Input node used to connect a ROS subscriber to the computational graph. More...

#include <input_node.h>

Inheritance diagram for InputMQTTNode< MSG_TYPE >:

Public Member Functions
	InputMQTTNode (const std::string &id, const std::string &address)
	Constructor. More...

std::string	typeStr () const override
	Returns the node 'type' as a string. More...

Public Member Functions inherited from InputNode< MSG_TYPE >
	InputNode (const std::string &id, InputNodePolicies::MsgPublishPolicy msgPublishPolicy=InputNodePolicies::MsgPublishPolicy::LAST, InputNodePolicies::MsgCachePolicy msgCachePolicy=InputNodePolicies::MsgCachePolicy::KEEP_CACHE, size_t queue_size=10)
	Constructor. More...

void	registerOutput (const std::string &id)
	Registers an Output port with id 'id' with this node. More...

OutputPort< MSG_TYPE > *	getSinglePort (const std::string &id)
	Returns a pointer to single output port if the port is registered, nullptr otherwise. More...

OutputPort< std::vector< const MSG_TYPE * > > *	getListPort (const std::string &id)
	Returns a pointer to list output port if the port is registered, nullptr otherwise. More...

InputNodePolicies::MsgPublishPolicy	msgPublishPolicy ()

InputNodePolicies::MsgCachePolicy	msgCachePolicy ()

void	setMsgPublishPolicy (InputNodePolicies::MsgPublishPolicy msgPublishPolicy)

void	setMsgCachePolicy (InputNodePolicies::MsgCachePolicy msgCachePolicy)

Public Member Functions inherited from ComputationalNode
	ComputationalNode ()=delete

virtual	~ComputationalNode ()=default

	ComputationalNode (std::string id, NodeType type)
	Constructor. More...

const std::string &	id () const
	Returns the node 'id'. More...

NodeType	type () const
	Returns the node 'type'. More...

void	setVisited (bool visited)
	Sets a value for the node 'visited' property, used for graph traversing. More...

bool	isVisited () const
	Returns true if the node has been marked as visited, false otherwise. More...

void	setDoCompute (bool doCompute)
	Sets a value for the node 'doCompute' property, used in some graph execution modes. More...

virtual bool	doCompute () const
	Tells if this node should be executed in this graph execution cycle, used in some graph execution modes. More...

Protected Member Functions
void	configure () override
	Configures the node making it ready to execute 'compute'. More...

void	topic_callback (const std::string &msg)
	callback function used in the MQTT subscriber More...

bool	updatePortData (const std::string &id) override
	Updates pointers stored in _portMap for port 'id'. More...

virtual void	setMsgFromString ()
	set the msg conversion function depending on template argument MSG_TYPE More...

Protected Member Functions inherited from InputNode< MSG_TYPE >
void	compute () override final
	Compute. Updates and sends stored msgs. More...

Protected Member Functions inherited from ComputationalNode
virtual void	graphCycleStartCB ()
	Function called by the Computational Graph at the beginning of a new execution cycle. More...

virtual void	graphLoadedCB ()
	Function called by the Computational Graph to nodes that the graph has been completely loaded. More...

Protected Attributes
std::function< MSG_TYPE(const std::string &)>	_msgFromString
	converts msgs in string format to MSG_TYPE More...

Protected Attributes inherited from InputNode< MSG_TYPE >
InputNodePolicies::MsgPublishPolicy	_msgPublishPolicy
	Send policy used by this node. More...

InputNodePolicies::MsgCachePolicy	_msgCachePolicy
	Msg cache policy used by this node. More...

std::map< std::string, DataPortHandle< MSG_TYPE > >	_portMap
	Map containing data to handle topics. Data is guaranteed to be unchanged between 'compute' calls More...

size_t	_queueSize
	Maximum number of msgs that the node can store per port. More...

Additional Inherited Members
Public Types inherited from ComputationalNode
enum	NodeType { Input, Output, Functional }
	All the possible node types. More...

Static Public Member Functions inherited from ComputationalNode
static std::pair< std::string, std::string >	parseNodeAddress (const std::string &address, bool hasPort=true)
	Parses a computational node address returning the node id and the port (if any) contained in the address. More...

Static Public Attributes inherited from ComputationalNode
const static std::map< NodeType, std::string >	nodeTypeStr

Detailed Description

template<class MSG_TYPE>
class InputMQTTNode< MSG_TYPE >

Input node used to connect a ROS subscriber to the computational graph.

The template parameter MSG_TYPE is the ROS msg type this node subscribes to

Constructor & Destructor Documentation

◆ InputMQTTNode()

template<class MSG_TYPE >

InputMQTTNode< MSG_TYPE >::InputMQTTNode	(	const std::string &	id,
		const std::string &	address
	)

inline

Constructor.

Member Function Documentation

◆ configure()

template<class MSG_TYPE >

void InputMQTTNode< MSG_TYPE >::configure ( )

inlineoverrideprotectedvirtual

Configures the node making it ready to execute 'compute'.

Implements ComputationalNode.

◆ setMsgFromString()

template<class MSG_TYPE >

virtual void InputMQTTNode< MSG_TYPE >::setMsgFromString ( )

inlineprotectedvirtual

set the msg conversion function depending on template argument MSG_TYPE

Reimplemented in DPInputMQTTNode< MSG_TYPE >.

◆ topic_callback()

template<class MSG_TYPE >

void InputMQTTNode< MSG_TYPE >::topic_callback ( const std::string & msg )

inlineprotected

callback function used in the MQTT subscriber

◆ typeStr()

template<class MSG_TYPE >

std::string InputMQTTNode< MSG_TYPE >::typeStr ( ) const

inlineoverridevirtual

Returns the node 'type' as a string.

Reimplemented from ComputationalNode.

◆ updatePortData()

template<class MSG_TYPE >

bool InputMQTTNode< MSG_TYPE >::updatePortData ( const std::string & id )

inlineoverrideprotectedvirtual

Updates pointers stored in _portMap for port 'id'.

Expected behavior: Implementations of this function must guarantee that data pointers stored in _portMap[id] are valid and will not change between calls to this function. Even after the function is called again, pointers in _portMap[id] should still be valid and remain unchanged if the function returns false, i.e., if port 'id' data wasn't changed.

Parameters

id	key in _portMap which data is asked to be updated

Returns: true if port 'id' has new data, false otherwise

Implements InputNode< MSG_TYPE >.

Member Data Documentation

◆ _msgFromString

template<class MSG_TYPE >

std::function<MSG_TYPE (const std::string&)> InputMQTTNode< MSG_TYPE >::_msgFromString

protected

converts msgs in string format to MSG_TYPE

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

nrp_event_loop/nrp_event_loop/nodes/mqtt/input_node.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<class MSG_TYPE> class InputMQTTNode< MSG_TYPE >

Constructor & Destructor Documentation

◆ InputMQTTNode()

Member Function Documentation

◆ configure()

◆ setMsgFromString()

◆ topic_callback()

◆ typeStr()

◆ updatePortData()

Member Data Documentation

◆ _msgFromString

template<class MSG_TYPE>
class InputMQTTNode< MSG_TYPE >