nros::Stream< T > Class Template Reference

#include <stream.hpp>

Public Member Functions
bool	is_valid () const
	Check if the stream is connected to a valid source.
Stream &	operator= (Stream &&other) noexcept
	Stream ()
	Default constructor – creates an unbound stream.
	Stream (Stream &&other) noexcept
Result	try_next (T &out)
Result	wait_next (void *executor_handle, uint32_t timeout_ms, T &out, uint32_t poll_ms=10)

Friends
template<typename A >
class	ActionClient
template<typename M >
class	Subscription

Detailed Description

template<typename T>
class nros::Stream< T >

Multi-shot message receiver for subscriptions and feedback streams.

Unlike Future<T> (single-shot, move-only), Stream<T> yields multiple values over time. It wraps a non-blocking poll function and adds wait_next() for blocking reception with executor spin.

Usage:

auto& stream = sub.stream();
MsgType msg;
NROS_TRY(stream.wait_next(executor.handle(), 5000, msg));

Constructor & Destructor Documentation

Stream() [1/2]

template<typename T >

nros::Stream< T >::Stream ( Stream< T > &&  other )

inlinenoexcept

Stream() [2/2]

template<typename T >

nros::Stream< T >::Stream ( )

inline

Default constructor – creates an unbound stream.

Member Function Documentation

is_valid()

template<typename T >

bool nros::Stream< T >::is_valid ( ) const

inline

Check if the stream is connected to a valid source.

operator=()

template<typename T >

Stream & nros::Stream< T >::operator= ( Stream< T > &&  other )

inlinenoexcept

try_next()

template<typename T >

Result nros::Stream< T >::try_next ( T &  out )

inline

Try to receive the next value (non-blocking).

Parameters

out	Output object (filled on success).

Returns

Result::success() if a value was received and deserialized; ErrorCode::TryAgain if no data is available right now; ErrorCode::NotInitialized if the stream is unbound; ErrorCode::Error if deserialization failed; otherwise the FFI error code.

wait_next()

template<typename T >

Result nros::Stream< T >::wait_next ( void *  executor_handle, uint32_t  timeout_ms, T &  out, uint32_t  poll_ms = 10  )

inline

Block until the next value arrives, spinning the executor.

Parameters

executor_handle	Raw executor handle.
timeout_ms	Maximum wait time in milliseconds.
out	Output object (filled on success).
poll_ms	Per-iteration spin_once timeout in ms (default 10). See Future::wait for the trade-off between latency and wakeup frequency.

Returns

Result::success(), ErrorCode::Timeout, or error.

Friends And Related Symbol Documentation

ActionClient

template<typename T >

template<typename A >

friend class ActionClient

friend

Subscription

template<typename T >

template<typename M >

friend class Subscription

friend

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

• include/nros/stream.hpp