chrono::ros::ipc::SubprocessManager Class Reference

Description

Manages the lifecycle of the ROS subprocess and IPC communication.

#include <ChROSSubprocessManager.h>

Public Member Functions
	SubprocessManager (const std::string &node_name, const std::string &channel_name)
	Constructor. More...
	~SubprocessManager ()
	Destructor - automatically terminates subprocess.
bool	LaunchSubprocess ()
	Launch the ROS subprocess. More...
void	TerminateSubprocess ()
	Terminate the subprocess gracefully.
bool	IsSubprocessRunning () const
	Check if subprocess is still running.
bool	SendMessage (const Message &message)
	Send a message to the subprocess. More...
bool	ReceiveMessage (Message &message)
	Receive a message from the subprocess (non-blocking) More...
IPCChannel *	GetChannel () const
	Get the IPC channel.

Constructor & Destructor Documentation

SubprocessManager()

chrono::ros::ipc::SubprocessManager::SubprocessManager	(	const std::string &	node_name,
		const std::string &	channel_name
	)

Constructor.

Parameters

node_name	Name for the ROS node in the subprocess
channel_name	Unique name for the IPC channel

Member Function Documentation

LaunchSubprocess()

bool chrono::ros::ipc::SubprocessManager::LaunchSubprocess

(

)

Launch the ROS subprocess.

Returns

true if successful, false otherwise

ReceiveMessage()

bool chrono::ros::ipc::SubprocessManager::ReceiveMessage

(

Message &

message

)

Receive a message from the subprocess (non-blocking)

Parameters

message

Output message buffer

Returns

true if message received

SendMessage()

bool chrono::ros::ipc::SubprocessManager::SendMessage

(

const Message &

message

)

Send a message to the subprocess.

Parameters

message

Message to send

Returns

true if successful

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

• /builds/uwsbel/chrono/src/chrono_ros/ipc/ChROSSubprocessManager.h
• /builds/uwsbel/chrono/src/chrono_ros/ipc/ChROSSubprocessManager.cpp