#include <cp_topic_subscriber.hpp>

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

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

Public Types
typedef MessageType	TMessageType

Public Member Functions
	CpTopicSubscriber ()

	CpTopicSubscriber (std::string topicname)

virtual	~CpTopicSubscriber ()

template<typename T >
boost::signals2::connection	onMessageReceived (void(T::callback)(const MessageType &), T object)

template<typename T >
boost::signals2::connection	onFirstMessageReceived (void(T::callback)(const MessageType &), T object)

template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

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::function< void(const MessageType &)>	postMessageEvent

std::function< void(const MessageType &)>	postInitialMessageEvent

smacc2::SmaccSignal< void(const MessageType &)>	onFirstMessageReceived_

smacc2::SmaccSignal< void(const MessageType &)>	onMessageReceived_

Private Member Functions
void	messageCallback (const MessageType &msg)

Private Attributes
rclcpp::Subscription< MessageType >::SharedPtr	sub_

bool	firstMessage_

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::CpTopicSubscriber< MessageType >

Definition at line 34 of file cp_topic_subscriber.hpp.

Member Typedef Documentation

◆ TMessageType

template<typename MessageType >

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

Definition at line 39 of file cp_topic_subscriber.hpp.

Constructor & Destructor Documentation

◆ CpTopicSubscriber() [1/2]

template<typename MessageType >

smacc2::components::CpTopicSubscriber< MessageType >::CpTopicSubscriber ( )

inline

Definition at line 41 of file cp_topic_subscriber.hpp.

41{ initialized_ = false; }

smacc2::components::CpTopicSubscriber::initialized_

bool initialized_

Definition cp_topic_subscriber.hpp:113

References smacc2::components::CpTopicSubscriber< MessageType >::initialized_.

◆ CpTopicSubscriber() [2/2]

template<typename MessageType >

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

inline

Definition at line 43 of file cp_topic_subscriber.hpp.

43{ topicName_ = topicname; }

smacc2::components::CpTopicSubscriber::topicName_

std::string topicName_

Definition cp_topic_subscriber.hpp:114

References smacc2::components::CpTopicSubscriber< MessageType >::topicName_.

◆ ~CpTopicSubscriber()

template<typename MessageType >

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

inlinevirtual

Definition at line 45 of file cp_topic_subscriber.hpp.

45{}

Member Function Documentation

◆ messageCallback()

template<typename MessageType >

void smacc2::components::CpTopicSubscriber< MessageType >::messageCallback ( const MessageType & msg )

inlineprivate

Definition at line 116 of file cp_topic_subscriber.hpp.

  {
    if (firstMessage_)
    {
      postInitialMessageEvent(msg);
      onFirstMessageReceived_(msg);
      firstMessage_ = false;
    }
 
    postMessageEvent(msg);
    onMessageReceived_(msg);
  }

References smacc2::components::CpTopicSubscriber< MessageType >::firstMessage_, smacc2::components::CpTopicSubscriber< MessageType >::onFirstMessageReceived_, smacc2::components::CpTopicSubscriber< MessageType >::onMessageReceived_, smacc2::components::CpTopicSubscriber< MessageType >::postInitialMessageEvent, and smacc2::components::CpTopicSubscriber< MessageType >::postMessageEvent.

Referenced by smacc2::components::CpTopicSubscriber< MessageType >::onInitialize().

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◆ onFirstMessageReceived()

template<typename MessageType >

template<typename T >

boost::signals2::connection smacc2::components::CpTopicSubscriber< MessageType >::onFirstMessageReceived	(	void(T::*)(const MessageType &)	callback,
		T *	object
	)

inline

Definition at line 63 of file cp_topic_subscriber.hpp.

  {
    return this->getStateMachine()->createSignalConnection(
      onFirstMessageReceived_, callback, object);
  }

References smacc2::ISmaccStateMachine::createSignalConnection(), and smacc2::ISmaccComponent::getStateMachine().

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◆ onInitialize()

template<typename MessageType >

void smacc2::components::CpTopicSubscriber< MessageType >::onInitialize ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccComponent.

Definition at line 88 of file cp_topic_subscriber.hpp.

  {
    if (!initialized_)
    {
      firstMessage_ = true;
 
      if (!queueSize) queueSize = 1;
 
      RCLCPP_INFO_STREAM(
        getLogger(), "[" << this->getName() << "] Subscribing to topic: " << topicName_);
 
      rclcpp::SensorDataQoS qos;
      if (queueSize) qos.keep_last(*queueSize);
 
      std::function<void(typename MessageType::SharedPtr)> fn = [this](auto msg)
      { this->messageCallback(*msg); };
 
      sub_ = this->getNode()->template create_subscription<MessageType>(topicName_, qos, fn);
      this->initialized_ = true;
    }
  }

References smacc2::components::CpTopicSubscriber< MessageType >::firstMessage_, smacc2::ISmaccComponent::getLogger(), smacc2::ISmaccComponent::getName(), smacc2::ISmaccComponent::getNode(), smacc2::components::CpTopicSubscriber< MessageType >::initialized_, smacc2::components::CpTopicSubscriber< MessageType >::messageCallback(), smacc2::components::CpTopicSubscriber< MessageType >::queueSize, smacc2::components::CpTopicSubscriber< MessageType >::sub_, and smacc2::components::CpTopicSubscriber< MessageType >::topicName_.

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◆ onMessageReceived()

template<typename MessageType >

template<typename T >

boost::signals2::connection smacc2::components::CpTopicSubscriber< MessageType >::onMessageReceived	(	void(T::*)(const MessageType &)	callback,
		T *	object
	)

inline

Definition at line 55 of file cp_topic_subscriber.hpp.

  {
    return this->getStateMachine()->createSignalConnection(onMessageReceived_, callback, object);
  }

References smacc2::ISmaccStateMachine::createSignalConnection(), and smacc2::ISmaccComponent::getStateMachine().

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◆ onOrthogonalAllocation()

template<typename MessageType >

template<typename TOrthogonal , typename TSourceObject >

void smacc2::components::CpTopicSubscriber< MessageType >::onOrthogonalAllocation ( )

inline

Definition at line 71 of file cp_topic_subscriber.hpp.

  {
    this->postMessageEvent = [=](auto msg)
    {
      auto event = new EvTopicMessage<TSourceObject, TOrthogonal, MessageType>();
      event->msgData = msg;
      this->postEvent(event);
    };
 
    this->postInitialMessageEvent = [=](auto msg)
    {
      auto event = new EvTopicInitialMessage<TSourceObject, TOrthogonal, MessageType>();
      event->msgData = msg;
      this->postEvent(event);
    };
  }