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Allow subscriber message retention policy to be customised #44

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tony-p wants to merge 2 commits into from
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Allow subscriber message retention policy to be customised #44

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3c5bb9b
feat: allows message clearing behaviour to be customised by the imple…
tony-p Jan 31, 2024
ac2e0ac
style: match camel case function name
tony-p Feb 2, 2024
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16 changes: 14 additions & 2 deletions behaviortree_ros2/include/behaviortree_ros2/bt_topic_sub_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -173,6 +173,16 @@ class RosTopicSubNode : public BT::ConditionNode
*/
virtual NodeStatus onTick(const std::shared_ptr<TopicT>& last_msg) = 0;

/** Clear the message that has been processed. If returns true and no new message is
* received, before next call there will be no message to process. If returns false,
* the next call will process the same message again, if no new message received.
*
* This can be equated with latched vs non-latched topics in ros 1.
*
* @return true will clear the message after ticking/processing.
*/
virtual bool clearProcessedMessage() { return true; }

private:

bool createSubscriber(const std::string& topic_name);
Expand Down Expand Up @@ -294,8 +304,10 @@ template<class T> inline
};
sub_instance_->callback_group_executor.spin_some();
auto status = CheckStatus (onTick(last_msg_));
last_msg_ = nullptr;

if (clearProcessedMessage())
{
last_msg_ = nullptr;
}
return status;
}

Expand Down