Inheritance diagram for event_detector::EventDetector:

Public Member Functions
	EventDetector (rclcpp::NodeOptions options)
	Constructor getting its options e.g. from ComposableNodeContainer.

std::vector< ClientConnection >	getConnectedClients () const
	Returns client connection details.

Protected Member Functions
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn	on_configure (const rclcpp_lifecycle::State &state) override
	State transition callback for 'configure' transition.

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn	on_activate (const rclcpp_lifecycle::State &state) override
	State transition callback for 'activate' transition.

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &state) override
	State transition callback for 'deactivate' transition.

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &state) override
	State transition callback for 'cleanup' transition.

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn	on_shutdown (const rclcpp_lifecycle::State &state) override
	State transition callback for 'shutdown' transition.

void	registerClients ()
	Sets up subscriptions for connected client.

void	insertTransformPassthrough (const std::shared_ptr< const tf2_msgs::msg::TFMessage > &transforms, const std::string &topic, std::optional< rclcpp::Time > stamp_override=std::optional< rclcpp::Time >())
	Callback for `tf2_msgs::msg::TFMessage` that groups the transforms by clients and passes them to the corresponding buffer insertion function.

void	waitForTimeToStart ()
	Waits until the ROS 2 time has started.

void	loadParameters ()
	Loads ROS parameters used in the node.

void	loadClientParameters ()
	Loads ROS parameters for EventDetector clients.

void	setup ()
	Sets up BufferManager, DatabaseInterface, subscribers and registers the clients.

void	initializeBufferFromBag ()
	initializes buffer from bag

template<typename T >
void	insertPassthrough (const std::shared_ptr< const T > &sample, const std::string &client_id, const std::string &topic, std::optional< rclcpp::Time > stamp_override=std::optional< rclcpp::Time >())
	Callback template for inserting data into the buffer.

template<typename T >
rclcpp::Time	getSampleStamp (const T &sample)
	Function for retrieving a time stamp to associate with a received message depending on buffer parameters.

rcl_interfaces::msg::SetParametersResult	onParametersSetCallback (const std::vector< rclcpp::Parameter > &params)
	Callback for validating parameter changes.

void	postParameterSetCallback (rcl_interfaces::msg::ParameterEvent::UniquePtr event)
	Callback for acting upon parameter changes.

Protected Attributes
OnSetParametersCallbackHandle::SharedPtr	callback_handle_
	Callback handle for onParameterSetCallback.

rclcpp::SyncParametersClient::SharedPtr	parameters_client_
	Client for receiving parameter changes.

rclcpp::Subscription< rcl_interfaces::msg::ParameterEvent >::SharedPtr	param_sub_
	Subscription to parameter events.

struct {

double default_time
	default buffer time More...

int default_queue_size
	default subscriber queue size More...

bool use_msg_stamp
	whether to use msg stamp for sorting if possible More...

std::vector< std::string > initialization_bags
	filepaths used for initializing buffer at startup More...

}	buffer_config_
	buffer configuration

struct {

double default_period
	default analysis interval More...

}	analysis_config_
	analysis configuration

std::shared_ptr< BufferManager >	buffer_manager_
	BufferManager component.

std::shared_ptr< AnalysisManager >	analysis_manager_
	AnalysisManager component.

std::vector< ClientConnection >	connected_clients_
	client connection details

std::shared_mutex	reconfigure_mutex_
	mutex for connected clients vector

rclcpp::Subscription< tf2_msgs::msg::TFMessage >::SharedPtr	transforms_subscriber_
	ROS subscriber for transforms.

rclcpp::Subscription< tf2_msgs::msg::TFMessage >::SharedPtr	static_transforms_subscriber_

Detailed Description

Definition at line 49 of file EventDetector.hpp.

Constructor & Destructor Documentation

◆ EventDetector()

event_detector::EventDetector::EventDetector ( rclcpp::NodeOptions options )

explicit

Constructor getting its options e.g. from ComposableNodeContainer.

Parameters

options NodeOptions

Member Function Documentation

◆ getConnectedClients()

std::vector< ClientConnection > event_detector::EventDetector::getConnectedClients ( ) const

Returns client connection details.

Returns: std::vector<ClientConnection> client connection details

◆ insertPassthrough()

template<typename T >

void event_detector::EventDetector::insertPassthrough	(	const std::shared_ptr< const T > &	sample,
		const std::string &	client_id,
		const std::string &	topic,
		std::optional< rclcpp::Time >	stamp_override = `std::optional< rclcpp::Time >()`
	)

protected

Callback template for inserting data into the buffer.

Determines timestamp and passes it to buffer's insertion function.

Template Parameters

T	supported data type as defined in `datatypes.macro`

Parameters

sample	data message
client_id	client ID
topic	ROS topic which triggers this callback
stamp_override	will be used as buffer stamp if present

◆ insertTransformPassthrough()

void event_detector::EventDetector::insertTransformPassthrough	(	const std::shared_ptr< const tf2_msgs::msg::TFMessage > &	transforms,
		const std::string &	topic,
		std::optional< rclcpp::Time >	stamp_override = `std::optional< rclcpp::Time >()`
	)

protected

Callback for tf2_msgs::msg::TFMessage that groups the transforms by clients and passes them to the corresponding buffer insertion function.

Parameters

transforms	message containing transforms
topic	ROS topic which triggers this callback
stamp_override	will be used as buffer stamp if present

◆ on_activate()

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn event_detector::EventDetector::on_activate ( const rclcpp_lifecycle::State & state )

overrideprotected

State transition callback for 'activate' transition.

Parameters

state state

Returns: rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn success, failure, error

◆ on_cleanup()

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn event_detector::EventDetector::on_cleanup ( const rclcpp_lifecycle::State & state )

overrideprotected

State transition callback for 'cleanup' transition.

Parameters

state state

Returns: rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn success, failure, error

◆ on_configure()

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn event_detector::EventDetector::on_configure ( const rclcpp_lifecycle::State & state )

overrideprotected

State transition callback for 'configure' transition.

Parameters

state state

Returns: rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn success, failure, error

◆ on_deactivate()

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn event_detector::EventDetector::on_deactivate ( const rclcpp_lifecycle::State & state )

overrideprotected

State transition callback for 'deactivate' transition.

Parameters

state state

Returns: rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn success, failure, error

◆ on_shutdown()

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn event_detector::EventDetector::on_shutdown ( const rclcpp_lifecycle::State & state )

overrideprotected

State transition callback for 'shutdown' transition.

Parameters

state state

Returns: rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn success, failure, error

◆ registerClients()

void event_detector::EventDetector::registerClients ( )

protected

Sets up subscriptions for connected client.

Clients get assigned unique IDs.

Member Data Documentation

◆ analysis_manager_

std::shared_ptr<AnalysisManager> event_detector::EventDetector::analysis_manager_

protected

AnalysisManager component.

Definition at line 239 of file EventDetector.hpp.

◆ buffer_manager_

std::shared_ptr<BufferManager> event_detector::EventDetector::buffer_manager_

protected

BufferManager component.

Definition at line 234 of file EventDetector.hpp.

◆ callback_handle_

OnSetParametersCallbackHandle::SharedPtr event_detector::EventDetector::callback_handle_

protected

Callback handle for onParameterSetCallback.

Definition at line 202 of file EventDetector.hpp.

◆ connected_clients_

std::vector<ClientConnection> event_detector::EventDetector::connected_clients_

protected

client connection details

Definition at line 244 of file EventDetector.hpp.

◆ default_period

double event_detector::EventDetector::default_period

default analysis interval

Definition at line 228 of file EventDetector.hpp.

◆ default_queue_size

int event_detector::EventDetector::default_queue_size

default subscriber queue size

Definition at line 219 of file EventDetector.hpp.

◆ default_time

double event_detector::EventDetector::default_time

default buffer time

Definition at line 218 of file EventDetector.hpp.

◆ initialization_bags

std::vector<std::string> event_detector::EventDetector::initialization_bags

filepaths used for initializing buffer at startup

Definition at line 221 of file EventDetector.hpp.

◆ param_sub_

rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr event_detector::EventDetector::param_sub_

protected

Subscription to parameter events.

Definition at line 212 of file EventDetector.hpp.

◆ parameters_client_

rclcpp::SyncParametersClient::SharedPtr event_detector::EventDetector::parameters_client_

protected

Client for receiving parameter changes.

Definition at line 207 of file EventDetector.hpp.

◆ reconfigure_mutex_

std::shared_mutex event_detector::EventDetector::reconfigure_mutex_

mutableprotected

mutex for connected clients vector

Definition at line 249 of file EventDetector.hpp.

◆ static_transforms_subscriber_

rclcpp::Subscription<tf2_msgs::msg::TFMessage>::SharedPtr event_detector::EventDetector::static_transforms_subscriber_

protected

ROS subscriber for static transforms

Definition at line 259 of file EventDetector.hpp.

◆ transforms_subscriber_

rclcpp::Subscription<tf2_msgs::msg::TFMessage>::SharedPtr event_detector::EventDetector::transforms_subscriber_

protected

ROS subscriber for transforms.

Definition at line 254 of file EventDetector.hpp.

◆ use_msg_stamp

bool event_detector::EventDetector::use_msg_stamp

whether to use msg stamp for sorting if possible

Definition at line 220 of file EventDetector.hpp.

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

event_detector/include/event_detector/EventDetector.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ EventDetector()

Member Function Documentation

◆ getConnectedClients()

◆ insertPassthrough()

◆ insertTransformPassthrough()

◆ on_activate()

◆ on_cleanup()

◆ on_configure()

◆ on_deactivate()

◆ on_shutdown()

◆ registerClients()

Member Data Documentation

◆ analysis_manager_

◆ buffer_manager_

◆ callback_handle_

◆ connected_clients_

◆ default_period

◆ default_queue_size

◆ default_time

◆ initialization_bags

◆ param_sub_

◆ parameters_client_

◆ reconfigure_mutex_

◆ static_transforms_subscriber_

◆ transforms_subscriber_

◆ use_msg_stamp