DrakeSubscriptionInterface Class Reference

Detailed Description

A helper class returned by DrakeLcmInterface::Subscribe() that allows for (possibly automatic) unsubscription and/or queue capacity control.

Refer to that method for additional details.

Instance of this object are always stored in std::shared_ptr to manage them as resources. When a particular DrakeLcmInterface implementation does not support subscription controls, the managed pointer will be nullptr instead of an instance of this object.

To unsubscribe, induce a call to the DrakeSubscriptionInterface destructor by bringing the std::shared_ptr use count to zero. That usually means either a call to subscription.reset() or by allowing it to go out of scope.

To disable unsubscription so that the pointer loss never causes unsubscription, call subscription->set_unsubscribe_on_delete(false). To enable unsubscription, set it to true. Which choice is active by default is specified by whatever method returns this object.

#include <drake/lcm/drake_lcm_interface.h>

Public Member Functions
virtual	~DrakeSubscriptionInterface ()
virtual void	set_unsubscribe_on_delete (bool enabled)=0
	Sets whether or not the subscription on DrakeLcmInterface will be terminated when this object is deleted. More...
virtual void	set_queue_capacity (int capacity)=0
	Sets this subscription's queue depth to store messages between calls to DrakeLcmInterface::HandleSubscriptions. More...
Does not allow copy, move, or assignment
	DrakeSubscriptionInterface (const DrakeSubscriptionInterface &)=delete
DrakeSubscriptionInterface &	operator= (const DrakeSubscriptionInterface &)=delete
	DrakeSubscriptionInterface (DrakeSubscriptionInterface &&)=delete
DrakeSubscriptionInterface &	operator= (DrakeSubscriptionInterface &&)=delete

Protected Member Functions
	DrakeSubscriptionInterface ()

Constructor & Destructor Documentation

DrakeSubscriptionInterface() [1/3]

DrakeSubscriptionInterface ( const DrakeSubscriptionInterface &  )

delete

DrakeSubscriptionInterface() [2/3]

DrakeSubscriptionInterface ( DrakeSubscriptionInterface &&  )

delete

~DrakeSubscriptionInterface()

virtual ~DrakeSubscriptionInterface ( )

virtual

DrakeSubscriptionInterface() [3/3]

DrakeSubscriptionInterface ( )

protected

Member Function Documentation

operator=() [1/2]

DrakeSubscriptionInterface& operator= ( const DrakeSubscriptionInterface &  )

delete

operator=() [2/2]

DrakeSubscriptionInterface& operator= ( DrakeSubscriptionInterface &&  )

delete

set_queue_capacity()

virtual void set_queue_capacity ( int  capacity )

pure virtual

Sets this subscription's queue depth to store messages between calls to DrakeLcmInterface::HandleSubscriptions.

When the queue becomes full, new received messages will be discarded. The default depth is 1.

Warning

The memq:// LCM URL does not support per-channel queues, so this method has no effect when memq is being used, e.g., in Drake unit tests.

set_unsubscribe_on_delete()

virtual void set_unsubscribe_on_delete ( bool  enabled )

pure virtual

Sets whether or not the subscription on DrakeLcmInterface will be terminated when this object is deleted.

It is permitted to call this method many times, with a new enabled value each time.

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

• drake/lcm/drake_lcm_interface.h