chrono::ros::ChROSHandlerRegistry Class Reference

Description

Registry for handler publishing functions in the subprocess.

Each handler type registers a function that deserializes data and publishes to ROS. This makes the subprocess dispatcher completely generic - it just looks up and calls the registered function for each message type.

BIDIRECTIONAL: Handlers can also use the IPC channel to send data back to main process (e.g., subscribers sending received ROS messages back to Chrono simulation)

#include <ChROSHandlerRegistry.h>

Public Types
using	PublishFunction = std::function< void(const uint8_t *, size_t, rclcpp::Node::SharedPtr, ipc::IPCChannel *)>
	Function signature for handler publish functions Takes serialized data bytes (raw pointer + size to avoid copy), ROS node, and IPC channel.

Public Member Functions
void	RegisterPublisher (ipc::MessageType msg_type, PublishFunction publish_func)
	Register a handler's publish function. More...
bool	Publish (ipc::MessageType msg_type, const uint8_t *data, size_t data_size, rclcpp::Node::SharedPtr node, ipc::IPCChannel *channel=nullptr)
	Publish data using the registered handler. More...
bool	HasPublisher (ipc::MessageType msg_type) const
	Check if a handler is registered for this message type.

Static Public Member Functions
static ChROSHandlerRegistry &	GetInstance ()
	Get the singleton instance.

Member Function Documentation

Publish()

bool chrono::ros::ChROSHandlerRegistry::Publish ( ipc::MessageType  msg_type, const uint8_t *  data, size_t  data_size, rclcpp::Node::SharedPtr  node, ipc::IPCChannel *  channel = nullptr  )

inline

Publish data using the registered handler.

Parameters

msg_type	Message type identifier
data	Pointer to serialized data bytes
data_size	Size of data in bytes
node	ROS node for publishing
channel	IPC channel for bidirectional communication (can be nullptr)

Returns

true if handler was found and called, false otherwise

RegisterPublisher()

void chrono::ros::ChROSHandlerRegistry::RegisterPublisher ( ipc::MessageType  msg_type, PublishFunction  publish_func  )

inline

Register a handler's publish function.

Parameters

msg_type	Message type identifier
publish_func	Function to call when this message type is received

---

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

• /builds/uwsbel/chrono/src/chrono_ros/ChROSHandlerRegistry.h