carla::ros2::ISubscriberMiddleware Class Reference

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

#include <ISubscriberMiddleware.h>

Inheritance diagram for carla::ros2::ISubscriberMiddleware:

Public Member Functions
virtual std::string	GetTopicName () const =0
virtual bool	Init (const std::string &topic_name, void *message_ptr, bool *new_message_flag)=0
	Initialize the underlying middleware entities.
virtual bool	Init (const std::string &topic_name, void *message_ptr, bool *new_message_flag, const QosProfile &qos)
	Initialize with an explicit per-topic QoS profile (see QosProfile.h).
virtual bool	IsAlive () const =0
virtual	~ISubscriberMiddleware ()=default

Detailed Description

Type-erased abstract interface for a subscriber middleware.

Concrete implementations write received messages directly into the caller-provided storage (message_ptr / new_message_flag) to avoid an extra copy.

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 ISubscriberMiddleware.h.

Constructor & Destructor Documentation

~ISubscriberMiddleware()

virtual carla::ros2::ISubscriberMiddleware::~ISubscriberMiddleware ( )

virtualdefault

Member Function Documentation

GetTopicName()

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

pure virtual

Returns

The topic name this subscriber is bound to.

Implemented in carla::ros2::FastDDSSubscriberMiddleware< S >, and MockSubscriberMiddleware.

Init() [1/2]

virtual bool carla::ros2::ISubscriberMiddleware::Init ( const std::string &  topic_name, void *  message_ptr, bool *  new_message_flag  )

pure virtual

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.

Implemented in carla::ros2::FastDDSSubscriberMiddleware< S >, and MockSubscriberMiddleware.

Referenced by Init().

Init() [2/2]

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

Definition at line 42 of file ISubscriberMiddleware.h.

References Init().

IsAlive()

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

pure virtual

Returns

true if at least one publisher is matched.

Implemented in carla::ros2::FastDDSSubscriberMiddleware< S >, and MockSubscriberMiddleware.

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

• ISubscriberMiddleware.h