mock_drivers::ROSComms< M, T > Class Template Reference

Class which serves as an abstraction of a service framework. More...

#include <ROSComms.h>

Collaboration diagram for mock_drivers::ROSComms< M, T >:

Public Member Functions
std::string	getTopic ()
	Returns the name string (topic) associated with the service. More...
CommTypes	getCommType ()
	returns the comms type of this object More...
bool	callback (M req, T res)
	Callback function which is triggered to pass data into this comms abstraction. More...
M	getReqType ()
	Returns an instance of the type this object is parameterized on. This is used for forwarding the data type. More...
T	getResType ()
	Returns an instance of the type this object is parameterized on. This is used for forwarding the data type. More...
	ROSComms ()
	Default constructor. More...
	ROSComms (std::function< bool(M, T)> cbf, CommTypes ct, std::string t)
	Service constructor. More...

Private Attributes
std::function< void(M, T)>	callback_function_
CommTypes	comm_type_
std::string	topic_

Detailed Description

template<typename M, typename T>
class mock_drivers::ROSComms< M, T >

Class which serves as an abstraction of a service framework.

Template Parameters

M	Request Type. This should be a base service request type
T	Response Type. This should be the base service response type

Definition at line 136 of file ROSComms.h.

Constructor & Destructor Documentation

ROSComms() [1/2]

template<typename M , typename T >

mock_drivers::ROSComms< M, T >::ROSComms

(

)

Default constructor.

ROSComms() [2/2]

template<typename M , typename T >

mock_drivers::ROSComms< M, T >::ROSComms	(	std::function< bool(M, T)>	cbf,
		CommTypes	ct,
		std::string	t
	)

Service constructor.

This version of the ROSComms object is used for services.

Parameters

cbf	Service callback function. First parameter is the service request. The second is the out parameter for the response.
ct	The comms type. Should be srv
t	The topic name

Definition at line 65 of file ROSComms.ipp.

{
  callback_function_ = cbf;
  comm_type_ = ct;
  topic_ = t;
}

Member Function Documentation

callback()

template<typename M , typename T >

bool mock_drivers::ROSComms< M, T >::callback	(	M	req,
		T	res
	)

Callback function which is triggered to pass data into this comms abstraction.

Used to call the ROSComms callback function.

Parameters

req	The request message to pass
res	The response message to pass

Returns

True if the callback was executed successfully

Definition at line 74 of file ROSComms.ipp.

{
  // call the callback_function_ function
  this->callback_function_(req, res);
}

getCommType()

template<typename M , typename T >

CommTypes mock_drivers::ROSComms< M, T >::getCommType ( )

inline

returns the comms type of this object

Returns

Comms type enum

Definition at line 158 of file ROSComms.h.

  {
    return comm_type_;
  }

getReqType()

template<typename M , typename T >

M mock_drivers::ROSComms< M, T >::getReqType

Returns an instance of the type this object is parameterized on. This is used for forwarding the data type.

Used to get an object of the service request type that can then be decltyped.

Returns

Instance of M

Definition at line 90 of file ROSComms.ipp.

{
  M element;
  return element;
}

getResType()

template<typename M , typename T >

T mock_drivers::ROSComms< M, T >::getResType

Returns an instance of the type this object is parameterized on. This is used for forwarding the data type.

Used to get an object of the service response type that can then be decltyped.

Returns

Instance of T

Definition at line 82 of file ROSComms.ipp.

{
  T element;
  return element;
}

getTopic()

template<typename M , typename T >

std::string mock_drivers::ROSComms< M, T >::getTopic ( )

inline

Returns the name string (topic) associated with the service.

Returns

Topic name

Definition at line 149 of file ROSComms.h.

  {
    return topic_;
  }

Member Data Documentation

callback_function_

template<typename M , typename T >

std::function<void(M, T)> mock_drivers::ROSComms< M, T >::callback_function_

private

Definition at line 139 of file ROSComms.h.

comm_type_

template<typename M , typename T >

CommTypes mock_drivers::ROSComms< M, T >::comm_type_

private

Definition at line 140 of file ROSComms.h.

topic_

template<typename M , typename T >

std::string mock_drivers::ROSComms< M, T >::topic_

private

Definition at line 141 of file ROSComms.h.

---

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

• mock_drivers/rosbag_mock_drivers/include/rosbag_mock_drivers/ROSComms.h
• mock_drivers/rosbag_mock_drivers/include/rosbag_mock_drivers/ROSComms.ipp