Priority-based muxer nodelet for topics. More...

#include <priority_mux.h>

Inheritance diagram for cras::PriorityMuxNodelet:

[legend]

Protected Member Functions
virtual void	cb (const ::std::string &inTopic, const ::ros::MessageEvent<::topic_tools::ShapeShifter const > &event)
	Callback method triggered when a message is received on the input topic. More...

virtual void	disableCb (const ::std::string &inTopic, bool invert, const ::ros::MessageEvent<::topic_tools::ShapeShifter const > &event)
	Callback method triggered when a disable message is received. More...

virtual void	lockCb (const ::std::string &topic, const ::ros::MessageEvent<::std_msgs::Bool const > &event)
	Callback method triggered when a lock message is received. More...

void	onInit () override

void	onTimeout (const ::std::string &name, const ::ros::TimerEvent &)
	Method triggered on timer timeout. This should update the mux and check for changes. More...

void	publishChanges ()
	Check what changed from the last `publishChanges()` call and if there are changes, publish them (active priority, selected output topics etc.). More...

void	reset ()
	Reset the mux to its initial state. More...

virtual void	resetCb (const ::ros::MessageEvent<::topic_tools::ShapeShifter const > &event)
	Callback method triggered when a reset message is received. More...

void	setTimer (const ::std::string &name, const ::ros::Duration &timeout)
	Set a timer that will call `onTimeout()` after the specified time. More...

Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Protected Member Functions inherited from NodeletWithDiagnostics< ::nodelet::Nodelet >
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::std::string &topic, size_t queueSize, bool latch=false)

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (ros::AdvertiseOptions &options)

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG(this->getNodeHandle(),), CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG("",))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG(this->getNodeHandle(),), CRAS_SINGLE_ARG(const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace,), CRAS_SINGLE_ARG(defaultDiagParams, diagNamespace,))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG(this->getNodeHandle(),), CRAS_SINGLE_ARG(const ::std::string &diagNamespace,), CRAS_SINGLE_ARG(::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >>(), diagNamespace,))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh,), CRAS_SINGLE_ARG(subscriberNh, diagNh,), CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG("",))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh,), CRAS_SINGLE_ARG(subscriberNh, diagNh,), CRAS_SINGLE_ARG(const ::std::string &diagNamespace,), CRAS_SINGLE_ARG(::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >>(), diagNamespace,))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh,), CRAS_SINGLE_ARG(subscriberNh, this->getDefaultDiagNh(subscriberNh, ""),), CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG("",))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh,), CRAS_SINGLE_ARG(subscriberNh, this->getDefaultDiagNh(subscriberNh, diagNamespace),), CRAS_SINGLE_ARG(const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace,), CRAS_SINGLE_ARG(defaultDiagParams, diagNamespace,))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh,), CRAS_SINGLE_ARG(subscriberNh, this->getDefaultDiagNh(subscriberNh, diagNamespace),), CRAS_SINGLE_ARG(const ::std::string &diagNamespace,), CRAS_SINGLE_ARG(::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >>(), diagNamespace,))

::std::unique_ptr<::cras::DiagnosedPublisher< T > >	createDiagnosedPublisher (::ros::NodeHandle nh, const ::std::string &topic, size_t queueSize, const ::std::string &paramNamespace)

::std::unique_ptr<::cras::DiagnosedPublisher< T > >	createDiagnosedPublisher (::ros::NodeHandle nh, const ::std::string &topic, size_t queueSize, const ::std::string &paramNamespace, const ::ros::Rate &defaultRate)

::std::unique_ptr<::cras::DiagnosedPublisher< T > >	createDiagnosedPublisher (::ros::NodeHandle nh, const ::std::string &topic, size_t queueSize, const ::std::string &paramNamespace, const ::ros::Rate &defaultRate, const ::ros::Rate &defaultMinRate, const ::ros::Rate &defaultMaxRate)

::ros::NodeHandle	getDefaultDiagNh (const ::ros::NodeHandle &pubSubNh, const ::std::string &diagNamespace)

::cras::BoundParamHelperPtr	getDiagParams (const ::ros::NodeHandle &nh, const ::std::string &diagNamespace, const ::std::string &topic)

::cras::DiagnosticUpdater &	getDiagUpdater (bool forceNew=false) const

void	startDiagTimer () const

void	startDiagTimer (const ::ros::NodeHandle &nh) const

void	stopDiagTimer () const

::std::unique_ptr<::cras::DiagnosedSubscriber< Message > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, ::ros::SubscribeOptions &options)

::std::unique_ptr<::cras::DiagnosedSubscriber< Message > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, const ::boost::function< void(const ::boost::shared_ptr< Message > &)> &cb, ::ros::TransportHints hints={})

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< C > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< C >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, const ::boost::function< void(C)> &cb, ::ros::VoidConstPtr obj={}, ::ros::TransportHints hints={})

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(*cb)(M), ::ros::TransportHints hints={})

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(T::*cb)(M) const, const ::boost::shared_ptr< T > &obj, ::ros::TransportHints hints={})

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(T::cb)(M) const, T obj, ::ros::TransportHints hints={})

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(T::*cb)(M), const ::boost::shared_ptr< T > &obj, ::ros::TransportHints hints={})

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(T::cb)(M), T obj, ::ros::TransportHints hints={})

Protected Member Functions inherited from cras::TimeJumpResettable
void	checkTimeJump ()

virtual void	checkTimeJump (const ::ros::Time &now)

void	initRos (const ::ros::NodeHandle &pnh) override

void	startAutoCheckTimeJump ()

virtual void	startAutoCheckTimeJump (const ::ros::WallRate &rate)

virtual void	stopAutoCheckTimeJump ()

	TimeJumpResettable (const ::cras::LogHelperPtr &log)

	~TimeJumpResettable () override

Protected Member Functions inherited from cras::Resettable
	Resettable (const ::cras::LogHelperPtr &log)

virtual	~Resettable ()

Protected Member Functions inherited from ThreadNameUpdatingNodelet< ::nodelet::Nodelet >
void	updateThreadName () const

Protected Member Functions inherited from NodeletParamHelper< ::nodelet::Nodelet >
inline ::std::string	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})

ResultType	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})

inline ::std::string	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})

ResultType	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})

inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})

inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})

::cras::BoundParamHelperPtr	params (const ::ros::NodeHandle &node, const ::std::string &ns="") const

::cras::BoundParamHelperPtr	paramsForNodeHandle (const ::ros::NodeHandle &node) const

::cras::BoundParamHelperPtr	privateParams (const ::std::string &ns="") const

::cras::BoundParamHelperPtr	publicParams (const ::std::string &ns="") const

Protected Attributes
::ros::Publisher	activePriorityPub
	Publisher for active priority. More...

::std::unordered_map<::std::string, ::ros::MessageEvent<::cras::ShapeShifter > >	beforeDisableMessages
	The messages to be injected into the mux right before a topic is disabled. More...

::std::unordered_set<::std::string >	beforeDisableMessagesWithHeader
	Cached list of "before disable" messages that have a Header. More...

::cras::optional< int >	lastActivePriority
	The active priority after the last `publishChanges()` call. More...

::std::unordered_map<::std::string, ::std::string >	lastSelectedTopics
	The selected output topics after the last `publishChanges()` call. More...

::std::unordered_map<::std::string, ::cras::priority_mux::LockConfig >	lockConfigs
	Configurations of lock topics. More...

::std::unique_ptr<::cras::PriorityMux >	mux
	Mux instance. More...

std::unordered_map< std::string, ::cras::priority_mux::OutputTopicConfig >	outTopicConfigs
	Configurations of output topics. More...

::std::unordered_set<::std::string >	outTopics
	All output topic names. More...

::std::unordered_map<::std::string, ::ros::Publisher >	publishers
	Map of output topic and the associated publisher. More...

size_t	queueSize {10u}
	Queue size of all publishers and subscribers. More...

::ros::Subscriber	resetSub
	Subscriber for reset topic. More...

::std::unordered_map<::std::string, ::ros::Publisher >	selectedPublishers
	Map of publishers of the topics announcing currently selected publishers. More...

::std::list<::ros::Subscriber >	subscribers
	List of subscribers. Just for keeping them alive. More...

bool	tcpNoDelay {false}
	Whether `tcpNoDelay()` flag should be set for all subscribers. More...

::std::unordered_map<::std::string, ::ros::Timer >	timers
	Map of timer names and the timers. More...

::std::unordered_map<::std::string, ::cras::priority_mux::TopicConfig >	topicConfigs
	Configurations of input topics. More...

Protected Attributes inherited from cras::HasLogger
::cras::LogHelperPtr	log

Protected Attributes inherited from cras::InterruptibleSleepInterface
::ros::WallDuration	pollDuration

Additional Inherited Members
Public Member Functions inherited from cras::Nodelet
	~Nodelet () override=default

Public Member Functions inherited from NodeletBase<::nodelet::Nodelet >
	~NodeletBase () override=default

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

Public Member Functions inherited from NodeletWithDiagnostics< ::nodelet::Nodelet >
	NodeletWithDiagnostics ()

virtual	~NodeletWithDiagnostics ()

Public Member Functions inherited from NodeletWithSharedTfBuffer< ::nodelet::Nodelet >
::cras::NodeletAwareTFBuffer &	getBuffer () const override

	NodeletWithSharedTfBuffer ()

void	setBuffer (const ::std::shared_ptr<::tf2_ros::Buffer > &buffer) override

bool	usesSharedBuffer () const override

virtual	~NodeletWithSharedTfBuffer ()

Public Member Functions inherited from ThreadNameUpdatingNodelet< ::nodelet::Nodelet >
	~ThreadNameUpdatingNodelet () override

Public Member Functions inherited from NodeletParamHelper< ::nodelet::Nodelet >
	NodeletParamHelper ()

	~NodeletParamHelper () override

Public Member Functions inherited from cras::ParamHelper
::cras::LogHelperPtr	getLogger () const

inline ::std::string	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const

ResultType	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const

inline ::std::string	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const

ResultType	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const

inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const

inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const

	ParamHelper (const ::cras::LogHelperPtr &log)

void	setLogger (const ::cras::LogHelperPtr &logger)

virtual	~ParamHelper ()=default

Public Member Functions inherited from cras::HasLogger
::cras::LogHelperConstPtr	getCrasLogger () const

	HasLogger (const ::cras::LogHelperPtr &log)

void	setCrasLogger (const ::cras::LogHelperPtr &log)

Public Member Functions inherited from StatefulNodelet< ::nodelet::Nodelet >
bool	ok () const override

void	requestStop () override

void	shutdown ()

virtual	~StatefulNodelet ()

Public Member Functions inherited from cras::InterruptibleSleepInterface
	InterruptibleSleepInterface ()

virtual bool	sleep (const ::ros::Duration &duration) const

virtual	~InterruptibleSleepInterface ()

Detailed Description

Priority-based muxer nodelet for topics.

It guards access to one or more output topics for which there are several input topics fighting. To determine which input topic "wins" its desired output access, priorities are assigned to each input topic, and each input topic specifies a validity period for which it is considered. This validity period should be renewed every time a message is received on the topic. This means that when messages stop coming for a topic, its priority is given up. Each input topic can also be explicitly released.

When more output topics are specified, the priority is still shared. This means that receiving a high-priority message for one output topic also sets all other output topics to this higher priority. This effectively allows e.g. managing access to robot motors in case there are several topics that can control them via different approaches.

The mux can also process binary lock messages. There are two types of them: permanent and time-based. Both act via locking their assigned priority, which means no messages with lower priorities will qualify to get to their output topics. Permanent locks just lock or unlock their priority. Time-based lock messages are expected to come regularly and when they stop coming for some time, their priority is locked. They can also carry explicit locking commands.

ROS parameters:

~queue_size (uint, default 10): Queue size for all subscribers and publishers.
~tcp_no_delay (bool, default False): If True, the TCP_NODELAY flag is set for all subscribers. This should decrease the latency of small messages, but might give suboptimal transmission speed for large messages.
~default_out_topic (str, default "mux_out"): Default output topic to use when none is explicitly specified for a topic configuration.
~none_topic (str, default "__none"): Virtual name of a topic reported as selected when no priority is active.
~none_priority (int, default 0): Priority level signalling that no priority is active.
~subscriber_connect_delay (double, default 0.1 s): Time to wait before a newly created non-latched output topic publisher will publish its first message.
~topics (list or dict): Definition of subscribed topics and their priorities. If dict, only values are used.
- topic (str): The input topic to subscribe.
- priority (int): Priority of the input topic.
- out_topic (str, default default_out_topic): The topic to which the input should be relayed if its priority is active.
- timeout (double): How long does a message on this topic hold its priority.
- name (str, default topic): Human-readable description of the input topic.
- disable_topic (str, default ""): If nonempty, this topic will be subscribed to allow disabling the input topic.
- disable_topic_inverted (bool, default false): If true, topic will get disabled when false is received on disable_topic. If false, topic will get disabled when true is received on disable_topic. In case disable_topic is not of std_msgs/Bool type, this parameter does nothing.
- before_disable_message (str, optional): If set, this string should point to a bagfile containing a single message. This message will be published on this topic just before the topic becomes disabled.
- queue_size (uint, default ~queue_size): Queue size for the subscriber.
~locks (list or dict): Definition of lock topics and their priorities. If dict, only values are used.
- topic (str): The lock topic to subscribe.
- priority (int): Priority of the lock topic.
- timeout (double): If zero, the lock only uses data in the sent Bool messages to determine whether it is locked or not. If non-zero, the lock will get locked when the last message on the lock topic is older than the timeout.
- name (str, default topic): Human-readable description of the lock topic.
~out_topics (list or dict): Optional configuration of output topics. If dict, only values are used.
- topic (str): The output topic.
- force_latch (bool, optional): If set, forces the topic's latching status to the value. Otherwise, latching is configured based on latching of the first received message.
- subscriber_connect_delay (double, default ~subscriber_connect_delay): Time to wait before publishing the first message after the publisher is created. Only applies to non-latched topics.
- num_subscribers_to_wait (uint, default 0): If non-zero, when the publisher is created, it will wait until it has this number of subscribers before it publishes its first message. This is more reliable than setting the delay if you know the number of subscribers. The number is not the actual number of subscriber objects, but rather the number of subscribing separate nodes (so e.g. all subscriptions from a single nodelet manager count as one).
- queue_size (uint, default ~queue_size): Queue size for the publisher.

Subscribed topics:

Topics specified in ~topics/topic (any type): Input messages.
Topics specified in ~topics/disable_topic (any type): Disable messages. If the topic type is std_msgs/Bool, the associated input topic is enabled/disabled according to the value of the message (true means disable). If the topic is of any other type, receiving a message on this topic disables the associated input topic for the timeout specified for the input topic.
Topics specified in ~locks/topic (std_msgs/Bool): Lock messages.
~reset (any type): When a message is received on this topic, the mux is reset.

Published topics:

Topics specified in ~topics/out_topic (any type): The muxed output messages.
~active_priority (std_msgs/Int32): The currently active priority.
~selected/${out_topic} (std_msgs/String): For each output topic, this topic tells which input is currently relayed to the output.

Definition at line 117 of file priority_mux.h.

Member Function Documentation

◆ cb()

void cras::PriorityMuxNodelet::cb	(	const ::std::string &	inTopic,
		const ::ros::MessageEvent<::topic_tools::ShapeShifter const > &	event
	)

protectedvirtual

Callback method triggered when a message is received on the input topic.

Parameters

[in]	inTopic	The topic the message was received on.
[in]	event	The received message ShapeShifter.

Definition at line 384 of file priority_mux.cpp.

◆ disableCb()

void cras::PriorityMuxNodelet::disableCb	(	const ::std::string &	inTopic,
		bool	invert,
		const ::ros::MessageEvent<::topic_tools::ShapeShifter const > &	event
	)

protectedvirtual

Callback method triggered when a disable message is received.

Parameters

[in]	inTopic	The input topic for which the disable message was received on.
[in]	invert	If true, the topic will get disabled when false is received on the disable topic. If false, the topic will get disabled when true is received on the disable topic. In case the disable topic is not of std_msgs/Bool type, this parameter does nothing.
[in]	event	The received message ShapeShifter. If the message is of `std_msgs::Bool` type, it gets special handling (the `data` field of the message tells whether the topic should be disabled or enabled).

Definition at line 452 of file priority_mux.cpp.

◆ lockCb()

void cras::PriorityMuxNodelet::lockCb	(	const ::std::string &	topic,
		const ::ros::MessageEvent<::std_msgs::Bool const > &	event
	)

protectedvirtual

Callback method triggered when a lock message is received.

Parameters

[in]	topic	The topic the lock message was received on.
[in]	event	The received lock message.

Definition at line 445 of file priority_mux.cpp.

◆ onInit()

void cras::PriorityMuxNodelet::onInit ( )

overrideprotectedvirtual

Reimplemented from NodeletBase<::nodelet::Nodelet >.

Definition at line 37 of file priority_mux.cpp.

◆ onTimeout()

void cras::PriorityMuxNodelet::onTimeout	(	const ::std::string &	name,
		const ::ros::TimerEvent &
	)

protected

Method triggered on timer timeout. This should update the mux and check for changes.

Parameters

[in]	name	The name of the timer.
[in]	event	The timer event.

Definition at line 530 of file priority_mux.cpp.

◆ publishChanges()

void cras::PriorityMuxNodelet::publishChanges ( )

protected

Check what changed from the last publishChanges() call and if there are changes, publish them (active priority, selected output topics etc.).

Definition at line 501 of file priority_mux.cpp.

◆ reset()

void cras::PriorityMuxNodelet::reset ( )

protectedvirtual

Reset the mux to its initial state.

Reimplemented from NodeletWithSharedTfBuffer< ::nodelet::Nodelet >.

Definition at line 550 of file priority_mux.cpp.

◆ resetCb()

void cras::PriorityMuxNodelet::resetCb ( const ::ros::MessageEvent<::topic_tools::ShapeShifter const > & event )

protectedvirtual

Callback method triggered when a reset message is received.

Parameters

[in] event The received message ShapeShifter. It can be anything, this method is only interested in the fact that some message was received.

Definition at line 565 of file priority_mux.cpp.

◆ setTimer()

void cras::PriorityMuxNodelet::setTimer	(	const ::std::string &	name,
		const ::ros::Duration &	timeout
	)

protected

Set a timer that will call onTimeout() after the specified time.

Parameters

[in]	name	The name of the timer.
[in]	timeout	The duration of the timer.

Definition at line 537 of file priority_mux.cpp.

Member Data Documentation

◆ activePriorityPub

::ros::Publisher cras::PriorityMuxNodelet::activePriorityPub

protected

Publisher for active priority.

Definition at line 191 of file priority_mux.h.

◆ beforeDisableMessages

::std::unordered_map<::std::string, ::ros::MessageEvent<::cras::ShapeShifter> > cras::PriorityMuxNodelet::beforeDisableMessages

protected

The messages to be injected into the mux right before a topic is disabled.

Definition at line 221 of file priority_mux.h.

◆ beforeDisableMessagesWithHeader

::std::unordered_set<::std::string> cras::PriorityMuxNodelet::beforeDisableMessagesWithHeader

protected

Cached list of "before disable" messages that have a Header.

Definition at line 224 of file priority_mux.h.

◆ lastActivePriority

::cras::optional<int> cras::PriorityMuxNodelet::lastActivePriority

protected

The active priority after the last publishChanges() call.

Definition at line 215 of file priority_mux.h.

◆ lastSelectedTopics

::std::unordered_map<::std::string, ::std::string> cras::PriorityMuxNodelet::lastSelectedTopics

protected

The selected output topics after the last publishChanges() call.

Definition at line 218 of file priority_mux.h.

◆ lockConfigs

::std::unordered_map<::std::string, ::cras::priority_mux::LockConfig> cras::PriorityMuxNodelet::lockConfigs

protected

Configurations of lock topics.

Definition at line 206 of file priority_mux.h.

◆ mux

::std::unique_ptr<::cras::PriorityMux> cras::PriorityMuxNodelet::mux

protected

Mux instance.

Definition at line 182 of file priority_mux.h.

◆ outTopicConfigs

std::unordered_map<std::string, ::cras::priority_mux::OutputTopicConfig> cras::PriorityMuxNodelet::outTopicConfigs

protected

Configurations of output topics.

Definition at line 209 of file priority_mux.h.

◆ outTopics

::std::unordered_set<::std::string> cras::PriorityMuxNodelet::outTopics

protected

All output topic names.

Definition at line 212 of file priority_mux.h.

◆ publishers

::std::unordered_map<::std::string, ::ros::Publisher> cras::PriorityMuxNodelet::publishers

protected

Map of output topic and the associated publisher.

Definition at line 188 of file priority_mux.h.

◆ queueSize

size_t cras::PriorityMuxNodelet::queueSize {10u}

protected

Queue size of all publishers and subscribers.

Definition at line 227 of file priority_mux.h.

◆ resetSub

::ros::Subscriber cras::PriorityMuxNodelet::resetSub

protected

Subscriber for reset topic.

Definition at line 197 of file priority_mux.h.

◆ selectedPublishers

::std::unordered_map<::std::string, ::ros::Publisher> cras::PriorityMuxNodelet::selectedPublishers

protected

Map of publishers of the topics announcing currently selected publishers.

Definition at line 194 of file priority_mux.h.

◆ subscribers

::std::list<::ros::Subscriber> cras::PriorityMuxNodelet::subscribers

protected

List of subscribers. Just for keeping them alive.

Definition at line 185 of file priority_mux.h.

◆ tcpNoDelay

bool cras::PriorityMuxNodelet::tcpNoDelay {false}

protected

Whether tcpNoDelay() flag should be set for all subscribers.

Definition at line 230 of file priority_mux.h.

◆ timers

::std::unordered_map<::std::string, ::ros::Timer> cras::PriorityMuxNodelet::timers

protected

Map of timer names and the timers.

Definition at line 200 of file priority_mux.h.

◆ topicConfigs

::std::unordered_map<::std::string, ::cras::priority_mux::TopicConfig> cras::PriorityMuxNodelet::topicConfigs

protected

Configurations of input topics.

Definition at line 203 of file priority_mux.h.

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

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ cb()

◆ disableCb()

◆ lockCb()

◆ onInit()

◆ onTimeout()

◆ publishChanges()

◆ reset()

◆ resetCb()

◆ setTimer()

Member Data Documentation

◆ activePriorityPub

◆ beforeDisableMessages

◆ beforeDisableMessagesWithHeader

◆ lastActivePriority

◆ lastSelectedTopics

◆ lockConfigs

◆ mux

◆ outTopicConfigs

◆ outTopics

◆ publishers

◆ queueSize

◆ resetSub

◆ selectedPublishers

◆ subscribers

◆ tcpNoDelay

◆ timers

◆ topicConfigs