smacc2::components::CpTopicPublisher< MessageType > Class Template Reference

#include <cp_topic_publisher.hpp>

Inheritance diagram for smacc2::components::CpTopicPublisher< MessageType >:

Collaboration diagram for smacc2::components::CpTopicPublisher< MessageType >:

Public Types
typedef MessageType	TMessageType

Public Member Functions
	CpTopicPublisher (std::string topicname)
virtual	~CpTopicPublisher ()
void	publish (const MessageType &msg)
void	onInitialize () override
Public Member Functions inherited from smacc2::ISmaccComponent
	ISmaccComponent ()
virtual	~ISmaccComponent ()
virtual std::string	getName () const

Public Attributes
std::optional< int >	queueSize
std::optional< rmw_qos_durability_policy_t >	durability
std::optional< rmw_qos_reliability_policy_t >	reliability

Private Attributes
rclcpp::Publisher< MessageType >::SharedPtr	pub_
bool	initialized_
std::string	topicName_

Additional Inherited Members
Protected Member Functions inherited from smacc2::ISmaccComponent
virtual void	onInitialize ()
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
template<typename TComponent >
void	requiresComponent (TComponent *&requiredComponentStorage, bool throwExceptionIfNotExist=false)
template<typename TComponent >
void	requiresComponent (std::string name, TComponent *&requiredComponentStorage, bool throwExceptionIfNotExist=false)
template<typename TClient >
void	requiresClient (TClient *&requiredClientStorage)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingComponent (TArgs... targs)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingNamedComponent (std::string name, TArgs... targs)
rclcpp::Node::SharedPtr	getNode ()
rclcpp::Logger	getLogger () const
ISmaccStateMachine *	getStateMachine ()
Protected Attributes inherited from smacc2::ISmaccComponent
ISmaccStateMachine *	stateMachine_
ISmaccClient *	owner_

Detailed Description

template<typename MessageType>
class smacc2::components::CpTopicPublisher< MessageType >

Definition at line 34 of file cp_topic_publisher.hpp.

Member Typedef Documentation

TMessageType

template<typename MessageType >

typedef MessageType smacc2::components::CpTopicPublisher< MessageType >::TMessageType

Definition at line 41 of file cp_topic_publisher.hpp.

Constructor & Destructor Documentation

CpTopicPublisher()

template<typename MessageType >

smacc2::components::CpTopicPublisher< MessageType >::CpTopicPublisher ( std::string  topicname )

inline

Definition at line 43 of file cp_topic_publisher.hpp.

  {
    this->topicName_ = topicname;
    initialized_ = false;
  }

References smacc2::components::CpTopicPublisher< MessageType >::initialized_, and smacc2::components::CpTopicPublisher< MessageType >::topicName_.

~CpTopicPublisher()

template<typename MessageType >

virtual smacc2::components::CpTopicPublisher< MessageType >::~CpTopicPublisher ( )

inlinevirtual

Definition at line 49 of file cp_topic_publisher.hpp.

{}

Member Function Documentation

onInitialize()

template<typename T >

void smacc2::components::CpTopicPublisher< T >::onInitialize

overridevirtual

Reimplemented from smacc2::ISmaccComponent.

Definition at line 64 of file cp_topic_publisher.hpp.

{
  if (!initialized_)
  {
    if (!queueSize) queueSize = 1;
    if (!durability) durability = RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT;
    if (!reliability) reliability = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT;
    rclcpp::SensorDataQoS qos;
    qos.keep_last(*queueSize);
    qos.durability(*durability);
    qos.reliability(*reliability);
 
    RCLCPP_INFO_STREAM(
      getLogger(), "[" << this->getName() << "] Publisher to topic: " << topicName_);
 
    auto nh = this->getNode();
    pub_ = nh->template create_publisher<T>(this->topicName_, qos);
 
    this->initialized_ = true;
  }
}

publish()

template<typename MessageType >

void smacc2::components::CpTopicPublisher< MessageType >::publish ( const MessageType &  msg )

inline

Definition at line 51 of file cp_topic_publisher.hpp.

{ pub_->publish(msg); }

References smacc2::components::CpTopicPublisher< MessageType >::pub_.

Member Data Documentation

durability

template<typename MessageType >

std::optional<rmw_qos_durability_policy_t> smacc2::components::CpTopicPublisher< MessageType >::durability

Definition at line 38 of file cp_topic_publisher.hpp.

initialized_

template<typename MessageType >

bool smacc2::components::CpTopicPublisher< MessageType >::initialized_

private

Definition at line 59 of file cp_topic_publisher.hpp.

Referenced by smacc2::components::CpTopicPublisher< MessageType >::CpTopicPublisher().

pub_

template<typename MessageType >

rclcpp::Publisher<MessageType>::SharedPtr smacc2::components::CpTopicPublisher< MessageType >::pub_

private

Definition at line 56 of file cp_topic_publisher.hpp.

Referenced by smacc2::components::CpTopicPublisher< MessageType >::publish().

queueSize

template<typename MessageType >

std::optional<int> smacc2::components::CpTopicPublisher< MessageType >::queueSize

Definition at line 37 of file cp_topic_publisher.hpp.

reliability

template<typename MessageType >

std::optional<rmw_qos_reliability_policy_t> smacc2::components::CpTopicPublisher< MessageType >::reliability

Definition at line 39 of file cp_topic_publisher.hpp.

topicName_

template<typename MessageType >

std::string smacc2::components::CpTopicPublisher< MessageType >::topicName_

private

Definition at line 60 of file cp_topic_publisher.hpp.

Referenced by smacc2::components::CpTopicPublisher< MessageType >::CpTopicPublisher().

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

• smacc2/include/smacc2/client_base_components/cp_topic_publisher.hpp