Transport

Handles transportation of messages. More...

Files
file	TransportTypes.hh
	Forward declarations for transport.

Classes
class	gazebo::transport::CallbackHelper
	A helper class to handle callbacks when messages arrive. More...
class	gazebo::transport::CallbackHelperT< M >
	Callback helper Template. More...
class	gazebo::transport::Connection
	Single TCP/IP connection manager. More...
class	gazebo::transport::ConnectionManager
	Manager of connections. More...
class	gazebo::transport::DebugCallbackHelper
	CallbackHelper subclass with debug facilities. More...
class	gazebo::transport::IOManager
	Manages boost::asio IO. More...
class	gazebo::transport::Node
	A node can advertise and subscribe topics, publish on advertised topics and listen to subscribed topics. More...
class	gazebo::transport::Publication
	A publication for a topic. More...
class	gazebo::transport::PublicationTransport
	transport/transport.hh More...
class	gazebo::transport::Publisher
	A publisher of messages on a topic. More...
class	gazebo::transport::SubscribeOptions
	Options for a subscription. More...
class	gazebo::transport::Subscriber
	A subscriber to a topic. More...
class	gazebo::transport::SubscriptionTransport
	transport/transport.hh More...
class	gazebo::transport::TopicManager
	Manages topics and their subscriptions. More...

Typedefs
typedef CallbackHelper *	gazebo::transport::CallbackHelperPtr
	boost shared pointer to transport::CallbackHelper

Functions
void	gazebo::transport::clear_buffers ()
	Clear any remaining communication buffers.
void	gazebo::transport::fini ()
	Cleanup the transport component.
bool	gazebo::transport::get_master_uri (std::string &_master_host, unsigned int &_master_port)
	Get the hostname and port of the master from the GAZEBO_MASTER_URI environment variable.
void	gazebo::transport::get_topic_namespaces (std::list< std::string > &_namespaces)
	Return all the namespace (world names) on the master.
bool	gazebo::transport::init (const std::string &_master_host="", unsigned int _master_port=0)
	Initialize the transport system.
bool	gazebo::transport::is_stopped ()
	Is the transport system stopped?
void	gazebo::transport::pause_incoming (bool _pause)
	Pause or unpause incoming messages.
msgs::Response	gazebo::transport::request (const std::string &_worldName, const msgs::Request &_request)
	Send a request and receive a response.
void	gazebo::transport::run ()
	Run the transport component.
void	gazebo::transport::stop ()
	Stop the transport component from running.

Detailed Description

Handles transportation of messages.

Typedef Documentation

typedef CallbackHelper* gazebo::transport::CallbackHelperPtr

boost shared pointer to transport::CallbackHelper

Function Documentation

void gazebo::transport::clear_buffers

(

)

Clear any remaining communication buffers.

void gazebo::transport::fini

(

)

Cleanup the transport component.

bool gazebo::transport::get_master_uri	(	std::string &	_master_host,
		unsigned int &	_master_port
	)

Get the hostname and port of the master from the GAZEBO_MASTER_URI environment variable.

Parameters

[out]	_master_host	The hostname of the master is set to this param
[out]	_master_port	The port of the master is set to this param

Returns

true if GAZEBO_MASTER_URI was successfully parsed; false otherwise (in which case output params are not set)

void gazebo::transport::get_topic_namespaces

(

std::list< std::string > &

_namespaces

)

Return all the namespace (world names) on the master.

Parameters

[out]

_namespaces

The list of namespace will be written here

bool gazebo::transport::init	(	const std::string &	_master_host = "",
		unsigned int	_master_port = 0
	)

Initialize the transport system.

Parameters

[in]	_master_host	The hostname or IP of the master. Leave empty to use pull address from the GAZEBO_MASTER_URI env var.
[in]	_master_port	The port of the master. Leave empty to use pull address from the GAZEBO_MASTER_URI env var.

Returns

true if initialization succeeded; false otherwise

bool gazebo::transport::is_stopped

(

)

Is the transport system stopped?

Returns

true if the transport system is stopped; false otherwise

void gazebo::transport::pause_incoming

(

bool

_pause

)

Pause or unpause incoming messages.

When paused, messages are queued for later delivery

Parameters

[in]

_pause

If true, pause; otherwise unpause

msgs::Response gazebo::transport::request	(	const std::string &	_worldName,
		const msgs::Request &	_request
	)

Send a request and receive a response.

This call will block until a response is received.

Parameters

[in]	_worldName	The name of the world to which the request should be sent
[in]	_request	The request itself

Returns

The response to the request. Can be empty.

void gazebo::transport::run

(

)

Run the transport component.

Creates a thread to handle message passing. This call will block until the master can be contacted or until a retry limit is reached

void gazebo::transport::stop

(

)

Stop the transport component from running.