staubli_robot_driver::RealTimeSocketInterface< MessageSub, MessagePub > Class Template Reference

Bilateral real-time socket interface for pub/sub communication. More...

#include <real_time_socket_interface.hpp>

Inheritance diagram for staubli_robot_driver::RealTimeSocketInterface< MessageSub, MessagePub >:

Collaboration diagram for staubli_robot_driver::RealTimeSocketInterface< MessageSub, MessagePub >:

Public Member Functions
	RealTimeSocketInterface (std::shared_ptr< Socket > socket)
	~RealTimeSocketInterface ()
bool	send_message (const MessagePub &msg)
	Serialize and send a message over the socket.
bool	is_ready () const override
	Check if the interface is ready (socket connected and receiving)
Public Member Functions inherited from staubli_robot_driver::RealTimeSocketSubscriber< MessageSub >
	RealTimeSocketSubscriber (std::shared_ptr< Socket > socket)
virtual	~RealTimeSocketSubscriber ()
bool	read_message (MessageSub &msg, MessageStatus &status)
	Read the latest message and check for lost packages and staleness.

Additional Inherited Members
Protected Member Functions inherited from staubli_robot_driver::RealTimeSocketSubscriber< MessageSub >
bool	init_communication ()
void	update_message (std::vector< uint8_t > &data, size_t bytes_transferred)
void	handle_error (const std::string &error_msg)
Protected Attributes inherited from staubli_robot_driver::RealTimeSocketSubscriber< MessageSub >
std::shared_ptr< Socket >	socket_
size_t	last_read_sequence_number_
	Sequence number of the last read RobotStateMessage.
rclcpp::Logger	logger_

Detailed Description

template<typename MessageSub, typename MessagePub>
class staubli_robot_driver::RealTimeSocketInterface< MessageSub, MessagePub >

Bilateral real-time socket interface for pub/sub communication.

Template Parameters

MessageSub	Type of message to subscribe to
MessagePub	Type of message to publish

Constructor & Destructor Documentation

RealTimeSocketInterface()

template<typename MessageSub , typename MessagePub >

staubli_robot_driver::RealTimeSocketInterface< MessageSub, MessagePub >::RealTimeSocketInterface ( std::shared_ptr< Socket >  socket )

explicit

~RealTimeSocketInterface()

template<typename MessageSub , typename MessagePub >

staubli_robot_driver::RealTimeSocketInterface< MessageSub, MessagePub >::~RealTimeSocketInterface

(

)

Member Function Documentation

send_message()

template<typename MessageSub , typename MessagePub >

bool staubli_robot_driver::RealTimeSocketInterface< MessageSub, MessagePub >::send_message

(

const MessagePub &

msg

)

Serialize and send a message over the socket.

Warning

This is a blocking call.

Parameters

msg	Message to send

Returns

true if the message was sent successfully, false otherwise

is_ready()

template<typename MessageSub , typename MessagePub >

bool staubli_robot_driver::RealTimeSocketInterface< MessageSub, MessagePub >::is_ready ( ) const

inlineoverridevirtual

Check if the interface is ready (socket connected and receiving)

Returns

true if the interface is ready, false otherwise

Reimplemented from staubli_robot_driver::RealTimeSocketSubscriber< MessageSub >.

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

• /home/runner/work/staubli_driver_ros2/staubli_driver_ros2/staubli_robot_driver/include/staubli_robot_driver/real_time_socket_interface.hpp