Node class which connects to the ROS network. More...

#include <MockDriverNode.h>

Collaboration diagram for mock_drivers::MockDriverNode:

Public Member Functions
std::string	getGraphName () const
	Returns the fully qualified name of this node in the ROS network graph. More...

template<typename T >
void	addPub (T comm)
	Function to add a publisher from a ROSComms object. More...

template<typename T >
void	addSub (T comm)
	Function to add a subscriber from a ROSComms object. More...

template<typename T >
void	addSrv (T comm)
	Function to add a service from a ROSComms object. More...

void	spin (double rate) const
	Begin the ros node. More...

void	setSpinCallback (std::function< bool()> cb) const
	Set the spin callback for the ros node. More...

void	init ()
	Initialize the CARMA Node Handle pointer for the MockDriverNode (must be called before spin) More...

template<typename T >
void	publishData (std::string topic, T msg)
	Publish data on a desired topic. More...

template<typename T >
void	publishDataNoHeader (std::string topic, T msg)
	Publish data with no header on a desired topic. More...

	MockDriverNode ()

	MockDriverNode (bool dummy)

std::vector< std::string >	getTopics ()
	Returns a vector of all the topics that the node would publish to (only when it is a dummy node). Used for testing. More...

std::vector< ros::Time >	getTimeStamps ()
	Returns a vector of all the time stamps of the data that would be published (only when it is a dummy node). Used for testing. More...

bool	isDummy ()
	Returns if the node is a dummy node. Used for testing. More...

Private Attributes
boost::shared_ptr< ros::CARMANodeHandle >	cnh_

std::vector< PublisherWapper >	publishers_

std::vector< ros::Subscriber >	subscribers_

std::vector< ros::ServiceServer >	services_

bool	dummy_ = false

std::vector< std::string >	topics_

std::vector< ros::Time >	time_stamps_

Detailed Description

Node class which connects to the ROS network.

Definition at line 34 of file MockDriverNode.h.

Constructor & Destructor Documentation

◆ MockDriverNode() [1/2]

mock_drivers::MockDriverNode::MockDriverNode ( )

Definition at line 21 of file MockDriverNode.cpp.

22{

23}

◆ MockDriverNode() [2/2]

mock_drivers::MockDriverNode::MockDriverNode ( bool dummy )

Definition at line 24 of file MockDriverNode.cpp.

                                         : dummy_(dummy)
{
}

Member Function Documentation

◆ addPub()

template<typename T >

void mock_drivers::MockDriverNode::addPub ( T comm )

inline

Function to add a publisher from a ROSComms object.

Definition at line 59 of file MockDriverNode.h.

  {
    if (!dummy_)
    {
      PublisherWapper pub;
      pub.pub = cnh_->advertise<decltype(comm->getTemplateType())>(comm->getTopic(), comm->getQueueSize());
      pub.base_topic_name = comm->getTopic();
      publishers_.push_back(pub);
    }
  }

References cnh_, dummy_, pub, and publishers_.

Referenced by mock_drivers::MockControllerDriver::onRun(), and mock_drivers::MockDriver::run().

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◆ addSrv()

template<typename T >

void mock_drivers::MockDriverNode::addSrv ( T comm )

inline

Function to add a service from a ROSComms object.

Definition at line 83 of file MockDriverNode.h.

  {
    if (!dummy_)
    {
      services_.push_back(cnh_->advertiseService(
          comm->getTopic(), &ROSComms<decltype(comm->getReqType()), decltype(comm->getResType())>::callback, comm));
    }
  }

References callback(), cnh_, dummy_, and services_.

Referenced by mock_drivers::MockControllerDriver::onRun().

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◆ addSub()

template<typename T >

void mock_drivers::MockDriverNode::addSub ( T comm )

inline

Function to add a subscriber from a ROSComms object.

Definition at line 72 of file MockDriverNode.h.

  {
    if (!dummy_)
    {
      subscribers_.push_back(cnh_->subscribe<decltype(comm->getTemplateType())>(
          comm->getTopic(), comm->getQueueSize(), &ROSComms<decltype(comm->getTemplateType())>::callback, comm));
    }
  }

References callback(), cnh_, dummy_, and subscribers_.

Referenced by mock_drivers::MockCommsDriver::onRun(), and mock_drivers::MockControllerDriver::onRun().

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◆ getGraphName()

std::string mock_drivers::MockDriverNode::getGraphName ( ) const

Returns the fully qualified name of this node in the ROS network graph.

Returns: The fully specified name

Definition at line 28 of file MockDriverNode.cpp.

{
  if (dummy_)
  {
    return "dummy_mock_driver";
  }
 
  return ros::this_node::getName();
}

References dummy_.

Referenced by mock_drivers::MockDriver::driverDiscovery().

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◆ getTimeStamps()

std::vector< ros::Time > mock_drivers::MockDriverNode::getTimeStamps ( )

inline

Returns a vector of all the time stamps of the data that would be published (only when it is a dummy node). Used for testing.

Definition at line 159 of file MockDriverNode.h.

  {
    return time_stamps_;
  }

References time_stamps_.

◆ getTopics()

std::vector< std::string > mock_drivers::MockDriverNode::getTopics ( )

inline

Returns a vector of all the topics that the node would publish to (only when it is a dummy node). Used for testing.

Definition at line 153 of file MockDriverNode.h.

  {
    return topics_;
  }

References topics_.

◆ init()

void mock_drivers::MockDriverNode::init ( )

Initialize the CARMA Node Handle pointer for the MockDriverNode (must be called before spin)

Definition at line 56 of file MockDriverNode.cpp.

{
  if (!dummy_)
  {
    cnh_ = boost::make_shared<ros::CARMANodeHandle>(ros::CARMANodeHandle());
  }
}

References cnh_, and dummy_.

Referenced by mock_drivers::MockDriver::run().

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◆ isDummy()

bool mock_drivers::MockDriverNode::isDummy ( )

inline

Returns if the node is a dummy node. Used for testing.

Definition at line 164 of file MockDriverNode.h.

  {
    return dummy_;
  }

References dummy_.

◆ publishData()

template<typename T >

void mock_drivers::MockDriverNode::publishData	(	std::string	topic,
		T	msg
	)

inline

Publish data on a desired topic.

This function must take in the full name of topic that will be published including the namespaces and leading /. This can probably be made to take that information in on construction of the node but we can add that once it breaks :)

Definition at line 108 of file MockDriverNode.h.

  {
    if (!dummy_)
    {
      auto pub = std::find_if(publishers_.begin(), publishers_.end(),
                              [&](PublisherWapper p) { return p.base_topic_name == topic; });
      if (pub == publishers_.end())
        throw std::invalid_argument("Attempted to publish to topic " + topic + " but no publisher was found");
      pub->pub.publish(msg);
    }
    else
    {
      topics_.push_back(topic);
      time_stamps_.push_back(msg.header.stamp);
    }
  };

References dummy_, pub, publishers_, time_stamps_, and topics_.

◆ publishDataNoHeader()

template<typename T >

void mock_drivers::MockDriverNode::publishDataNoHeader	(	std::string	topic,
		T	msg
	)

inline

Publish data with no header on a desired topic.

Same as the publishData function, except this is used when the data doesn't have a header. This exists to allow for testing of the code. This can be combined with publishData once we are in c++ 17 and can use constexpr if statement.

Definition at line 132 of file MockDriverNode.h.

  {
    if (!dummy_)
    {
      auto pub = std::find_if(publishers_.begin(), publishers_.end(),
                              [&](PublisherWapper p) { return p.base_topic_name == topic; });
      if (pub == publishers_.end())
        throw std::invalid_argument("Attempted to publish to topic " + topic + " but no publisher was found");
      pub->pub.publish(msg);
    }
    else
    {
      topics_.push_back(topic);
    }
  };

References dummy_, pub, publishers_, and topics_.

Referenced by mock_drivers::MockDriver::driverDiscovery(), and mock_drivers::MockControllerDriver::onSpin().

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◆ setSpinCallback()

void mock_drivers::MockDriverNode::setSpinCallback ( std::function< bool()> cb ) const

Set the spin callback for the ros node.

Definition at line 47 of file MockDriverNode.cpp.

{
  if (!dummy_)
  {
    ros::CARMANodeHandle::setSpinRate(10.0); // Set spin to avoid exception until spin is called and this value updated
    ros::CARMANodeHandle::setSpinCallback(cb);
  }
}

References dummy_.

Referenced by mock_drivers::MockDriver::run().

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◆ spin()

void mock_drivers::MockDriverNode::spin ( double rate ) const

Begin the ros node.

Definition at line 38 of file MockDriverNode.cpp.

{
  if (!dummy_)
  {
    ros::CARMANodeHandle::setSpinRate(rate);
    ros::CARMANodeHandle::spin();
  }
}

References dummy_.

Referenced by mock_drivers::MockDriver::run().

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Member Data Documentation

◆ cnh_

boost::shared_ptr<ros::CARMANodeHandle> mock_drivers::MockDriverNode::cnh_

private

Definition at line 37 of file MockDriverNode.h.

Referenced by addPub(), addSrv(), addSub(), and init().

◆ dummy_

bool mock_drivers::MockDriverNode::dummy_ = false

private

Definition at line 43 of file MockDriverNode.h.

Referenced by addPub(), addSrv(), addSub(), getGraphName(), init(), isDummy(), publishData(), publishDataNoHeader(), setSpinCallback(), and spin().

◆ publishers_

std::vector<PublisherWapper> mock_drivers::MockDriverNode::publishers_

private

Definition at line 38 of file MockDriverNode.h.

Referenced by addPub(), publishData(), and publishDataNoHeader().

◆ services_

std::vector<ros::ServiceServer> mock_drivers::MockDriverNode::services_

private

Definition at line 40 of file MockDriverNode.h.

Referenced by addSrv().

◆ subscribers_

std::vector<ros::Subscriber> mock_drivers::MockDriverNode::subscribers_

private

Definition at line 39 of file MockDriverNode.h.

Referenced by addSub().

◆ time_stamps_

std::vector<ros::Time> mock_drivers::MockDriverNode::time_stamps_

private

Definition at line 46 of file MockDriverNode.h.

Referenced by getTimeStamps(), and publishData().

◆ topics_

std::vector<std::string> mock_drivers::MockDriverNode::topics_

private

Definition at line 45 of file MockDriverNode.h.

Referenced by getTopics(), publishData(), and publishDataNoHeader().

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

mock_drivers/rosbag_mock_drivers/include/rosbag_mock_drivers/MockDriverNode.h
mock_drivers/rosbag_mock_drivers/src/MockDriverNode.cpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MockDriverNode() [1/2]

◆ MockDriverNode() [2/2]

Member Function Documentation

◆ addPub()

◆ addSrv()

◆ addSub()

◆ getGraphName()

◆ getTimeStamps()

◆ getTopics()

◆ init()

◆ isDummy()

◆ publishData()

◆ publishDataNoHeader()

◆ setSpinCallback()

◆ spin()

Member Data Documentation

◆ cnh_

◆ dummy_

◆ publishers_

◆ services_

◆ subscribers_

◆ time_stamps_

◆ topics_