#include <cp_topic_subscriber.h>

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

Collaboration diagram for smacc::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 ()

virtual void	initialize ()

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

virtual	~ISmaccComponent ()

virtual std::string	getName () const

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::ISmaccComponent
ISmaccStateMachine *	stateMachine_

ISmaccClient *	owner_

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::ISmaccComponent
virtual void	initialize (ISmaccClient *owner)

void	setStateMachine (ISmaccStateMachine *stateMachine)

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)

template<typename TClient >
void	requiresClient (TClient *&requiredClientStorage)

virtual void	onInitialize ()

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)

Detailed Description

template<typename MessageType>
class smacc::components::CpTopicSubscriber< MessageType >

Definition at line 15 of file cp_topic_subscriber.h.

Member Typedef Documentation

◆ TMessageType

template<typename MessageType >

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

Definition at line 21 of file cp_topic_subscriber.h.

Constructor & Destructor Documentation

◆ CpTopicSubscriber() [1/2]

template<typename MessageType >

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

inline

Definition at line 23 of file cp_topic_subscriber.h.

    {
        initialized_ = false;
    }

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

◆ CpTopicSubscriber() [2/2]

template<typename MessageType >

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

inline

Definition at line 28 of file cp_topic_subscriber.h.

    {
        topicName = topicname;
    }

References smacc::components::CpTopicSubscriber< MessageType >::topicName.

◆ ~CpTopicSubscriber()

template<typename MessageType >

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

inlinevirtual

Definition at line 33 of file cp_topic_subscriber.h.

    {
        sub_.shutdown();
    }

References smacc::components::CpTopicSubscriber< MessageType >::sub_.

Member Function Documentation

◆ initialize()

template<typename MessageType >

virtual void smacc::components::CpTopicSubscriber< MessageType >::initialize ( )

inlinevirtual

Definition at line 72 of file cp_topic_subscriber.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, &CpTopicSubscriber<MessageType>::messageCallback, this);
                this->initialized_ = true;
            }
        }
    }

References smacc::components::CpTopicSubscriber< MessageType >::firstMessage_, smacc::ISmaccComponent::getName(), smacc::components::CpTopicSubscriber< MessageType >::initialized_, smacc::components::CpTopicSubscriber< MessageType >::nh_, smacc::components::CpTopicSubscriber< MessageType >::queueSize, smacc::components::CpTopicSubscriber< MessageType >::sub_, and smacc::components::CpTopicSubscriber< MessageType >::topicName.

Here is the call graph for this function:

◆ messageCallback()

template<typename MessageType >

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

inlineprivate

Definition at line 103 of file cp_topic_subscriber.h.

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

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

◆ onFirstMessageReceived()

template<typename MessageType >

template<typename T >

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

inline

Definition at line 51 of file cp_topic_subscriber.h.

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

References smacc::components::CpTopicSubscriber< MessageType >::onFirstMessageReceived_.

◆ onMessageReceived()

template<typename MessageType >

template<typename T >

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

inline

Definition at line 45 of file cp_topic_subscriber.h.

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

References smacc::components::CpTopicSubscriber< MessageType >::onMessageReceived_.

◆ onOrthogonalAllocation()

template<typename MessageType >

template<typename TOrthogonal , typename TSourceObject >

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

inline

Definition at line 57 of file cp_topic_subscriber.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);
        };
    }