Base for lazy subscribers that subscribes only when a paired publisher has subscribers. More...

#include <lazy_subscriber.hpp>

Inheritance diagram for cras::LazySubscriberBase< PublisherMsgType >:

Public Member Functions
	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...

	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...

Public Member Functions inherited from cras::ConditionalSubscriber
	ConditionalSubscriber (ConnectFn connectFn, DisconnectFn disconnectFn, const ::cras::LogHelperPtr &logHelper=::std::make_shared<::cras::NodeLogHelper >())
	Create the conditional subscriber. More...

	ConditionalSubscriber (ConnectFn connectFn, 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)

Protected Member Functions
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
::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

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...

Detailed Description

template<typename PublisherMsgType>
class cras::LazySubscriberBase< PublisherMsgType >

Base for lazy subscribers that subscribes only when a paired publisher has subscribers.

Template Parameters

PublisherMsgType Type of the publisher messages.

Definition at line 149 of file lazy_subscriber.hpp.

Constructor & Destructor Documentation

◆ LazySubscriberBase() [1/2]

template<typename PublisherMsgType >

cras::LazySubscriberBase< PublisherMsgType >::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.

Parameters

[in]	publisherNh	Node handle used for publisher topic.
[in]	publisherTopic	The topic whose number of subscribers decides whether to connect or not.
[in]	connectFn	The function that connects the subscriber. It should store the subscriber in the passed `sub` object.
[in]	disconnectFn	The function that disconnects the subscriber. The `sub` object passed to the function is the one created previously by `connectFn`. The passed subscriber should be invalidated.
[in]	logHelper	Logging helper.

Definition at line 32 of file impl/lazy_subscriber.hpp.

◆ LazySubscriberBase() [2/2]

template<typename PublisherMsgType >

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.

Parameters

[in]	publisherNh	Node handle used for publisher topic.
[in]	publisherTopic	The topic whose number of subscribers decides whether to connect or not.
[in]	connectFn	The function that connects the subscriber. It should store the subscriber in the passed `sub` object. Disconnection of the subscriber is done by simply calling `sub.shutdown()`.
[in]	logHelper	Logging helper.

Definition at line 50 of file impl/lazy_subscriber.hpp.

Member Function Documentation

◆ connectCb()

template<typename PublisherMsgType>

void cras::LazySubscriberBase< PublisherMsgType >::connectCb ( const ::ros::SingleSubscriberPublisher & )

protected

The callback called when a new subscriber appears or disappears.

◆ shouldBeSubscribed()

template<typename PublisherMsgType>

bool cras::LazySubscriberBase< PublisherMsgType >::shouldBeSubscribed ( ) const

overrideprotectedvirtual

Tell whether the subscriber should be subscribed or not.

Returns: Whether the subscriber should be subscribed or not.

Note: This function does not need to take into account the lazy flag.; This function cannot lock connectMutex.

Implements cras::ConditionalSubscriber.

Member Data Documentation

◆ pub

template<typename PublisherMsgType>

::ros::Publisher cras::LazySubscriberBase< PublisherMsgType >::pub

protected

The publisher whose number of subscribers decides whether to connect or not. It is not used to publish any actual messages.

Definition at line 189 of file lazy_subscriber.hpp.

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

lazy_subscriber.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<typename PublisherMsgType> class cras::LazySubscriberBase< PublisherMsgType >

Constructor & Destructor Documentation

◆ LazySubscriberBase() [1/2]

◆ LazySubscriberBase() [2/2]

Member Function Documentation

◆ connectCb()

◆ shouldBeSubscribed()

Member Data Documentation

◆ pub

template<typename PublisherMsgType>
class cras::LazySubscriberBase< PublisherMsgType >