Class: Orocos::ROS::Topic

Inherits:
Object
  • Object
show all
Includes:
PortBase
Defined in:
lib/orocos/ros/topic.rb

Overview

A Port-compatible implementation of a ROS topic. To map topics to ports, a Node will announce all the topics it is subscribed / it publishes as its own ports

Direct Known Subclasses

InputTopic, OutputTopic

Constant Summary collapse

@@local_transient_port_id = 
0

Constants included from PortBase

PortBase::D_DIFFERENT_HOSTS, PortBase::D_SAME_HOST, PortBase::D_SAME_PROCESS, PortBase::D_UNKNOWN

Instance Attribute Summary collapse

Attributes included from PortBase

#model, #name, #orocos_type_name, #task, #type

Class Method Summary collapse

Instance Method Summary collapse

Methods included from PortBase

#distance_to, #ensure_type_available, #full_name, #log_metadata, #max_marshalling_size, #max_sizes, #new_sample, #to_s

Constructor Details

#initialize(task, topic_name, ros_message_type, model = nil, name = Topic.default_port_name(topic_name), orocos_type_name = nil) ⇒ Topic

Returns a new instance of Topic



28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
 
# File 'lib/orocos/ros/topic.rb', line 28

def initialize(task, topic_name, ros_message_type, model = nil,
               name = Topic.default_port_name(topic_name),
               orocos_type_name = nil)

    if !orocos_type_name
        candidates = ROS.find_all_types_for(ros_message_type)
        if candidates.empty?
            raise ArgumentError, "ROS message type #{ros_message_type} has no corresponding type on the oroGen side"
        end
        orocos_type_name = candidates.first
    end

    @ros_message_type = ros_message_type
    @topic_name = topic_name

    super(task, name, orocos_type_name, model)
end

Instance Attribute Details

#doc ⇒ Object (readonly)

Documentation string



14
15
16
 
# File 'lib/orocos/ros/topic.rb', line 14

def doc
  @doc
end

#ros_message_type ⇒ Object (readonly)

The ROS message type name



12
13
14
 
# File 'lib/orocos/ros/topic.rb', line 12

def ros_message_type
  @ros_message_type
end

#topic_name ⇒ Object (readonly)

The topic name



10
11
12
 
# File 'lib/orocos/ros/topic.rb', line 10

def topic_name
  @topic_name
end

Class Method Details

.default_port_name(topic_name) ⇒ String

Returns the default port name generated from a topic name

Returns:

  • (String) —

    the default port name generated from a topic name



24
25
26
 
# File 'lib/orocos/ros/topic.rb', line 24

def self.default_port_name(topic_name)
    topic_name.gsub(/^~?\//, '')
end

.transient_local_port_name(topic_name) ⇒ Object 



19
20
21
 
# File 'lib/orocos/ros/topic.rb', line 19

def self.transient_local_port_name(topic_name)
    "rostopics#{topic_name.gsub('/', '.')}.#{@@local_transient_port_id += 1}"
end

Instance Method Details

#==(other) ⇒ Object 



50
51
52
53
54
 
# File 'lib/orocos/ros/topic.rb', line 50

def ==(other)
    other.class == self.class &&
        other.topic_name == self.topic_name &&
        other.task == self.task
end

#doc? ⇒ Boolean

Returns:

  • (Boolean) 


16
 
# File 'lib/orocos/ros/topic.rb', line 16

def doc?; false end

#pretty_print(pp) ⇒ Object

:nodoc:



46
47
48
 
# File 'lib/orocos/ros/topic.rb', line 46

def pretty_print(pp) # :nodoc:
    pp.text " #{name} (#{orocos_type_name}), ros: #{topic_name}(#{ros_message_type})"
end