carla::ros2::IPublisherMiddleware Class Reference

Type-erased abstract interface for a publisher middleware. More...

#include <IPublisherMiddleware.h>

Inheritance diagram for carla::ros2::IPublisherMiddleware:

Public Member Functions
virtual std::string	GetTopicName () const =0
virtual bool	Init (const std::string &topic_name)=0
	Initialize the underlying middleware entities.
virtual bool	Init (const std::string &topic_name, const QosProfile &qos)
	Initialize with an explicit per-topic QoS profile (see QosProfile.h).
virtual bool	IsAlive () const =0
virtual bool	Publish (void *message_data)=0
	Serialize and write a message to the network.
virtual	~IPublisherMiddleware ()=default

Detailed Description

Type-erased abstract interface for a publisher middleware.

Concrete implementations handle all vendor-specific entity creation, type registration, and data writing.

Contract: when an implementation establishes its process-wide transport context (a DDS DomainParticipant, a Zenoh session, ...) it must honor carla::ros2::MiddlewareConfig::GetDomainId(), mapping kUnsetDomainId to its own native default. This keeps the ROS 2 domain id configurable and middleware-agnostic (see MiddlewareConfig.h).

Definition at line 23 of file IPublisherMiddleware.h.

Constructor & Destructor Documentation

~IPublisherMiddleware()

virtual carla::ros2::IPublisherMiddleware::~IPublisherMiddleware ( )

virtualdefault

Member Function Documentation

GetTopicName()

virtual std::string carla::ros2::IPublisherMiddleware::GetTopicName ( ) const

pure virtual

Returns

The topic name this publisher is bound to.

Implemented in carla::ros2::FastDDSPublisherMiddleware< T >, and MockPublisherMiddleware.

Init() [1/2]

virtual bool carla::ros2::IPublisherMiddleware::Init ( const std::string &  topic_name )

pure virtual

Initialize the underlying middleware entities.

Parameters

topic_name

Full topic name including "rt/" prefix.

Returns

true on success.

Implemented in carla::ros2::FastDDSPublisherMiddleware< T >, and MockPublisherMiddleware.

Referenced by Init().

Init() [2/2]

virtual bool carla::ros2::IPublisherMiddleware::Init ( const std::string &  topic_name, const QosProfile &  qos  )

inlinevirtual

Initialize with an explicit per-topic QoS profile (see QosProfile.h).

The default implementation ignores the profile and falls back to the QoS-less Init so test fakes and QoS-agnostic middlewares keep working; concrete backends override this to honor the profile.

Reimplemented in carla::ros2::FastDDSPublisherMiddleware< T >.

Definition at line 36 of file IPublisherMiddleware.h.

References Init().

IsAlive()

virtual bool carla::ros2::IPublisherMiddleware::IsAlive ( ) const

pure virtual

Returns

true if at least one subscriber is matched.

Implemented in carla::ros2::FastDDSPublisherMiddleware< T >, and MockPublisherMiddleware.

Publish()

virtual bool carla::ros2::IPublisherMiddleware::Publish ( void *  message_data )

pure virtual

Serialize and write a message to the network.

Parameters

message_data

Pointer to the message object (type-erased, cast internally).

Returns

true if the write succeeded.

Implemented in carla::ros2::FastDDSPublisherMiddleware< T >, and MockPublisherMiddleware.

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

• IPublisherMiddleware.h