RMW desert 1.0
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Public Member Functions | List of all members
DesertSubscriber Class Reference

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_nameName of the topic used for the registration
type_supportsPointer to the message data structure coming from the ROS upper layers
gidGlobal 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.

Parameters
msgPointer to the memory location used to store the message

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