smacc2::client_bases::SmaccPublisherClient Class Reference

#include <smacc_publisher_client.hpp>

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Public Member Functions
	SmaccPublisherClient ()
virtual	~SmaccPublisherClient ()
template<typename MessageType >
void	configure (std::string topicName)
template<typename MessageType >
void	publish (const MessageType &msg)
Public Member Functions inherited from smacc2::ISmaccClient
	ISmaccClient ()
virtual	~ISmaccClient ()
virtual void	onInitialize ()
virtual std::string	getName () const
template<typename TComponent >
TComponent *	getComponent ()
template<typename TComponent >
TComponent *	getComponent (std::string name)
template<typename TComponent >
TComponent *	getComponent (int index)
virtual smacc2::introspection::TypeInfo::Ptr	getType ()
ISmaccStateMachine *	getStateMachine ()
template<typename TSmaccSignal , typename T >
void	connectSignal (TSmaccSignal &signal, void(T::*callback)(), T *object)
template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)
void	getComponents (std::vector< std::shared_ptr< ISmaccComponent > > &components)
const std::vector< std::shared_ptr< ISmaccComponent > > &	iterateComponents () const
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()

Public Attributes
std::optional< std::string >	topicName
std::optional< int >	queueSize
std::optional< rmw_qos_durability_policy_t >	durability
std::optional< rmw_qos_reliability_policy_t >	reliability
rclcpp::PublisherBase::SharedPtr	pub_

Private Attributes
bool	initialized_

Additional Inherited Members
Protected Member Functions inherited from smacc2::ISmaccClient
template<typename TOrthogonal , typename TClient >
void	onComponentInitialization ()
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createComponent (TArgs... targs)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createNamedComponent (std::string name, TArgs... targs)
rclcpp::Node::SharedPtr	getNode ()
rclcpp::Logger	getLogger ()
Protected Attributes inherited from smacc2::ISmaccClient
std::map< ComponentKey, std::shared_ptr< smacc2::ISmaccComponent > >	components_

Detailed Description

Definition at line 30 of file smacc_publisher_client.hpp.

Constructor & Destructor Documentation

SmaccPublisherClient()

smacc2::client_bases::SmaccPublisherClient::SmaccPublisherClient

(

)

Definition at line 27 of file smacc_publisher_client.cpp.

{ initialized_ = false; }

References initialized_.

~SmaccPublisherClient()

smacc2::client_bases::SmaccPublisherClient::~SmaccPublisherClient ( )

virtual

Definition at line 29 of file smacc_publisher_client.cpp.

{}

Member Function Documentation

configure()

template<typename MessageType >

void smacc2::client_bases::SmaccPublisherClient::configure ( std::string topicName )

inline

Definition at line 42 of file smacc_publisher_client.hpp.

  {
    this->topicName = topicName;
    if (!initialized_)
    {
      if (!this->topicName)
      {
        RCLCPP_ERROR(getLogger(), "topic publisher with no topic name set. Skipping advertising.");
        return;
      }
 
      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() << "] Client Publisher to topic: " << topicName);
      pub_ = getNode()->create_publisher<MessageType>(*(this->topicName), qos);
 
      this->initialized_ = true;
    }
  }

References durability, smacc2::ISmaccClient::getLogger(), smacc2::ISmaccClient::getName(), smacc2::ISmaccClient::getNode(), initialized_, pub_, queueSize, reliability, and topicName.

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publish()

template<typename MessageType >

void smacc2::client_bases::SmaccPublisherClient::publish ( const MessageType & msg )

inline

Definition at line 70 of file smacc_publisher_client.hpp.

  {
    //pub_->publish(msg);
    std::dynamic_pointer_cast<rclcpp::Publisher<MessageType>>(pub_)->publish(msg);
  }

References pub_, and publish().

Referenced by publish().

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Member Data Documentation

durability

std::optional<rmw_qos_durability_policy_t> smacc2::client_bases::SmaccPublisherClient::durability

Definition at line 35 of file smacc_publisher_client.hpp.

Referenced by configure().

initialized_

bool smacc2::client_bases::SmaccPublisherClient::initialized_

private

Definition at line 79 of file smacc_publisher_client.hpp.

Referenced by configure(), and SmaccPublisherClient().

pub_

rclcpp::PublisherBase::SharedPtr smacc2::client_bases::SmaccPublisherClient::pub_

Definition at line 76 of file smacc_publisher_client.hpp.

Referenced by configure(), and publish().

queueSize

std::optional<int> smacc2::client_bases::SmaccPublisherClient::queueSize

Definition at line 34 of file smacc_publisher_client.hpp.

Referenced by configure().

reliability

std::optional<rmw_qos_reliability_policy_t> smacc2::client_bases::SmaccPublisherClient::reliability

Definition at line 36 of file smacc_publisher_client.hpp.

Referenced by configure().

topicName

std::optional<std::string> smacc2::client_bases::SmaccPublisherClient::topicName

Definition at line 33 of file smacc_publisher_client.hpp.

Referenced by configure().

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

• smacc2/include/smacc2/client_bases/smacc_publisher_client.hpp
• smacc2/src/smacc2/client_bases/smacc_publisher_client.cpp