FastDDS implementation of ISubscriberMiddleware. More...

#include <FastDDSSubscriberMiddleware.h>

Inheritance diagram for carla::ros2::FastDDSSubscriberMiddleware< S >:

Public Types
using	msg_type = typename S::msg_type

Public Member Functions
	FastDDSSubscriberMiddleware ()=default

	FastDDSSubscriberMiddleware (const FastDDSSubscriberMiddleware &)=delete

std::string	GetTopicName () const override

bool	Init (const std::string &topic_name, void message_ptr, bool new_message_flag) override
	Initialize the underlying middleware entities.

bool	Init (const std::string &topic_name, void message_ptr, bool new_message_flag, const QosProfile &qos) override
	Initialize with an explicit per-topic QoS profile (see QosProfile.h).

bool	IsAlive () const override

void	on_data_available (efd::DataReader *reader) override

void	on_subscription_matched (efd::DataReader *reader, const efd::SubscriptionMatchedStatus &info) override

FastDDSSubscriberMiddleware &	operator= (const FastDDSSubscriberMiddleware &)=delete

	~FastDDSSubscriberMiddleware () override

Public Member Functions inherited from carla::ros2::ISubscriberMiddleware
virtual	~ISubscriberMiddleware ()=default

Private Member Functions
bool	InitImpl (const std::string &topic_name, void message_ptr, bool new_message_flag, const QosProfile *qos)
	Shared Init body.

Private Attributes
std::atomic< bool >	_alive { false }

efd::DataReader *	_datareader { nullptr }

msg_type *	_message_ptr { nullptr }

bool *	_new_message_ptr { nullptr }

efd::DomainParticipant *	_participant { nullptr }

efd::Subscriber *	_subscriber { nullptr }

efd::Topic *	_topic { nullptr }

std::string	_topic_name

efd::TypeSupport	_type { new GenericCdrPubSubType<msg_type>() }

Detailed Description

template<typename S>
class carla::ros2::FastDDSSubscriberMiddleware< S >

FastDDS implementation of ISubscriberMiddleware.

Parameterized on traits type S that provides: S::msg_type — the message type (a carla::ros2::msg::* POD struct) Deserialization is handled by GenericCdrPubSubType<msg_type> via CdrSerialization.h.

Uses FastDDSSharedParticipant for a single refcounted DomainParticipant across all FastDDS endpoints. See FastDDSPublisherMiddleware.h for the rationale.

Sets USER_DATA QoS on the DataReader to the REP-2016 KV payload "typehash=RIHS01_<hex>;" (PID_USER_DATA = 0x002c in DDSI-RTPS v2.5 §9.6.2.2.2) so that Jazzy rmw_cyclonedds_cpp and rmw_fastrtps_cpp can perform REP-2011 type-hash-based endpoint matching without warning.

Definition at line 47 of file FastDDSSubscriberMiddleware.h.

Member Typedef Documentation

◆ msg_type

template<typename S >

using carla::ros2::FastDDSSubscriberMiddleware< S >::msg_type = typename S::msg_type

Definition at line 51 of file FastDDSSubscriberMiddleware.h.

Constructor & Destructor Documentation

◆ FastDDSSubscriberMiddleware() [1/2]

template<typename S >

carla::ros2::FastDDSSubscriberMiddleware< S >::FastDDSSubscriberMiddleware ( )

default

◆ FastDDSSubscriberMiddleware() [2/2]

template<typename S >

carla::ros2::FastDDSSubscriberMiddleware< S >::FastDDSSubscriberMiddleware ( const FastDDSSubscriberMiddleware< S > & )

delete

◆ ~FastDDSSubscriberMiddleware()

template<typename S >

carla::ros2::FastDDSSubscriberMiddleware< S >::~FastDDSSubscriberMiddleware ( )

inlineoverride

Definition at line 74 of file FastDDSSubscriberMiddleware.h.

References carla::ros2::FastDDSSubscriberMiddleware< S >::_datareader, carla::ros2::FastDDSSubscriberMiddleware< S >::_participant, carla::ros2::FastDDSSubscriberMiddleware< S >::_subscriber, carla::ros2::FastDDSSubscriberMiddleware< S >::_topic, carla::ros2::FastDDSSubscriberMiddleware< S >::_type, carla::ros2::FastDDSSharedParticipant::release(), and carla::ros2::FastDDSSharedParticipant::release_type().

Member Function Documentation

◆ GetTopicName()

template<typename S >

std::string carla::ros2::FastDDSSubscriberMiddleware< S >::GetTopicName ( ) const

inlineoverridevirtual

Returns: The topic name this subscriber is bound to.

Implements carla::ros2::ISubscriberMiddleware.

Definition at line 199 of file FastDDSSubscriberMiddleware.h.

References carla::ros2::FastDDSSubscriberMiddleware< S >::_topic_name.

◆ Init() [1/2]

template<typename S >

bool carla::ros2::FastDDSSubscriberMiddleware< S >::Init	(	const std::string &	topic_name,
		void *	message_ptr,
		bool *	new_message_flag
	)

inlineoverridevirtual

Initialize the underlying middleware entities.

The middleware writes incoming messages to *message_ptr and sets *new_message_flag = true.

Parameters

topic_name	Full topic name.
message_ptr	Pointer to the message storage owned by the caller.
new_message_flag	Pointer to the new-message flag owned by the caller.

Returns: true on success.

Implements carla::ros2::ISubscriberMiddleware.

Definition at line 94 of file FastDDSSubscriberMiddleware.h.

References carla::ros2::FastDDSSubscriberMiddleware< S >::InitImpl().

◆ Init() [2/2]

template<typename S >

bool carla::ros2::FastDDSSubscriberMiddleware< S >::Init	(	const std::string &	topic_name,
		void *	message_ptr,
		bool *	new_message_flag,
		const QosProfile &	qos
	)

inlineoverridevirtual

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 from carla::ros2::ISubscriberMiddleware.

Definition at line 101 of file FastDDSSubscriberMiddleware.h.

References carla::ros2::FastDDSSubscriberMiddleware< S >::InitImpl().

◆ InitImpl()

template<typename S >

bool carla::ros2::FastDDSSubscriberMiddleware< S >::InitImpl	(	const std::string &	topic_name,
		void *	message_ptr,
		bool *	new_message_flag,
		const QosProfile *	qos
	)

inlineprivate

Shared Init body.

When qos is non-null the profile overrides the FastDDS DataReader defaults (BEST_EFFORT / VOLATILE); when null the defaults are kept, preserving the pre-QoS behavior for every existing subscriber.

Definition at line 114 of file FastDDSSubscriberMiddleware.h.