Afferent Class Reference

Manages afferent processing in robotic nodes, including message handling, subscriptions, and modes for processing serialized data. More...

#include <Afferent.hpp>

Inheritance diagram for Afferent:

Collaboration diagram for Afferent:

Public Types
enum	EfferentProcessMode { CALLBACK , ONDEMAND }
	Defines processing modes for serialized message handling. More...

Public Member Functions
	Afferent (rclcpp_lifecycle::LifecycleNode::SharedPtr parent)
	Constructor for the Afferent class.
virtual bool	configure ()=0
	Configures the afferent component; intended for subclass implementation.
size_t	get_max_queue_size ()
	Gets the maximum queue size.
EfferentProcessMode	get_mode ()
	Gets the current processing mode.
template<class MessageT>
std::unique_ptr< MessageT >	get_msg ()
	Retrieves the next message from the queue, if available.
template<class MessageT>
std::unique_ptr< MessageT >	get_msg (std::unique_ptr< rclcpp::SerializedMessage > msg)
	Converts a serialized message to a typed message.
void	set_max_queue_size (size_t size)
	Sets the maximum queue size for storing messages.
void	set_mode (EfferentProcessMode mode, std::function< void(std::unique_ptr< rclcpp::SerializedMessage >)> cb=nullptr)
	Sets the processing mode and an optional callback function.

Protected Member Functions
bool	create_subscriber (const std::string &topic, const std::string &type)
	Creates a subscriber for a specific topic and message type.

Protected Attributes
std::function< void(std::unique_ptr< rclcpp::SerializedMessage >)>	callback_
	Callback for serialized messages.
const size_t	MAX_DEFAULT_QUEUE_SIZE = 100
	Default maximum queue size.
size_t	max_queue_size_ {MAX_DEFAULT_QUEUE_SIZE}
	Maximum queue size.
EfferentProcessMode	mode_ {ONDEMAND}
	Current processing mode.
std::queue< std::unique_ptr< rclcpp::SerializedMessage > >	msg_queue_
	Queue for serialized messages.
rclcpp_lifecycle::LifecycleNode::SharedPtr	parent_
	Shared pointer to the parent node.
std::vector< std::shared_ptr< rclcpp::GenericSubscription > >	subs_
	List of subscriptions.

Detailed Description

Manages afferent processing in robotic nodes, including message handling, subscriptions, and modes for processing serialized data.

Member Enumeration Documentation

EfferentProcessMode

enum EfferentProcessMode

Defines processing modes for serialized message handling.

Enumerator
CALLBACK
ONDEMAND

Constructor & Destructor Documentation

Afferent()

Afferent ( rclcpp_lifecycle::LifecycleNode::SharedPtr parent )

explicit

Constructor for the Afferent class.

Parameters

parent	Shared pointer to the lifecycle node managing this instance.
parent	Shared pointer to the lifecycle node that owns this Afferent instance.

Member Function Documentation

configure()

virtual bool configure ( )

pure virtual

Configures the afferent component; intended for subclass implementation.

Returns

True if configuration is successful.

Implemented in SimpleImageInput.

create_subscriber()

bool create_subscriber ( const std::string & topic, const std::string & type )

protected

Creates a subscriber for a specific topic and message type.

Creates a subscription to a specified topic and type.

Parameters

topic	Topic to subscribe to.
type	Type of message for the subscription.

Returns

True if the subscriber was created successfully.

This method sets up a subscription to receive messages on a given topic with a specified message type. The received messages are either processed through a callback (if set) or stored in an internal message queue.

Parameters

topic	The topic name to subscribe to.
type	The type of messages expected on the topic.

Returns

True if the subscription was created successfully.

get_max_queue_size()

size_t get_max_queue_size

(

)

Gets the maximum queue size.

Returns

The maximum queue size.

get_mode()

EfferentProcessMode get_mode

(

)

Gets the current processing mode.

Returns

The current EfferentProcessMode.

get_msg() [1/2]

template<class MessageT>

std::unique_ptr< MessageT > get_msg

(

)

Retrieves the next message from the queue, if available.

Template Parameters

MessageT

Type of message to retrieve.

Returns

A unique pointer to the next message, or nullptr if the queue is empty.

get_msg() [2/2]

template<class MessageT>

std::unique_ptr< MessageT > get_msg

(

std::unique_ptr< rclcpp::SerializedMessage >

msg

)

Converts a serialized message to a typed message.

Template Parameters

MessageT

Type of the message to deserialize.

Parameters

msg	Serialized message to convert.

Returns

A unique pointer to the deserialized message.

set_max_queue_size()

void set_max_queue_size

(

size_t

size

)

Sets the maximum queue size for storing messages.

Parameters

size	Maximum number of messages the queue can hold.

set_mode()

void set_mode	(	EfferentProcessMode	mode,
		std::function< void(std::unique_ptr< rclcpp::SerializedMessage >)>	cb = nullptr )

Sets the processing mode and an optional callback function.

Sets the operation mode and an optional callback function.

Parameters

mode	Processing mode for handling messages.
cb	Optional callback function for handling serialized messages in CALLBACK mode.

This function allows configuring the Afferent object with a specific processing mode and an optional callback to handle serialized messages.

Parameters

mode	The processing mode for the Afferent object.
cb	A callback function to process serialized messages, used if the mode is CALLBACK.

Member Data Documentation

callback_

std::function<void(std::unique_ptr<rclcpp::SerializedMessage>)> callback_

protected

Callback for serialized messages.

MAX_DEFAULT_QUEUE_SIZE

const size_t MAX_DEFAULT_QUEUE_SIZE = 100

protected

Default maximum queue size.

max_queue_size_

size_t max_queue_size_ {MAX_DEFAULT_QUEUE_SIZE}

protected

Maximum queue size.

mode_

EfferentProcessMode mode_ {ONDEMAND}

protected

Current processing mode.

msg_queue_

std::queue<std::unique_ptr<rclcpp::SerializedMessage> > msg_queue_

protected

Queue for serialized messages.

parent_

rclcpp_lifecycle::LifecycleNode::SharedPtr parent_

protected

Shared pointer to the parent node.

subs_

std::vector<std::shared_ptr<rclcpp::GenericSubscription> > subs_

protected

List of subscriptions.

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

• cs4home_core/include/cs4home_core/Afferent.hpp
• cs4home_core/src/cs4home_core/Afferent.cpp