Class: ROS::Subscriber

Inherits:

Topic

• Object
• Topic
• ROS::Subscriber

show all

Defined in:

lib/ros/subscriber.rb

Overview

node = ROS::Node.new('/rosruby/sample_subscriber')
sub = node.subscribe('/chatter', Std_msgs::String) do |msg|
  puts "message come! = \'#{msg.data}\'"
end
while node.ok?
  node.spin_once
  sleep(1)
end

Instance Attribute Summary (collapse)

• - (Proc) callback readonly

  Callback of this subscription.

• - (Boolean) tcp_no_delay readonly

  Use tcp no delay option or not.

Attributes inherited from Topic

#caller_id, #topic_name, #topic_type

Instance Method Summary (collapse)

• - (TCPROS::Client) add_connection(uri)

  request topic to master and start connection with publisher.

• - (Object) drop_connection(uri)

  remove connection.

• - (Array) get_connected_uri

  Get the uri list of connected publishers.

• - (Array) get_connection_data

  data of connection.

• - (Array) get_connection_info

  connection information fro slave API.

• - (Integer) get_number_of_publishers

  get number of publishers to this subscriber.

• - (Bool) has_connection_with?(uri)

  Check if it has connection to the uri.

• - (Subscriber) initialize(caller_id, topic_name, topic_type, callback = nil, tcp_no_delay = nil) constructor

  A new instance of Subscriber.

• - (Bool) process_queue (also: #spin_once)

  execute callback for all queued messages.

• - (Object) shutdown

  user interface of shutdown this subscriber.

Methods inherited from Topic

#close, #set_manager

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# File 'lib/ros/subscriber.rb', line 32

def initialize(caller_id, topic_name, topic_type, callback=nil, tcp_no_delay=nil)
  super(caller_id, topic_name, topic_type)
  @callback = callback
  @tcp_no_delay = tcp_no_delay
end

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# File 'lib/ros/subscriber.rb', line 42

def callback
  @callback
end

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# File 'lib/ros/subscriber.rb', line 39

def tcp_no_delay
  @tcp_no_delay
end

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# File 'lib/ros/subscriber.rb', line 75

def add_connection(uri) #:nodoc:
  publisher = SlaveProxy.new(@caller_id, uri)
  begin
    protocol, host, port = publisher.request_topic(@topic_name, [["TCPROS"]])
    if protocol == "TCPROS"
      connection = TCPROS::Client.new(host, port, @caller_id, @topic_name, @topic_type, uri, @tcp_no_delay)
      connection.start
    else
      puts "not support protocol: #{protocol}"
      raise "not support protocol: #{protocol}"
    end
    connection.id = "#{@topic_name}_in_#{@connection_id_number}"
    @connection_id_number += 1
    @connections.push(connection)
    return connection
  rescue
#	puts "request to #{uri} fail"
    return false
  end
end

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# File 'lib/ros/subscriber.rb', line 99

def drop_connection(uri) #:nodoc:
  @connections.delete_if {|c| c.target_uri == uri}
end

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# File 'lib/ros/subscriber.rb', line 133

def get_connected_uri
  @connections.map {|x| x.target_uri}
end

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# File 'lib/ros/subscriber.rb', line 106

def get_connection_data
  @connections.map do |connection|
    [connection.id, connection.byte_received, 1]
  end
end

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# File 'lib/ros/subscriber.rb', line 115

def get_connection_info
  info = []
  @connections.each do |connection|
    info.push([connection.id, connection.target_uri, 'i', connection.protocol, @topic_name])
  end
  info
end

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# File 'lib/ros/subscriber.rb', line 46

def get_number_of_publishers
  @connections.length
end

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# File 'lib/ros/subscriber.rb', line 126

def has_connection_with?(uri)
  get_connected_uri.include?(uri)
end

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# File 'lib/ros/subscriber.rb', line 55

def process_queue #:nodoc:
  messages_come = false
  @connections.each do |connection|
    while not connection.msg_queue.empty?
      msg = connection.msg_queue.pop
      messages_come = true
      if @callback
        @callback.call(msg)
      end
    end
  end
  messages_come
end

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# File 'lib/ros/subscriber.rb', line 140

def shutdown
  @manager.shutdown_subscriber(self)
end