Public Member Functions
	DesertSubscriber (std::string topic_name, const rosidl_message_type_support_t *type_supports, rmw_gid_t gid)
	Create a subscriber.

bool	has_data ()
	Check if there is available data for the registered topic.

void	read_data (void *msg)
	Read a publication from the publisher.

rmw_gid_t	get_gid ()
	Retreive the gid of the current entity.

std::string	get_topic_name ()
	Retreive the topic name of the current entity.

std::string	get_type_name ()
	Retreive the message type of the current entity.

Constructor & Destructor Documentation

◆ DesertSubscriber()

DesertSubscriber::DesertSubscriber	(	std::string	topic_name,
		const rosidl_message_type_support_t *	type_supports,
		rmw_gid_t	gid
	)

Create a subscriber.

Parameters

topic_name	Name of the topic used for the registration
type_supports	Pointer to the message data structure coming from the ROS upper layers
gid	Global identifier of the entity

Member Function Documentation

◆ get_gid()

rmw_gid_t DesertSubscriber::get_gid ( )

Retreive the gid of the current entity.

This function returns the global identifier of the current entity in the rmw format.

Returns: Global identifier of the entity

◆ get_topic_name()

std::string DesertSubscriber::get_topic_name ( )

Retreive the topic name of the current entity.

This function returns a string containing the topic name of the current entity.

Returns: Name of the topic

◆ get_type_name()

std::string DesertSubscriber::get_type_name ( )

Retreive the message type of the current entity.

This function returns a string containing the message type name of the current entity.

Returns: Type of the message

◆ has_data()

bool DesertSubscriber::has_data ( )

Check if there is available data for the registered topic.

The has_data function calls the interpret_packets method in RxStream and then verifies if in the map of subscriber packets there is a correspondence with the topic name of the current instance.

Returns: True if data is present otherwise false

◆ read_data()

void DesertSubscriber::read_data ( void * msg )

Read a publication from the publisher.

The read_data function interprets a transmission with the topic name present in the current instance deserializing the message using the method from the MessageSerialization namespace. A discrimination is made between C members and C++ members based on the type support.