LibXR::Topic::Callback Class Reference

每次发布时直接执行函数的订阅句柄 / Subscription handle that runs a function on each publish More...

#include <callback.hpp>

Public Member Functions
	Callback ()=default
	构造一个空回调句柄 / Construct one empty callback handle
	Callback (const Callback &other)=default
	拷贝构造回调句柄 / Copy-construct one callback handle
Callback &	operator= (const Callback &other)=default
	拷贝赋值回调句柄 / Copy-assign one callback handle
void	Run (bool in_isr, MicrosecondTimestamp timestamp, void *payload_addr, size_t payload_size) const
	执行回调 / Run the callback
TypeID::ID	PayloadTypeID () const
	读取这个回调句柄期望的 payload 类型标识 / Read the payload type ID expected by this callback handle
bool	IsRawPayloadView () const
	判断该回调是否按 raw payload 视图接收消息 / Tell whether this callback receives messages as a raw payload view

Static Public Member Functions
template<typename BoundArg , typename Callable >
static Callback	Create (Callable fun, BoundArg arg)
	创建一个回调订阅句柄 / Create a callback subscription handle

Detailed Description

每次发布时直接执行函数的订阅句柄 / Subscription handle that runs a function on each publish

每次发布时直接执行函数的回调订阅句柄 / Callback subscription handle that runs a function on each publish

Definition at line 15 of file callback.hpp.

Constructor & Destructor Documentation

Callback()

LibXR::Topic::Callback::Callback ( const Callback & other )

default

拷贝构造回调句柄 / Copy-construct one callback handle

Parameters

other

被拷贝的回调句柄 / Callback handle to copy from

Note

这里只复制句柄本身，不复制底层回调块；两个句柄会指向同一块回调数据 / This copies only the handle itself, not the underlying callback block; both handles point to the same callback data block

Member Function Documentation

Create()

template<typename BoundArg , typename Callable >

static Callback LibXR::Topic::Callback::Create ( Callable fun, BoundArg arg )

inlinestaticnodiscard

创建一个回调订阅句柄 / Create a callback subscription handle

Template Parameters

BoundArg	绑定参数类型 / Bound argument type
Callable	回调可调用对象类型 / Callback callable type

Parameters

fun	捕获为空的回调函数 / Capture-free callback function
arg	绑定到回调的参数 / Argument bound into the callback

Returns

创建后的回调订阅句柄 / Returns the created callback subscription handle

Note

这里会把 arg 拷进新分配的回调块里；之后回调执行读写的就是这份块内副本 / This copies arg into the newly allocated callback block; later callback execution reads or writes that stored copy

Definition at line 519 of file callback.hpp.

  {
    using Function = decltype(+std::declval<Callable>());
    using Traits = FunctionTraits<Function>;
    static_assert(Traits::ARITY == 3 || Traits::ARITY == 4,
                  "LibXR::Topic::Callback::Create expects a capture-free callable "
                  "with bool and bound-argument parameters.");
    return Callback(
        Factory<Function, BoundArg, Traits::ARITY>::Create(+fun, std::move(arg)));
  }

IsRawPayloadView()

bool LibXR::Topic::Callback::IsRawPayloadView ( ) const

inline

判断该回调是否按 raw payload 视图接收消息 / Tell whether this callback receives messages as a raw payload view

Returns

是 raw payload 视图回调则返回 true / Returns true for raw payload view callbacks

Definition at line 556 of file callback.hpp.

{ return block_->accepts_raw_payload; }

operator=()

Callback & LibXR::Topic::Callback::operator= ( const Callback & other )

default

拷贝赋值回调句柄 / Copy-assign one callback handle

Parameters

other

被拷贝的回调句柄 / Callback handle to copy from

Returns

当前回调句柄 / Returns the current callback handle

Note

这里只复制句柄本身，不复制底层回调块；赋值后两个句柄会指向同一块回调数据 / This copies only the handle itself, not the underlying callback block; after assignment both handles point to the same callback data block

PayloadTypeID()

TypeID::ID LibXR::Topic::Callback::PayloadTypeID ( ) const

inline

读取这个回调句柄期望的 payload 类型标识 / Read the payload type ID expected by this callback handle

Returns

payload 类型标识 / Payload type ID

Definition at line 548 of file callback.hpp.

{ return block_->payload_type_id; }

Run()

void LibXR::Topic::Callback::Run ( bool in_isr, MicrosecondTimestamp timestamp, void * payload_addr, size_t payload_size ) const

inline

执行回调 / Run the callback

Parameters

in_isr	当前是否处于中断上下文 / Whether the current path runs in ISR context
timestamp	当前消息时间戳 / Current message timestamp
payload_addr	当前消息 payload 对象地址 / Address of the current payload object

Definition at line 537 of file callback.hpp.

  {
    block_->run(block_, in_isr, timestamp, payload_addr, payload_size);
  }

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

• src/middleware/message/subscriber/callback.hpp