#include <smacc_subscriber_client.h>

Inheritance diagram for smacc::client_bases::SmaccSubscriberClient< MessageType >:

Collaboration diagram for smacc::client_bases::SmaccSubscriberClient< MessageType >:

Public Types
typedef MessageType	TMessageType

Public Member Functions
	SmaccSubscriberClient ()

	SmaccSubscriberClient (std::string topicname)

virtual	~SmaccSubscriberClient ()

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 ()

virtual void	initialize ()

Public Member Functions inherited from smacc::ISmaccClient
	ISmaccClient ()

virtual	~ISmaccClient ()

virtual void	initialize ()

virtual std::string	getName () const

template<typename EventType >
void	postEvent (const EventType &ev)

template<typename EventType >
void	postEvent ()

template<typename TComponent >
TComponent *	getComponent ()

template<typename TComponent >
TComponent *	getComponent (std::string name)

virtual smacc::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)

Public Attributes
boost::optional< std::string >	topicName

boost::optional< int >	queueSize

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

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

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

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

Protected Attributes
ros::NodeHandle	nh_

Protected Attributes inherited from smacc::ISmaccClient
std::map< ComponentKey, std::shared_ptr< smacc::ISmaccComponent > >	components_

Private Member Functions
void	messageCallback (const MessageType &msg)

Private Attributes
ros::Subscriber	sub_

bool	firstMessage_

bool	initialized_

Additional Inherited Members
Protected Member Functions inherited from smacc::ISmaccClient
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

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)

void	setStateMachine (ISmaccStateMachine *stateMachine)

void	setOrthogonal (ISmaccOrthogonal *orthogonal)

Detailed Description

template<typename MessageType>
class smacc::client_bases::SmaccSubscriberClient< MessageType >

Definition at line 22 of file smacc_subscriber_client.h.

Member Typedef Documentation

◆ TMessageType

template<typename MessageType >

typedef MessageType smacc::client_bases::SmaccSubscriberClient< MessageType >::TMessageType

Definition at line 28 of file smacc_subscriber_client.h.

Constructor & Destructor Documentation

◆ SmaccSubscriberClient() [1/2]

template<typename MessageType >

smacc::client_bases::SmaccSubscriberClient< MessageType >::SmaccSubscriberClient ( )

inline

Definition at line 30 of file smacc_subscriber_client.h.

  {
    initialized_ = false;
  }

References smacc::client_bases::SmaccSubscriberClient< MessageType >::initialized_.

◆ SmaccSubscriberClient() [2/2]

template<typename MessageType >

smacc::client_bases::SmaccSubscriberClient< MessageType >::SmaccSubscriberClient ( std::string topicname )

inline

Definition at line 35 of file smacc_subscriber_client.h.

  {
    topicName = topicname;
  }

References smacc::client_bases::SmaccSubscriberClient< MessageType >::topicName.

◆ ~SmaccSubscriberClient()

template<typename MessageType >

virtual smacc::client_bases::SmaccSubscriberClient< MessageType >::~SmaccSubscriberClient ( )

inlinevirtual

Definition at line 40 of file smacc_subscriber_client.h.

  {
    sub_.shutdown();
  }

References smacc::client_bases::SmaccSubscriberClient< MessageType >::sub_.

Member Function Documentation

◆ initialize()

template<typename MessageType >

virtual void smacc::client_bases::SmaccSubscriberClient< MessageType >::initialize ( )

inlinevirtual

Reimplemented from smacc::ISmaccClient.

Reimplemented in cl_keyboard::ClKeyboard, and cl_multirole_sensor::ClMultiroleSensor< MessageType >.

Definition at line 79 of file smacc_subscriber_client.h.

  {
    if (!initialized_)
    {
      firstMessage_ = true;
 
      if (!queueSize)
        queueSize = 1;
 
      if (!topicName)
      {
        ROS_ERROR("topic client with no topic name set. Skipping subscribing");
      }
      else
      {
        ROS_INFO_STREAM("[" << this->getName() << "] Subscribing to topic: " << topicName);
 
        sub_ = nh_.subscribe(*topicName, *queueSize, &SmaccSubscriberClient<MessageType>::messageCallback, this);
        this->initialized_ = true;
      }
    }
  }

References smacc::client_bases::SmaccSubscriberClient< MessageType >::firstMessage_, smacc::ISmaccClient::getName(), smacc::client_bases::SmaccSubscriberClient< MessageType >::initialized_, smacc::client_bases::SmaccSubscriberClient< MessageType >::nh_, smacc::client_bases::SmaccSubscriberClient< MessageType >::queueSize, smacc::client_bases::SmaccSubscriberClient< MessageType >::sub_, and smacc::client_bases::SmaccSubscriberClient< MessageType >::topicName.

Referenced by cl_multirole_sensor::ClMultiroleSensor< MessageType >::initialize().

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◆ messageCallback()

template<typename MessageType >

void smacc::client_bases::SmaccSubscriberClient< MessageType >::messageCallback ( const MessageType & msg )

inlineprivate

Definition at line 110 of file smacc_subscriber_client.h.

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

References smacc::client_bases::SmaccSubscriberClient< MessageType >::firstMessage_, smacc::client_bases::SmaccSubscriberClient< MessageType >::onFirstMessageReceived_, smacc::client_bases::SmaccSubscriberClient< MessageType >::onMessageReceived_, smacc::client_bases::SmaccSubscriberClient< MessageType >::postInitialMessageEvent, and smacc::client_bases::SmaccSubscriberClient< MessageType >::postMessageEvent.

◆ onFirstMessageReceived()

template<typename MessageType >

template<typename T >

boost::signals2::connection smacc::client_bases::SmaccSubscriberClient< MessageType >::onFirstMessageReceived	(	void(T::*)(const MessageType &)	callback,
		T *	object
	)

inline

Definition at line 58 of file smacc_subscriber_client.h.

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

References smacc::ISmaccStateMachine::createSignalConnection(), and smacc::ISmaccClient::getStateMachine().

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◆ onMessageReceived()

template<typename MessageType >

template<typename T >

boost::signals2::connection smacc::client_bases::SmaccSubscriberClient< MessageType >::onMessageReceived	(	void(T::*)(const MessageType &)	callback,
		T *	object
	)

inline

Definition at line 52 of file smacc_subscriber_client.h.

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

References smacc::ISmaccStateMachine::createSignalConnection(), and smacc::ISmaccClient::getStateMachine().

Referenced by cl_multirole_sensor::ClMultiroleSensor< MessageType >::initialize(), and smacc::CbSubscriptionCallbackBase< TMsg >::onEntry().

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◆ onOrthogonalAllocation()

template<typename MessageType >

template<typename TOrthogonal , typename TSourceObject >

void smacc::client_bases::SmaccSubscriberClient< MessageType >::onOrthogonalAllocation ( )

inline

Definition at line 64 of file smacc_subscriber_client.h.

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