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initial import for lifecycle subscriber #292
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114 changes: 114 additions & 0 deletions
114
rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_subscription.hpp
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| @@ -0,0 +1,114 @@ | ||
| // Copyright 2014 Open Source Robotics Foundation, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifndef RCLCPP_LIFECYCLE__LIFECYCLE_SUBSCRIPTION_HPP_ | ||
| #define RCLCPP_LIFECYCLE__LIFECYCLE_SUBSCRIPTION_HPP_ | ||
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| #include <functional> | ||
| #include <memory> | ||
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| #include "rclcpp/subscription.hpp" | ||
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| namespace rclcpp_lifecycle | ||
| { | ||
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| class LifecycleSubscriptionInterface | ||
| { | ||
| public: | ||
| virtual void on_activate() = 0; | ||
| virtual void on_deactivate() = 0; | ||
| virtual bool is_activated() = 0; | ||
| }; | ||
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| /// Subscription implementation, templated on the type of message this subscription receives. | ||
| template<typename MessageT, typename Alloc = std::allocator<void>> | ||
| class LifecycleSubscription : public LifecycleSubscriptionInterface, | ||
| public rclcpp::subscription::Subscription<MessageT, Alloc> | ||
| { | ||
| public: | ||
| //using MessageAllocTraits = rclcpp::allocator::AllocRebind<MessageT, Alloc>; | ||
| //using MessageAlloc = typename MessageAllocTraits::allocator_type; | ||
| //using MessageDeleter = rclcpp::allocator::Deleter<MessageAlloc, MessageT>; | ||
| //using MessageUniquePtr = std::unique_ptr<MessageT, MessageDeleter>; | ||
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| //RCLCPP_SMART_PTR_DEFINITIONS(LifecycleSubscription) | ||
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| /// Default constructor. | ||
| /** | ||
| * The constructor for a subscription is almost never called directly. Instead, subscriptions | ||
| * should be instantiated through Node::create_subscription. | ||
| * \param[in] node_handle rcl representation of the node that owns this subscription. | ||
| * \param[in] topic_name Name of the topic to subscribe to. | ||
| * \param[in] subscription_options options for the subscription. | ||
| * \param[in] callback User defined callback to call when a message is received. | ||
| * \param[in] memory_strategy The memory strategy to be used for managing message memory. | ||
| */ | ||
| LifecycleSubscription( | ||
| std::shared_ptr<rcl_node_t> node_handle, | ||
| const std::string & topic_name, | ||
| const rcl_subscription_options_t & subscription_options, | ||
| rclcpp::any_subscription_callback::AnySubscriptionCallback<MessageT, Alloc> callback, | ||
| typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr | ||
| memory_strategy = rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT, | ||
| Alloc>::create_default()) | ||
| : rclcpp::subscription::Subscription<MessageT, Alloc>( | ||
| node_handle, | ||
| topic_name, | ||
| subscription_options, | ||
| callback, | ||
| memory_strategy), | ||
| enabled_(false) | ||
| { } | ||
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| /// Check if we need to handle the message, and execute the callback if we do. | ||
| /** | ||
| * \param[in] message Shared pointer to the message to handle. | ||
| * \param[in] message_info Metadata associated with this message. | ||
| */ | ||
| virtual void | ||
| handle_message(std::shared_ptr<void> & message, const rmw_message_info_t & message_info) | ||
| { | ||
| fprintf(stderr, "Handle Message callled.\n"); | ||
| if (!enabled_) { | ||
| return; | ||
| } | ||
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| rclcpp::subscription::Subscription<MessageT, Alloc>::handle_message(message, message_info); | ||
| } | ||
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| void | ||
| on_activate() | ||
| { | ||
| enabled_ = true; | ||
| } | ||
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| void | ||
| on_deactivate() | ||
| { | ||
| enabled_ = false; | ||
| } | ||
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| bool | ||
| is_activated() | ||
| { | ||
| return enabled_; | ||
| } | ||
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| private: | ||
| bool enabled_ = false; | ||
| }; | ||
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| } // namespace rclcpp_lifecycle | ||
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| #endif // RCLCPP_LIFECYCLE__LIFECYCLE_SUBSCRIPTION_HPP_ |
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Not sure if we have to create a SubscriptionT allocator here