

Definition at line 179 of file generic_lazy_pubsub.hpp.

◆ topicOut

::std::string cras::GenericLazyPubSub::topicOut

protected

Output topic (relative to nh).

Definition at line 182 of file generic_lazy_pubsub.hpp.

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

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ CallbackType

Constructor & Destructor Documentation

◆ GenericLazyPubSub() [1/6]

◆ GenericLazyPubSub() [2/6]

◆ GenericLazyPubSub() [3/6]

◆ GenericLazyPubSub() [4/6]

◆ GenericLazyPubSub() [5/6]

◆ GenericLazyPubSub() [6/6]

Member Function Documentation

◆ cb()

◆ connectCb()

◆ createAdvertiseOptions()

◆ shouldBeSubscribed()

◆ subscribe()

Member Data Documentation

◆ advertiseOptions

◆ callback

◆ CallbackMessageType

◆ inQueueSize

◆ nhIn

◆ nhOut

◆ outQueueSize

◆ pub

◆ pubCreateMutex

◆ sub

◆ subscribeOptions

◆ topicIn

◆ topicOut