Centralized cache for managing ROS 2 client objects. More...

#include <ros_clients_cache.hpp>

Static Public Member Functions
template<typename ActionT>
static rclcpp_action::Client< ActionT >::SharedPtr	get_or_create_action_client (rclcpp::Node::SharedPtr node, const std::string &action_name, rclcpp::CallbackGroup::SharedPtr callback_group=nullptr)
	Get an existing action client from the cache or create a new one.

template<typename ServiceT>
static rclcpp::Client< ServiceT >::SharedPtr	get_or_create_service_client (rclcpp::Node::SharedPtr node, const std::string &service_name, rclcpp::CallbackGroup::SharedPtr callback_group=nullptr)
	Get an existing service client from the cache or create a new one.

template<typename MsgT>
static rclcpp::Publisher< MsgT >::SharedPtr	get_or_create_publisher (rclcpp::Node::SharedPtr node, const std::string &topic_name, const rclcpp::QoS &qos_profile=rclcpp::QoS(10), rclcpp::CallbackGroup::SharedPtr callback_group=nullptr)
	Get an existing publisher from the cache or create a new one.

static void	clear_action_clients ()
	Clear the action clients cache.

static void	clear_service_clients ()
	Clear the service clients cache.

static void	clear_publishers ()
	Clear the publishers cache.

static void	clear_all ()
	Clear all clients caches.

static size_t	get_action_clients_count ()
	Get the number of cached action clients.

static size_t	get_service_clients_count ()
	Get the number of cached service clients.

static size_t	get_publishers_count ()
	Get the number of cached publishers.

static std::map< std::string, size_t >	get_cache_stats ()
	Get statistics about all caches.

Private Types
using	ActionClientKey

using	ServiceClientKey

using	PublisherKey

Static Private Member Functions
static std::map< ActionClientKey, std::shared_ptr< void > > &	get_action_clients ()

static std::map< ServiceClientKey, std::shared_ptr< void > > &	get_service_clients ()

static std::map< PublisherKey, std::shared_ptr< void > > &	get_publishers ()

static std::recursive_mutex &	get_lock ()

template<typename T>
static std::string	get_type_name ()
	Get a string representation of a type.

static std::string	get_callback_group_name (rclcpp::CallbackGroup::SharedPtr callback_group)
	Get a string representation of a callback group.

template<typename CallbackT>
static std::string	get_callback_name (const CallbackT &callback)
	Get a string representation of a callback function.

static std::string	hash_qos_profile (const rclcpp::QoS &qos_profile)
	Create a hash for a QoS profile.

Detailed Description

Centralized cache for managing ROS 2 client objects.

This class provides a thread-safe cache for storing and reusing ROS 2 client objects such as publishers, service clients, and action clients. This helps reduce resource usage and improves performance by avoiding duplicate creation of client objects.

The cache is organized by client type and uses unique keys based on:

Node name
Message/Service/Action type
Topic/Service/Action name
Callback group name
QoS profile

All methods are thread-safe using internal locking mechanisms.

Member Typedef Documentation

◆ ActionClientKey

using yasmin_ros::ROSClientsCache::ActionClientKey

private

Initial value:

std::tuple<std::string, std::string, std::string,

std::string, std::type_index>

◆ PublisherKey

using yasmin_ros::ROSClientsCache::PublisherKey

private

Initial value:

std::tuple<std::string, std::string, std::string,

std::string, std::type_index>

◆ ServiceClientKey

using yasmin_ros::ROSClientsCache::ServiceClientKey

private

Initial value:

std::tuple<std::string, std::string, std::string,

std::string, std::type_index>

Member Function Documentation

◆ clear_action_clients()

void yasmin_ros::ROSClientsCache::clear_action_clients ( )

static

Clear the action clients cache.

◆ clear_all()

void yasmin_ros::ROSClientsCache::clear_all ( )

static

Clear all clients caches.

◆ clear_publishers()

void yasmin_ros::ROSClientsCache::clear_publishers ( )

static

Clear the publishers cache.

◆ clear_service_clients()

void yasmin_ros::ROSClientsCache::clear_service_clients ( )

static

Clear the service clients cache.

◆ get_action_clients()

std::map< ROSClientsCache::ActionClientKey, std::shared_ptr< void > > & yasmin_ros::ROSClientsCache::get_action_clients ( )

staticprivate

◆ get_action_clients_count()

size_t yasmin_ros::ROSClientsCache::get_action_clients_count ( )

static

Get the number of cached action clients.

Returns: The number of cached action clients.

◆ get_cache_stats()

std::map< std::string, size_t > yasmin_ros::ROSClientsCache::get_cache_stats ( )

static

Get statistics about all caches.

Returns: A map with cache statistics.

◆ get_callback_group_name()

std::string yasmin_ros::ROSClientsCache::get_callback_group_name ( rclcpp::CallbackGroup::SharedPtr callback_group )

staticprivate

Get a string representation of a callback group.

Parameters

callback_group The callback group to get the name from.

Returns: A string representation of the callback group.

◆ get_callback_name()

template<typename CallbackT>

static std::string yasmin_ros::ROSClientsCache::get_callback_name ( const CallbackT & callback )

inlinestaticprivate

Get a string representation of a callback function.

Template Parameters

CallbackT The type of the callback function.

Parameters

callback The callback function to get the name from.

Returns: A string representation of the callback.

◆ get_lock()

std::recursive_mutex & yasmin_ros::ROSClientsCache::get_lock ( )

staticprivate

◆ get_or_create_action_client()

template<typename ActionT>

static rclcpp_action::Client< ActionT >::SharedPtr yasmin_ros::ROSClientsCache::get_or_create_action_client	(	rclcpp::Node::SharedPtr	node,
		const std::string &	action_name,
		rclcpp::CallbackGroup::SharedPtr	callback_group = nullptr )

inlinestatic

Get an existing action client from the cache or create a new one.

Template Parameters

ActionT The type of the action.

Parameters

node	The ROS 2 node to use.
action_name	The name of the action.
callback_group	The callback group for the action client (optional).

Returns: A shared pointer to the cached or newly created action client.

◆ get_or_create_publisher()

template<typename MsgT>

static rclcpp::Publisher< MsgT >::SharedPtr yasmin_ros::ROSClientsCache::get_or_create_publisher	(	rclcpp::Node::SharedPtr	node,
		const std::string &	topic_name,
		const rclcpp::QoS &	qos_profile = rclcpp::QoS(10),
		rclcpp::CallbackGroup::SharedPtr	callback_group = nullptr )

inlinestatic

Get an existing publisher from the cache or create a new one.

Template Parameters

MsgT	The type of the message.

Parameters

node	The ROS 2 node to use.
topic_name	The name of the topic.
qos_profile	The QoS profile for the publisher.
callback_group	The callback group for the publisher (optional).

Returns: A shared pointer to the cached or newly created publisher.

◆ get_or_create_service_client()

template<typename ServiceT>

static rclcpp::Client< ServiceT >::SharedPtr yasmin_ros::ROSClientsCache::get_or_create_service_client	(	rclcpp::Node::SharedPtr	node,
		const std::string &	service_name,
		rclcpp::CallbackGroup::SharedPtr	callback_group = nullptr )

inlinestatic

Get an existing service client from the cache or create a new one.

Template Parameters

ServiceT The type of the service.

Parameters

node	The ROS 2 node to use.
service_name	The name of the service.
callback_group	The callback group for the service client (optional).

Returns: A shared pointer to the cached or newly created service client.

◆ get_publishers()

std::map< ROSClientsCache::PublisherKey, std::shared_ptr< void > > & yasmin_ros::ROSClientsCache::get_publishers ( )

staticprivate

◆ get_publishers_count()

size_t yasmin_ros::ROSClientsCache::get_publishers_count ( )

static

Get the number of cached publishers.

Returns: The number of cached publishers.

◆ get_service_clients()

std::map< ROSClientsCache::ServiceClientKey, std::shared_ptr< void > > & yasmin_ros::ROSClientsCache::get_service_clients ( )

staticprivate

◆ get_service_clients_count()

size_t yasmin_ros::ROSClientsCache::get_service_clients_count ( )

static

Get the number of cached service clients.

Returns: The number of cached service clients.

◆ get_type_name()

template<typename T>

static std::string yasmin_ros::ROSClientsCache::get_type_name ( )

inlinestaticprivate

Get a string representation of a type.

Template Parameters

T	The type to get the name from.

Returns: A string representation of the type.

◆ hash_qos_profile()

std::string yasmin_ros::ROSClientsCache::hash_qos_profile ( const rclcpp::QoS & qos_profile )

staticprivate

Create a hash for a QoS profile.

Parameters

qos_profile The QoS profile to hash.

Returns: A string hash value for the QoS profile.

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

yasmin_ros/include/yasmin_ros/ros_clients_cache.hpp
yasmin_ros/src/yasmin_ros/ros_clients_cache.cpp

Static Public Member Functions

Private Types

Static Private Member Functions

Detailed Description

Member Typedef Documentation

◆ ActionClientKey

◆ PublisherKey

◆ ServiceClientKey

Member Function Documentation

◆ clear_action_clients()

◆ clear_all()

◆ clear_publishers()

◆ clear_service_clients()

◆ get_action_clients()

◆ get_action_clients_count()

◆ get_cache_stats()

◆ get_callback_group_name()

◆ get_callback_name()

◆ get_lock()

◆ get_or_create_action_client()

◆ get_or_create_publisher()

◆ get_or_create_service_client()

◆ get_publishers()

◆ get_publishers_count()

◆ get_service_clients()

◆ get_service_clients_count()

◆ get_type_name()

◆ hash_qos_profile()