cras::LazySubscriber< PublisherMsgType, CallbackType > Class Template Reference

Lazy subscriber that subscribes only when a paired publisher has subscribers. More...

#include <lazy_subscriber.hpp>

Inheritance diagram for cras::LazySubscriber< PublisherMsgType, CallbackType >:

Public Member Functions
	LazySubscriber (::ros::NodeHandle publisherNh, const ::std::string &publisherTopic, ::ros::NodeHandle subscriberNh, const ::std::string &subscriberTopic, size_t subscriberQueueSize, ::boost::function< void(CallbackType)> subscriberCallback, ::ros::SubscribeOptions subscribeOptions, const ::cras::LogHelperPtr &logHelper=::std::make_shared<::cras::NodeLogHelper >())
	Create the lazy subscriber that subscribes to subscriberTopic when publisherTopic has subscribers. More...
	LazySubscriber (::ros::NodeHandle publisherNh, const ::std::string &publisherTopic, ::ros::NodeHandle subscriberNh, const ::std::string &subscriberTopic, size_t subscriberQueueSize, ::boost::function< void(CallbackType)> subscriberCallback, const ::cras::LogHelperPtr &logHelper=::std::make_shared<::cras::NodeLogHelper >())
	Create the lazy subscriber that subscribes to subscriberTopic when publisherTopic has subscribers. More...
Public Member Functions inherited from cras::LazySubscriberBase< PublisherMsgType >
	LazySubscriberBase (::ros::NodeHandle publisherNh, const ::std::string &publisherTopic, typename ::cras::ConditionalSubscriber::ConnectFn connectFn, const ::cras::LogHelperPtr &logHelper=::std::make_shared<::cras::NodeLogHelper >())
	Create the lazy subscriber that subscribes only when publisherTopic has subscribers. More...
	LazySubscriberBase (::ros::NodeHandle publisherNh, const ::std::string &publisherTopic, typename ::cras::ConditionalSubscriber::ConnectFn connectFn, typename ::cras::ConditionalSubscriber::DisconnectFn disconnectFn, const ::cras::LogHelperPtr &logHelper=::std::make_shared<::cras::NodeLogHelper >())
	Create the lazy subscriber that subscribes only when publisherTopic has subscribers. 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)

Additional Inherited Members
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...
Protected Member Functions inherited from cras::LazySubscriberBase< PublisherMsgType >
void	connectCb (const ::ros::SingleSubscriberPublisher &)
	The callback called when a new subscriber appears or disappears. More...
bool	shouldBeSubscribed () const override
	Tell whether the subscriber should be subscribed or not. 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 inherited from cras::LazySubscriberBase< PublisherMsgType >
::ros::Publisher	pub
	The publisher whose number of subscribers decides whether to connect or not. It is not used to publish any actual messages. 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

template<typename PublisherMsgType, typename CallbackType = const PublisherMsgType&>
class cras::LazySubscriber< PublisherMsgType, CallbackType >

Lazy subscriber that subscribes only when a paired publisher has subscribers.

Template Parameters

PublisherMsgType

Type of the publisher messages.

Definition at line 197 of file lazy_subscriber.hpp.

Constructor & Destructor Documentation

LazySubscriber() [1/2]

template<typename PublisherMsgType , typename CallbackType >

cras::LazySubscriber< PublisherMsgType, CallbackType >::LazySubscriber	(	::ros::NodeHandle	publisherNh,
		const ::std::string &	publisherTopic,
		::ros::NodeHandle	subscriberNh,
		const ::std::string &	subscriberTopic,
		size_t	subscriberQueueSize,
		::boost::function< void(CallbackType)>	subscriberCallback,
		::ros::SubscribeOptions	subscribeOptions,
		const ::cras::LogHelperPtr &	logHelper = ::std::make_shared<::cras::NodeLogHelper>()
	)

Create the lazy subscriber that subscribes to subscriberTopic when publisherTopic has subscribers.

Parameters

[in]	publisherNh	Node handle used for publisher topic.
[in]	publisherTopic	The topic whose number of subscribers decides whether to connect or not.
[in]	subscriberNh	Node handle used for subscriber topic.
[in]	subscriberTopic	The topic to subscribe.
[in]	subscriberQueueSize	Queue size for the subscriber.
[in]	subscriberCallback	The callback called by the subscriber when a new message is received.
[in]	subscribeOptions	Options used when creating the subscriber. Only allow_concurrent_callbacks and transport_hints fields from this object are used.
[in]	logHelper	Logging helper.

Definition at line 74 of file impl/lazy_subscriber.hpp.

LazySubscriber() [2/2]

template<typename PublisherMsgType , typename CallbackType >

cras::LazySubscriber< PublisherMsgType, CallbackType >::LazySubscriber	(	::ros::NodeHandle	publisherNh,
		const ::std::string &	publisherTopic,
		::ros::NodeHandle	subscriberNh,
		const ::std::string &	subscriberTopic,
		size_t	subscriberQueueSize,
		::boost::function< void(CallbackType)>	subscriberCallback,
		const ::cras::LogHelperPtr &	logHelper = ::std::make_shared<::cras::NodeLogHelper>()
	)

Create the lazy subscriber that subscribes to subscriberTopic when publisherTopic has subscribers.

Parameters

[in]	publisherNh	Node handle used for publisher topic.
[in]	publisherTopic	The topic whose number of subscribers decides whether to connect or not.
[in]	subscriberNh	Node handle used for subscriber topic.
[in]	subscriberTopic	The topic to subscribe.
[in]	subscriberQueueSize	Queue size for the subscriber.
[in]	subscriberCallback	The callback called by the subscriber when a new message is received.
[in]	logHelper	Logging helper.

Definition at line 91 of file impl/lazy_subscriber.hpp.

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

• lazy_subscriber.hpp