Class TopicHandler

Defined in File topic_handler.hpp

Inheritance Relationships

Derived Types

public live_telemetry::CameraDataHandler (Class CameraDataHandler)
public live_telemetry::PointCloudHandler (Class PointCloudHandler)

Class Documentation

class TopicHandler

Abstract interface for topic handlers.

Implement this interface to create custom handlers for specific topics. Each handler is responsible for:

Subscribing to its input topic
Processing messages (downsampling, transformation, etc.)
Publishing to Foxglove via the logger

Example implementation:

class MyCustomHandler : public TopicHandler {
 public:
  MyCustomHandler(rclcpp::Node* node, const HandlerConfig& config,
                  FoxgloveLogger* logger)
      : TopicHandler(node, config, logger) {
    // Setup subscription
  }

  std::string getName() const override { return "MyCustomHandler"; }

 protected:
  void processMessage(...) {
    stats_.messages_received++;
    // Custom processing logic
    if (shouldForward()) {
      // Forward to Foxglove
      stats_.messages_forwarded++;
    } else {
      stats_.messages_dropped++;
    }
  }
};

Subclassed by live_telemetry::CameraDataHandler, live_telemetry::PointCloudHandler

Public Functions

inline TopicHandler(rclcpp::Node *node, const HandlerConfig &config, FoxgloveLogger *logger)

virtual ~TopicHandler() = default

TopicHandler(const TopicHandler&) = delete

TopicHandler &operator=(const TopicHandler&) = delete

TopicHandler(TopicHandler&&) = delete

TopicHandler &operator=(TopicHandler&&) = delete

virtual std::string getName() const = 0: Get the handler name for logging and identification.

inline std::string getInputTopic() const: Get the input topic this handler is processing.

inline HandlerStats getStats() const: Get current handler statistics.

inline virtual bool isActive() const: Check if handler is active and processing messages.

Protected Functions

inline bool shouldForward() const: Helper to check if message should be forwarded based on downsample ratio.

inline void logVerbose(const std::string &message) const: Log a message if verbose mode is enabled.

Protected Attributes

rclcpp::Node *node_

HandlerConfig config_

FoxgloveLogger *logger_

HandlerStats stats_