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feat(tier4_autoware_utils, obstacle_cruise): change to read topic by …
…polling (autowarefoundation#6702) change to read topic by polling Signed-off-by: Yuki Takagi <[email protected]>
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common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp
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| // Copyright 2024 TIER IV, 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 TIER4_AUTOWARE_UTILS__ROS__POLLING_SUBSCRIBER_HPP_ | ||
| #define TIER4_AUTOWARE_UTILS__ROS__POLLING_SUBSCRIBER_HPP_ | ||
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| #include <rclcpp/rclcpp.hpp> | ||
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| #include <string> | ||
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| namespace tier4_autoware_utils | ||
| { | ||
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| template <typename T> | ||
| class InterProcessPollingSubscriber | ||
| { | ||
| private: | ||
| typename rclcpp::Subscription<T>::SharedPtr subscriber_; | ||
| std::optional<T> data_; | ||
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| public: | ||
| explicit InterProcessPollingSubscriber(rclcpp::Node * node, const std::string & topic_name) | ||
| { | ||
| auto noexec_callback_group = | ||
| node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive, false); | ||
| auto noexec_subscription_options = rclcpp::SubscriptionOptions(); | ||
| noexec_subscription_options.callback_group = noexec_callback_group; | ||
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| subscriber_ = node->create_subscription<T>( | ||
| topic_name, rclcpp::QoS{1}, [node](const typename T::ConstSharedPtr msg) { assert(false); }, | ||
| noexec_subscription_options); | ||
| }; | ||
| bool updateLatestData() | ||
| { | ||
| rclcpp::MessageInfo message_info; | ||
| T tmp; | ||
| // The queue size (QoS) must be 1 to get the last message data. | ||
| if (subscriber_->take(tmp, message_info)) { | ||
| data_ = tmp; | ||
| } | ||
| return data_.has_value(); | ||
| }; | ||
| const T & getData() const | ||
| { | ||
| if (!data_.has_value()) { | ||
| throw std::runtime_error("Bad_optional_access in class InterProcessPollingSubscriber"); | ||
| } | ||
| return data_.value(); | ||
| }; | ||
| }; | ||
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| } // namespace tier4_autoware_utils | ||
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| #endif // TIER4_AUTOWARE_UTILS__ROS__POLLING_SUBSCRIBER_HPP_ |
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