Real-time socket subscriber class template. More...

#include <real_time_socket_subscriber.hpp>

Public Member Functions
	RealTimeSocketSubscriber (std::shared_ptr< Socket > socket)

virtual	~RealTimeSocketSubscriber ()

bool	read_message (MessageType &msg, MessageStatus &status)
	Read the latest message and check for lost packages and staleness.

virtual bool	is_ready () const
	Check if the subscriber is ready (socket connected and receiving)

Protected Member Functions
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
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 MessageType>
class staubli_robot_driver::RealTimeSocketSubscriber< MessageType >

Real-time socket subscriber class template.

Subscribes to messages of type MessageType over a socket. Handles message reception and status tracking in a thread-safe manner.

Template Parameters

MessageType Type of message to subscribe to

Constructor & Destructor Documentation

◆ RealTimeSocketSubscriber()

template<typename MessageType >

staubli_robot_driver::RealTimeSocketSubscriber< MessageType >::RealTimeSocketSubscriber ( std::shared_ptr< Socket > socket )

explicit

◆ ~RealTimeSocketSubscriber()

template<typename MessageType >

virtual staubli_robot_driver::RealTimeSocketSubscriber< MessageType >::~RealTimeSocketSubscriber ( )

virtual

Member Function Documentation

◆ read_message()

template<typename MessageType >

bool staubli_robot_driver::RealTimeSocketSubscriber< MessageType >::read_message	(	MessageType &	msg,
		MessageStatus &	status
	)

Read the latest message and check for lost packages and staleness.

This method retrieves the most recent message received over the socket, along with its status information. It checks for lost packages based on sequence numbers and computes the time since the message was received (time of deserialization in async thread).

This method is thread-safe and can be called from real-time contexts. If no message AT ALL has been received yet, it returns false. If no message was received since last call, but one had arrived at some point before, the method returns true, but with the status.new_message field set to false.

In any case, the staleness of the message should be checked using the status.time_since_received field.

Parameters