chrono::synchrono::SynDDSSubscriber Class Reference

Description

DDS subscriber wrapper. Listens for information on a topic.

#include <SynDDSSubscriber.h>

Public Member Functions
	SynDDSSubscriber (eprosima::fastdds::dds::Subscriber *subscriber, eprosima::fastdds::dds::DataReader *reader, SynDDSDataReaderListener *listener, std::shared_ptr< SynDDSTopic > topic, std::function< void(void *)> callback, void *message, bool is_synchronous=true)
	Construct a new SynDDSSubscriber object. More...
virtual	~SynDDSSubscriber ()
	Destroy the SynDDSSubscriber object. More...
void	DeleteDDSEntities (eprosima::fastdds::dds::DomainParticipant *participant)
	Delete underlying DDS objects using the passed participant. More...
void	Receive (long double wait_time=20.0)
	This function is responsible for synchronous receiving This will block until a message has been received. More...
void	AsyncReceive ()
	This function is responsible for asynchronous receiving This function will return immediately. More...
void	WaitForMatches (unsigned int matches)
	Wait for the specified number of matches Each subscriber listener has a callback that will be called when a subscriber is matched with a DataWriter. More...
void	SetCallback (std::function< void(void *)> callback)
	Set the callback for each receive of a message. More...
void	SetMessage (void *message)
	Set the message type for the SubscriberListener The message is a DDS generated message class that will be used to store the data in an easy to access way. More...
eprosima::fastdds::dds::DataReader *	GetDataReader ()
	Get the DDS data reader. More...
bool	IsSynchronous ()
	Is the Subscriber set to a synchronous subscriber? More...
eprosima::fastdds::dds::Subscriber *	GetSubscriber ()

Friends
class	SynDDSCommunicator

Constructor & Destructor Documentation

SynDDSSubscriber()

chrono::synchrono::SynDDSSubscriber::SynDDSSubscriber	(	eprosima::fastdds::dds::Subscriber *	subscriber,
		eprosima::fastdds::dds::DataReader *	reader,
		SynDDSDataReaderListener *	listener,
		std::shared_ptr< SynDDSTopic >	topic,
		std::function< void(void *)>	callback,
		void *	message,
		bool	is_synchronous = true
	)

Construct a new SynDDSSubscriber object.

~SynDDSSubscriber()

chrono::synchrono::SynDDSSubscriber::~SynDDSSubscriber ( )

virtual

Destroy the SynDDSSubscriber object.

Member Function Documentation

AsyncReceive()

void chrono::synchrono::SynDDSSubscriber::AsyncReceive

(

)

This function is responsible for asynchronous receiving This function will return immediately.

Underlying calls are asynchronous/non-blocking. When a message is received, the passed function is called and the received data is passed as a parameter to the callback.

DeleteDDSEntities()

void chrono::synchrono::SynDDSSubscriber::DeleteDDSEntities

(

eprosima::fastdds::dds::DomainParticipant *

participant

)

Delete underlying DDS objects using the passed participant.

GetDataReader()

eprosima::fastdds::dds::DataReader* chrono::synchrono::SynDDSSubscriber::GetDataReader ( )

inline

Get the DDS data reader.

IsSynchronous()

bool chrono::synchrono::SynDDSSubscriber::IsSynchronous ( )

inline

Is the Subscriber set to a synchronous subscriber?

Receive()

void chrono::synchrono::SynDDSSubscriber::Receive

(

long double

wait_time = 20.0

)

This function is responsible for synchronous receiving This will block until a message has been received.

When a message is received, the passed function is called and the received data is passed as a parameter to the callback.

Parameters

wait_time

timeout of the synchronous waiting

SetCallback()

void chrono::synchrono::SynDDSSubscriber::SetCallback ( std::function< void(void *)>  callback )

inline

Set the callback for each receive of a message.

Parameters

callback

the callback function called when a message is receive occurs

SetMessage()

void chrono::synchrono::SynDDSSubscriber::SetMessage ( void *  message )

inline

Set the message type for the SubscriberListener The message is a DDS generated message class that will be used to store the data in an easy to access way.

WaitForMatches()

void chrono::synchrono::SynDDSSubscriber::WaitForMatches

(

unsigned int

matches

)

Wait for the specified number of matches Each subscriber listener has a callback that will be called when a subscriber is matched with a DataWriter.

This function blocks until that the matches are achieved. By default, a subscriber will just wait for a single listener.

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

• /builds/uwsbel/chrono/src/chrono_synchrono/communication/dds/SynDDSSubscriber.h
• /builds/uwsbel/chrono/src/chrono_synchrono/communication/dds/SynDDSSubscriber.cpp