niklas/rclcpp
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

add flag to ignore local publications

Browse source
This commit is contained in:
Dirk Thomas 2015-06-23 11:26:44 -07:00
parent 5d0241a7c4
commit 8f75c60124
4 changed files with 25 additions and 12 deletions
Download patch file Download diff file Expand all files Collapse all files

16
rclcpp/include/rclcpp/executor.hpp
View file

@ -156,9 +156,11 @@ protected:
{ {
std::shared_ptr<void> message = subscription->create_message(); std::shared_ptr<void> message = subscription->create_message();
bool taken = false; bool taken = false;
rmw_take(subscription->subscription_handle_, message.get(), &taken); rmw_ret_t status = rmw_take(subscription->subscription_handle_, message.get(), &taken);
if (taken) { if (status == RMW_RET_OK) {
subscription->handle_message(message); if (taken) {
subscription->handle_message(message);
}
} else { } else {
std::cout << "[rclcpp::error] take failed for subscription on topic: " << std::cout << "[rclcpp::error] take failed for subscription on topic: " <<
subscription->get_topic_name() << std::endl; subscription->get_topic_name() << std::endl;
@ -179,13 +181,15 @@ protected:
std::shared_ptr<void> request_header = service->create_request_header(); std::shared_ptr<void> request_header = service->create_request_header();
std::shared_ptr<void> request = service->create_request(); std::shared_ptr<void> request = service->create_request();
bool taken = false; bool taken = false;
rmw_take_request( rmw_ret_t status = rmw_take_request(
service->service_handle_, service->service_handle_,
request_header.get(), request_header.get(),
request.get(), request.get(),
&taken); &taken);
if (taken) { if (status == RMW_RET_OK) {
service->handle_request(request_header, request); if (taken) {
service->handle_request(request_header, request);
}
} else { } else {
std::cout << "[rclcpp::error] take failed for service on service: " << std::cout << "[rclcpp::error] take failed for service on service: " <<
service->get_service_name() << std::endl; service->get_service_name() << std::endl;

3
rclcpp/include/rclcpp/node.hpp
View file

@ -126,7 +126,8 @@ public:
std::string topic_name, std::string topic_name,
size_t queue_size, size_t queue_size,
std::function<void(const std::shared_ptr<MessageT> &)> callback, std::function<void(const std::shared_ptr<MessageT> &)> callback,
rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr); rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
bool ignore_local_publications = false);
/* Create a timer. */ /* Create a timer. */
rclcpp::timer::WallTimer::SharedPtr rclcpp::timer::WallTimer::SharedPtr

6
rclcpp/include/rclcpp/node_impl.hpp
View file

@ -106,12 +106,13 @@ Node::create_subscription(
std::string topic_name, std::string topic_name,
size_t queue_size, size_t queue_size,
std::function<void(const std::shared_ptr<MessageT> &)> callback, std::function<void(const std::shared_ptr<MessageT> &)> callback,
rclcpp::callback_group::CallbackGroup::SharedPtr group) rclcpp::callback_group::CallbackGroup::SharedPtr group,
bool ignore_local_publications)
{ {
using rosidl_generator_cpp::get_message_type_support_handle; using rosidl_generator_cpp::get_message_type_support_handle;
auto type_support_handle = get_message_type_support_handle<MessageT>(); auto type_support_handle = get_message_type_support_handle<MessageT>();
rmw_subscription_t * subscriber_handle = rmw_create_subscription( rmw_subscription_t * subscriber_handle = rmw_create_subscription(
node_handle_, type_support_handle, topic_name.c_str(), queue_size); node_handle_, type_support_handle, topic_name.c_str(), queue_size, ignore_local_publications);
if (!subscriber_handle) { if (!subscriber_handle) {
throw std::runtime_error( throw std::runtime_error(
std::string("could not create subscription: ") + std::string("could not create subscription: ") +
@ -123,6 +124,7 @@ Node::create_subscription(
auto sub = Subscription<MessageT>::make_shared( auto sub = Subscription<MessageT>::make_shared(
subscriber_handle, subscriber_handle,
topic_name, topic_name,
ignore_local_publications,
callback); callback);
auto sub_base_ptr = std::dynamic_pointer_cast<SubscriptionBase>(sub); auto sub_base_ptr = std::dynamic_pointer_cast<SubscriptionBase>(sub);
if (group) { if (group) {

12
rclcpp/include/rclcpp/subscription.hpp
View file

@ -44,8 +44,11 @@ public:
SubscriptionBase( SubscriptionBase(
rmw_subscription_t * subscription_handle, rmw_subscription_t * subscription_handle,
std::string & topic_name) std::string & topic_name,
: subscription_handle_(subscription_handle), topic_name_(topic_name) bool ignore_local_publications)
: subscription_handle_(subscription_handle),
topic_name_(topic_name),
ignore_local_publications_(ignore_local_publications)
{} {}
std::string get_topic_name() std::string get_topic_name()
@ -61,6 +64,7 @@ private:
rmw_subscription_t * subscription_handle_; rmw_subscription_t * subscription_handle_;
std::string topic_name_; std::string topic_name_;
bool ignore_local_publications_;
}; };
@ -74,8 +78,10 @@ public:
Subscription( Subscription(
rmw_subscription_t * subscription_handle, rmw_subscription_t * subscription_handle,
std::string & topic_name, std::string & topic_name,
bool ignore_local_publications,
CallbackType callback) CallbackType callback)
: SubscriptionBase(subscription_handle, topic_name), callback_(callback) : SubscriptionBase(subscription_handle, topic_name, ignore_local_publications),
callback_(callback)
{} {}
std::shared_ptr<void> create_message() std::shared_ptr<void> create_message()