mrs_lib::Subscriber< MessageType > Class Template Reference

Wrapper for rclcpp::Subscription with callback and polling interface. More...

#include <subscriber.hpp>

Public Types
using	MessageCallback = std::function<void(std::shared_ptr<const MessageType>)>
	Type of the accepted callback.
using	MessageCoroCallback = CoroCallback<void(std::shared_ptr<const MessageType>)>
	Type of the accepted coroutine callback.

Public Member Functions
	Subscriber (const SubscriberOptions &options, std::string_view topic_name, MessageCallback callback)
	Construct a Subscriber with the specified callback.
	Subscriber (const SubscriberOptions &options, std::string_view topic_name, MessageCoroCallback callback)
	Construct a Subscriber with the specified coroutine callback.
	Subscriber (const SubscriberOptions &options, std::string_view topic_name, PolledSubscriberTag tag)
	Construct a Subscriber without any callback.
std::optional< std::shared_ptr< const MessageType > >	get_message ()
	Get the latest received message, if there is one.
std::optional< std::shared_ptr< const MessageType > >	get_new_message ()
	Get the latest new message, if there is one.
std::optional< std::shared_ptr< const MessageType > >	peek_message () const
	Get the latest received message, if there is one.
std::optional< std::shared_ptr< const MessageType > >	peek_new_message () const
	Get the latest new message, if there is one.
rclcpp::Time	get_last_message_time () const
	Returns time of the last received message on the topic, handled by this Subscriber.
std::string	get_topic_name () const
	Returns the resolved (full) name of the topic handled by this Subscriber.
std::string	get_unresolved_topic_name () const
	Returns the unresolved name of the topic handled by this Subscriber.
uint32_t	get_publisher_count () const
	Returns number of publishers registered at the topic.

Detailed Description

template<typename MessageType>
class mrs_lib::Subscriber< MessageType >

Wrapper for rclcpp::Subscription with callback and polling interface.

Template Parameters

MessageType

Type of the message to subscribe to.

Constructor & Destructor Documentation

Subscriber() [1/3]

template<typename MessageType>

mrs_lib::Subscriber< MessageType >::Subscriber ( const SubscriberOptions & options, std::string_view topic_name, MessageCallback callback )

inlineexplicit

Construct a Subscriber with the specified callback.

Parameters

options	Options to configure the subscriber.
topic_name	Name of the topic to subscribe to.
callback	Callback to call when a message is received.

Subscriber() [2/3]

template<typename MessageType>

mrs_lib::Subscriber< MessageType >::Subscriber ( const SubscriberOptions & options, std::string_view topic_name, MessageCoroCallback callback )

inlineexplicit

Construct a Subscriber with the specified coroutine callback.

Parameters

options	Options to configure the subscriber.
topic_name	Name of the topic to subscribe to.
callback	Coroutine callback to call when a message is received.

Subscriber() [3/3]

template<typename MessageType>

mrs_lib::Subscriber< MessageType >::Subscriber ( const SubscriberOptions & options, std::string_view topic_name, PolledSubscriberTag tag )

inlineexplicit

Construct a Subscriber without any callback.

Parameters

options	Options to configure the subscriber.
topic_name	Name of the topic to subscribe to.
tag	Tag to explicitly specify that this subscriber has no callback.

Member Function Documentation

get_last_message_time()

template<typename MessageType>

rclcpp::Time mrs_lib::Subscriber< MessageType >::get_last_message_time ( ) const

nodiscard

Returns time of the last received message on the topic, handled by this Subscriber.

Returns

time when the last message was received.

get_message()

template<typename MessageType>

std::optional< std::shared_ptr< const MessageType > > mrs_lib::Subscriber< MessageType >::get_message ( )

nodiscard

Get the latest received message, if there is one.

Returns

The latest message, if there is any, nullopt otherwise.

Calling this function marks the message as used.

get_new_message()

template<typename MessageType>

std::optional< std::shared_ptr< const MessageType > > mrs_lib::Subscriber< MessageType >::get_new_message ( )

nodiscard

Get the latest new message, if there is one.

Returns

The latest new message, if there is any, nullopt otherwise.

A new message is a message that was not yet used. A message is always marked as used if there is a callback associated with the subscriber. Additionally, it is marked as used by obtaining it using get_*message.

Calling this function marks the message as used.

get_publisher_count()

template<typename MessageType>

uint32_t mrs_lib::Subscriber< MessageType >::get_publisher_count ( ) const

nodiscard

Returns number of publishers registered at the topic.

Returns

number of publishers.

get_topic_name()

template<typename MessageType>

std::string mrs_lib::Subscriber< MessageType >::get_topic_name ( ) const

nodiscard

Returns the resolved (full) name of the topic handled by this Subscriber.

Returns

The name of the handled topic.

get_unresolved_topic_name()

template<typename MessageType>

std::string mrs_lib::Subscriber< MessageType >::get_unresolved_topic_name ( ) const

nodiscard

Returns the unresolved name of the topic handled by this Subscriber.

Returns

The name of the handled topic.

peek_message()

template<typename MessageType>

std::optional< std::shared_ptr< const MessageType > > mrs_lib::Subscriber< MessageType >::peek_message ( ) const

nodiscard

Get the latest received message, if there is one.

Returns

The latest message, if there is any, nullopt otherwise.

Calling this function does NOT mark the message as used.

peek_new_message()

template<typename MessageType>

std::optional< std::shared_ptr< const MessageType > > mrs_lib::Subscriber< MessageType >::peek_new_message ( ) const

nodiscard

Get the latest new message, if there is one.

Returns

The latest new message, if there is any, nullopt otherwise.

A new message is a message that was not yet used. A message is always marked as used if there is a callback associated with the subscriber. Additionally, it is marked as used by obtaining it using get_*message.

Calling this function does NOT mark the message as used.

---

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

• /home/runner/work/mrs_lib/mrs_lib/include/mrs_lib/subscriber.hpp
• /home/runner/work/mrs_lib/mrs_lib/include/mrs_lib/subscriber.impl.hpp