Interface for subscribers that can block while waiting for a message to be received on a topic. More...

#include <subscriber_interface.hpp>

Inheritance diagram for moveit_studio::behaviors::SubscriberInterface< MessageT >:

Public Member Functions
virtual	~SubscriberInterface ()=default

virtual tl::expected< void, std::string >	initialize (const std::string &topic_name, const std::chrono::duration< double > &wait_for_message_timeout, const std::chrono::duration< double > &wait_for_publisher_timeout, bool bypass_qos_negotiation=false)=0
	Initialize the subscriber interface.

virtual std::future< tl::expected< MessageT, std::string > >	getNextMessage ()=0
	Get a future for the next message through the subscriber interface.

virtual tl::expected< MessageT, std::string >	syncGetNextMessage ()=0
	Get the next message through the subscriber interface (blocking).

virtual void	halt ()=0
	Called to stop any long running processes.

Detailed Description

template<typename MessageT>
class moveit_studio::behaviors::SubscriberInterface< MessageT >

Interface for subscribers that can block while waiting for a message to be received on a topic.

This interface is designed to be thread-compatible: initialize() and syncGetNextMessage() must be called synchronously, however halt() can be called from a separate thread. This interface can be easily mocked for testing to avoid needing to spin ROS nodes in tests.

Template Parameters

MessageT ROS message type used to specialize this interface.

Constructor & Destructor Documentation

◆ ~SubscriberInterface()

template<typename MessageT >

virtual moveit_studio::behaviors::SubscriberInterface< MessageT >::~SubscriberInterface ( )

virtualdefault

Member Function Documentation

◆ getNextMessage()

template<typename MessageT >

virtual std::future< tl::expected< MessageT, std::string > > moveit_studio::behaviors::SubscriberInterface< MessageT >::getNextMessage ( )

pure virtual

Get a future for the next message through the subscriber interface.

Returns: A future that will contain the message when it's received, or an error result if the message could not be received.

Implemented in moveit_studio::behaviors::RclcppSubscriberInterface< MessageT >.

◆ halt()

template<typename MessageT >

virtual void moveit_studio::behaviors::SubscriberInterface< MessageT >::halt ( )

pure virtual

Called to stop any long running processes.

Implemented in moveit_studio::behaviors::RclcppSubscriberInterface< MessageT >.

◆ initialize()

template<typename MessageT >

virtual tl::expected< void, std::string > moveit_studio::behaviors::SubscriberInterface< MessageT >::initialize	(	const std::string &	topic_name,
		const std::chrono::duration< double > &	wait_for_message_timeout,
		const std::chrono::duration< double > &	wait_for_publisher_timeout,
		bool	bypass_qos_negotiation = `false`
	)

pure virtual

Initialize the subscriber interface.

Parameters

topic_name	Name of the topic to use in the subscriber interface.
wait_for_message_timeout	Message timeout duration to use in the subscriber interface.
wait_for_publisher_timeout	Publisher timeout duration to use in the subscriber interface.
bypass_qos_negotiation	If true, use default QoS instead of negotiating with publisher.