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Add lifecycle subscriber and refactor create_subscription and subscri…
…ption_factory as necessary. Signed-of-by: Adam Milner <[email protected]> Signed-off-by: Adam Milner <[email protected]>
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rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_subscriber.hpp
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| // Copyright 2023 Elroy Air, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifndef RCLCPP_LIFECYCLE__LIFECYCLE_SUBSCRIPTION_HPP_ | ||
| #define RCLCPP_LIFECYCLE__LIFECYCLE_SUBSCRIPTION_HPP_ | ||
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| // #include <functional> | ||
| // #include <memory> | ||
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| #include "rclcpp/subscription.hpp" | ||
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| namespace rclcpp_lifecycle | ||
| { | ||
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| /// @brief Child class of rclcpp::Subscription that adds lifecycle functionality. | ||
| /** | ||
| * This class is a child class of rclcpp::Subscription that adds a lifecycle | ||
| * check to the callback function. If the node is in an inactive state, the | ||
| * callback will not be called. | ||
| */ | ||
| template< | ||
| typename MessageT, | ||
| typename AllocatorT = std::allocator<void>, | ||
| typename SubscribedT = typename rclcpp::TypeAdapter<MessageT>::custom_type, | ||
| typename ROSMessageT = typename rclcpp::TypeAdapter<MessageT>::ros_message_type, | ||
| typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< | ||
| ROSMessageT, | ||
| AllocatorT | ||
| >> | ||
| class LifecycleSubscription : public SimpleManagedEntity, | ||
| public rclcpp::Subscription<MessageT, AllocatorT> | ||
| { | ||
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| private: | ||
| using SubscriptionTopicStatisticsSharedPtr = | ||
| std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageT>>; | ||
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| public: | ||
| LifecycleSubscription( | ||
| rclcpp::node_interfaces::NodeBaseInterface * node_base, | ||
| const rosidl_message_type_support_t & type_support_handle, | ||
| const std::string & topic_name, | ||
| const rclcpp::QoS & qos, | ||
| rclcpp::AnySubscriptionCallback<MessageT, AllocatorT> callback, | ||
| const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options, | ||
| typename MessageMemoryStrategyT::SharedPtr message_memory_strategy, | ||
| SubscriptionTopicStatisticsSharedPtr subscription_topic_statistics = nullptr) | ||
| : rclcpp::Subscription<MessageT>( | ||
| node_base, | ||
| type_support_handle, | ||
| topic_name, | ||
| qos, | ||
| callback, | ||
| options, | ||
| message_memory_strategy, | ||
| subscription_topic_statistics) | ||
| { | ||
| } | ||
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| /// Check if we need to handle the message, and execute the callback if we do. | ||
| virtual void handle_message( | ||
| std::shared_ptr<void> & message, const rclcpp::MessageInfo & message_info) override | ||
| { | ||
| if (!this->is_activated()) { | ||
| return; | ||
| } | ||
| rclcpp::Subscription<MessageT>::handle_message(message, message_info); | ||
| } | ||
| }; | ||
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| } // namespace rclcpp_lifecycle | ||
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| #endif // RCLCPP_LIFECYCLE__LIFECYCLE_SUBSCRIPTION_HPP_ |