r2sonic::R2SonicNode Class Reference

The rclcpp::Node representing the connection between ROS and the R2Sonic Unit. More...

#include <r2sonic_node.hpp>

Inheritance diagram for r2sonic::R2SonicNode:

Collaboration diagram for r2sonic::R2SonicNode:

Classes
struct	MsgBuffer
	a container for the messages we want to buffer More...
struct	msgMtx_
	a colleciton of rosmessageg publisher and a mutex grouped for convienence. More...
struct	Parameters
	a Structure that corresponds to the parameters advertised by the R2SonicNode class. All params assoicated with this struct will have the same structure struct. Example: topics.detections member mapps to param "topics/detections" More...

Public Member Functions
	R2SonicNode ()
void	publish (packets::BTH0 &r2_packet)
	Publishes all ros2 messages corresponding to a received BTH0 Packet.
void	publish (packets::AID0 &aid0_packet)
	Publishes all ros2 messages corresponding to a received AID0 Packet.
const Parameters &	getParams ()
	gets a referenence to the r2sonic::R2SonicNode::Parameters
template<typename T >
void	cleanMsgMap (msgMap< T > *msg_map, u32 ping_no)

Protected Types
template<typename T >
using	msgMtx = msgMtx_<T, T>
	Typedef for a single message, useful if you don't need to assemble multiple packets.
template<typename T >
using	msgMap = std::map<u32, T>
	This typedef is useful for messages that need to be assmebled from multiple packets.
template<typename T >
using	msgMtxMap = msgMtx_< T, msgMap<T> >
	Creates a msgMtx with a map of messages for assembling multiple packets into one ros message.

Protected Member Functions
template<typename T >
void	cleanMsgMap (msgMap< T > *msg_map, u32 ping_no)
	removes incomplete messages from the map if they are too old based on the ping_number
bool	shouldAdvertise (std::string topic)
	Holds the conditions that determine if the a tiopic should be advertised.
bool	shouldPublish (rclcpp::PublisherBase::SharedPtr pub)
	Checks to see if there are any subscribers to a topic before computing and publishing it.

Protected Attributes
Parameters	parameters_
	potected storage for parametrs
struct r2sonic::R2SonicNode::MsgBuffer	msg_buffer_

Detailed Description

The rclcpp::Node representing the connection between ROS and the R2Sonic Unit.

Member Typedef Documentation

msgMap

template<typename T >

using r2sonic::R2SonicNode::msgMap = std::map<u32, T>

protected

This typedef is useful for messages that need to be assmebled from multiple packets.

msgMtx

template<typename T >

using r2sonic::R2SonicNode::msgMtx = msgMtx_<T, T>

protected

Typedef for a single message, useful if you don't need to assemble multiple packets.

msgMtxMap

template<typename T >

using r2sonic::R2SonicNode::msgMtxMap = msgMtx_< T, msgMap<T> >

protected

Creates a msgMtx with a map of messages for assembling multiple packets into one ros message.

Constructor & Destructor Documentation

R2SonicNode()

R2SonicNode::R2SonicNode

(

)

Member Function Documentation

cleanMsgMap() [1/2]

template<typename T >

void r2sonic::R2SonicNode::cleanMsgMap ( msgMap< T > * msg_map, u32 ping_no )

protected

removes incomplete messages from the map if they are too old based on the ping_number

Parameters

msg_map
ping_no

cleanMsgMap() [2/2]

template<typename T >

void r2sonic::R2SonicNode::cleanMsgMap	(	msgMap< T > *	msg_map,
		u32	ping_no )

getParams()

const Parameters & r2sonic::R2SonicNode::getParams ( )

inline

gets a referenence to the r2sonic::R2SonicNode::Parameters

Returns

the parameters associated with the node

publish() [1/2]

void R2SonicNode::publish

(

packets::AID0 &

aid0_packet

)

Publishes all ros2 messages corresponding to a received AID0 Packet.

Parameters

Publishes

all ros2 messages corresponding to a received AID0 Packet.

publish() [2/2]

void R2SonicNode::publish

(

packets::BTH0 &

r2_packet

)

Publishes all ros2 messages corresponding to a received BTH0 Packet.

Parameters

Publishes

all ros2 messages corresponding to a received BTH0 Packet.

shouldAdvertise()

bool R2SonicNode::shouldAdvertise ( std::string topic )

protected

Holds the conditions that determine if the a tiopic should be advertised.

Parameters

topic

the topic you want to test

Returns

true if you should advertise it

shouldPublish()

bool R2SonicNode::shouldPublish ( rclcpp::PublisherBase::SharedPtr pub )

protected

Checks to see if there are any subscribers to a topic before computing and publishing it.

Parameters

pub	the publisher you want to check

Returns

true if you should publish on that publisher (e.g. has subscribers)

Member Data Documentation

msg_buffer_

struct r2sonic::R2SonicNode::MsgBuffer r2sonic::R2SonicNode::msg_buffer_

protected

parameters_

Parameters r2sonic::R2SonicNode::parameters_

protected

potected storage for parametrs

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

• r2sonic/include/r2sonic/r2sonic_node.hpp
• r2sonic/src/r2sonic_node.cpp