Class CountMessagesComponent

Inheritance Relationships

Base Type

  • public rclcpp::Node

Class Documentation

class CountMessagesComponent : public rclcpp::Node

Component for counting messages and their size.

ROS parameters:

  • ~in_queue_size (uint, default 1000): Queue size for the subscriber.

  • ~qos_profile (string, default empty string): If nonempty, specifies the QoS profile to use for subscription.

  • ~count (uint, output parameter): The number of messages received so far.

  • ~bytes (uint, output parameter): The size of messages received so far (in bytes).

Subscribed topics:

  • ~input (any type): The input messages.

  • ~reset (any type): When a message is received on this topic, the counter is reset to zero.

Public Functions

explicit CountMessagesComponent(const ::rclcpp::NodeOptions &options)

Protected Functions

void resetCb(const std::shared_ptr<const rclcpp::SerializedMessage>&)

Called when the counter should be reset. The incoming message can be of any type and should not be examined.

void cb(const std::shared_ptr<const rclcpp::SerializedMessage> &message)

Callback for counting the messages.

Parameters:

message – [in] The message event.

void reportCb()

Callback for periodic reports.

void discoverTopicAndSubscribe()

Check if the input topic is available. Subscribe to it when it is.

void discoverResetTopicAndSubscribe()

Check if the reset topic is available. Subscribe to it when it is.

Protected Attributes

::rclcpp::GenericSubscription::SharedPtr sub

The message subscriber.

::rclcpp::GenericSubscription::SharedPtr resetSub

The reset message subscriber.

::rclcpp::TimerBase::SharedPtr discoveryTimer

Timer for input topic type discovery.

::rclcpp::TimerBase::SharedPtr resetDiscoveryTimer

Timer for reset topic type discovery.

::rclcpp::TimerBase::SharedPtr reportTimer

Timer for printing reports.

std::string topic = {"input"}

The unresolved input topic name.

::std::string resolvedTopic

Resolved name of the input topic.

::std::string resolvedResetTopic

Resolved name of the reset topic.

::rclcpp::QoS qosProfile = {1000}

QoS for the input topic subscription.

bool useParams = {true}

Whether the current message and byte count should be set as parameters of the node.

bool topicStats = {false}

Whether to publish topic statistics for the subscription.

bool intraprocessComms = {true}

Whether to enable intraprocess comms for the subscription.

::size_t bytes = {0}

Byte size of the received messages.

::size_t count = {0}

Number of received messages.

::size_t countSinceLastReport = {0}

Number of received messages since last report.

::std::mutex mutex

Mutex protecting count and bytes.

::std::optional<::rclcpp::Time> lastReportStamp

Time when the message count was last reported.