#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
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.

49{}

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;
  }
}