A node can advertise and subscribe topics, publish on advertised topics and listen to subscribed topics. More...

#include <transport/transport.hh>

Inherits enable_shared_from_this< Node >.

Public Member Functions
	Node ()
	Constructor. More...

virtual	~Node ()
	Destructor. More...

template<typename M >
transport::PublisherPtr	Advertise (const std::string &_topic, unsigned int _queueLimit=1000, double _hzRate=0)
	Advertise a topic. More...

transport::PublisherPtr	Advertise (const std::string &_topic, const std::string &_msgTypeName, unsigned int _queueLimit=1000, double _hzRate=0)
	Advertise a topic. More...

std::string	DecodeTopicName (const std::string &_topic)
	Decode a topic name. More...

std::string	EncodeTopicName (const std::string &_topic)
	Encode a topic name. More...

void	Fini ()
	Finalize the node. More...

unsigned int	GetId () const
	Get the unique ID of the node. More...

std::string	GetMsgType (const std::string &_topic) const
	Get the message type for a topic. More...

std::string	GetTopicNamespace () const
	Get the topic namespace for this node. More...

bool	HandleData (const std::string &_topic, const std::string &_msg)
	Handle incoming data. More...

bool	HandleMessage (const std::string &_topic, MessagePtr _msg)
	Handle incoming msg. More...

bool	HasLatchedSubscriber (const std::string &_topic) const
	Return true if a subscriber on a specific topic is latched. More...

void	Init (const std::string &_space="")
	Init the node. More...

void	InsertLatchedMsg (const std::string &_topic, const std::string &_msg)
	Add a latched message to the node for publication. More...

void	InsertLatchedMsg (const std::string &_topic, MessagePtr _msg)
	Add a latched message to the node for publication. More...

bool	IsInitialized () const
	Check if this Node has been initialized. More...

void	ProcessIncoming ()
	Process incoming messages. More...

void	ProcessPublishers ()
	Process all publishers, which has each publisher send it's most recent message over the wire. More...

template<typename M >
void	Publish (const std::string &_topic, const google::protobuf::Message &_message)
	A convenience function for a one-time publication of a message. More...

void	Publish (const std::string &_topic, const google::protobuf::Message &_message)
	A convenience function for a one-time publication of a message. More...

void	RemoveCallback (const std::string &_topic, unsigned int _id)

template<typename M , typename T >
SubscriberPtr	Subscribe (const std::string &_topic, void(T::_fp)(const boost::shared_ptr< M const > &), T _obj, bool _latching=false)
	Subscribe to a topic using a class method as the callback. More...

template<typename M >
SubscriberPtr	Subscribe (const std::string &_topic, void(*_fp)(const boost::shared_ptr< M const > &), bool _latching=false)
	Subscribe to a topic using a bare function as the callback. More...

template<typename T >
SubscriberPtr	Subscribe (const std::string &_topic, void(T::_fp)(const std::string &), T _obj, bool _latching=false)
	Subscribe to a topic using a class method as the callback. More...

SubscriberPtr	Subscribe (const std::string &_topic, void(*_fp)(const std::string &), bool _latching=false)
	Subscribe to a topic using a bare function as the callback. More...

bool	TryInit (const common::Time &_maxWait=common::Time(1, 0))
	Try to initialize the node to use the global namespace, and specify the maximum wait time. More...

Detailed Description

A node can advertise and subscribe topics, publish on advertised topics and listen to subscribed topics.

Constructor & Destructor Documentation

◆ Node()

Node ( )

Constructor.

◆ ~Node()

virtual ~Node ( )

virtual

Destructor.

Member Function Documentation

◆ Advertise() [1/2]

transport::PublisherPtr Advertise	(	const std::string &	_topic,
		unsigned int	_queueLimit = `1000`,
		double	_hzRate = `0`
	)

inline

Advertise a topic.

Parameters

[in]	_topic	The topic to advertise
[in]	_queueLimit	The maximum number of outgoing messages to queue for delivery
[in]	_hz	Update rate for the publisher. Units are 1.0/seconds.

Returns: Pointer to new publisher object

References SingletonT< TopicManager >::Instance().

◆ Advertise() [2/2]

transport::PublisherPtr Advertise	(	const std::string &	_topic,
		const std::string &	_msgTypeName,
		unsigned int	_queueLimit = `1000`,
		double	_hzRate = `0`
	)

inline

Advertise a topic.

Parameters

[in]	_topic	The topic to advertise
[in]	_queueLimit	The maximum number of outgoing messages to queue for delivery
[in]	_hz	Update rate for the publisher. Units are 1.0/seconds.

Returns: Pointer to new publisher object

References SingletonT< TopicManager >::Instance().

◆ DecodeTopicName()

std::string DecodeTopicName ( const std::string & _topic )

Decode a topic name.

Parameters

[in] The encoded name

Returns: The decoded name

◆ EncodeTopicName()

std::string EncodeTopicName ( const std::string & _topic )

Encode a topic name.

Parameters

[in] The decoded name

Returns: The encoded name

◆ Fini()

void Fini ( )

Finalize the node.

◆ GetId()

unsigned int GetId ( ) const

Get the unique ID of the node.

Returns: The unique ID of the node

◆ GetMsgType()

std::string GetMsgType ( const std::string & _topic ) const

Get the message type for a topic.

Parameters

[in] _topic The topic

Returns: The message type

◆ GetTopicNamespace()

std::string GetTopicNamespace ( ) const

Get the topic namespace for this node.

Returns: The namespace

◆ HandleData()

bool HandleData	(	const std::string &	_topic,
		const std::string &	_msg
	)

Handle incoming data.

Parameters

[in]	_topic	Topic for which the data was received
[in]	_msg	The message that was received

Returns: true if the message was handled successfully, false otherwise

◆ HandleMessage()

bool HandleMessage	(	const std::string &	_topic,
		MessagePtr	_msg
	)

Handle incoming msg.

Parameters

[in]	_topic	Topic for which the data was received
[in]	_msg	The message that was received

Returns: true if the message was handled successfully, false otherwise

◆ HasLatchedSubscriber()

bool HasLatchedSubscriber ( const std::string & _topic ) const

Return true if a subscriber on a specific topic is latched.

Parameters

[in] _topic Name of the topic to check.

Returns: True if a latched subscriber exists.

◆ Init()

void Init ( const std::string & _space = "" )

Init the node.

Parameters

[in] _space Set the namespace of this topic. If this is the first Node initialized, then this namespace will become the global namespace. If left blank, the topic will initialize to the first namespace on the Master. If the Master does not have any namespaces within 1 second of calling this function, the Node will be initialized with a namespace of "default".

See also: TryInit()

◆ InsertLatchedMsg() [1/2]

void InsertLatchedMsg	(	const std::string &	_topic,
		const std::string &	_msg
	)

Add a latched message to the node for publication.

This is called when a subscription is connected to a publication.

Parameters

[in]	_topic	Name of the topic to publish data on.
[in]	_msg	The message to publish.

◆ InsertLatchedMsg() [2/2]

void InsertLatchedMsg	(	const std::string &	_topic,
		MessagePtr	_msg
	)

Add a latched message to the node for publication.

This is called when a subscription is connected to a publication.

Parameters

[in]	_topic	Name of the topic to publish data on.
[in]	_msg	The message to publish.

◆ IsInitialized()

bool IsInitialized ( ) const

Check if this Node has been initialized.

Returns: True if initialized, otherwise false

See also: Init(); TryInit()

◆ ProcessIncoming()

void ProcessIncoming ( )

Process incoming messages.

◆ ProcessPublishers()

void ProcessPublishers ( )

Process all publishers, which has each publisher send it's most recent message over the wire.

This is for internal use only

◆ Publish() [1/2]

void Publish	(	const std::string &	_topic,
		const google::protobuf::Message &	_message
	)

inline

A convenience function for a one-time publication of a message.

This is inefficient, compared to Node::Advertise followed by Publisher::Publish. This function should only be used when sending a message very infrequently.

Parameters

[in]	_topic	The topic to advertise
[in]	_message	Message to be published

◆ Publish() [2/2]

void Publish	(	const std::string &	_topic,
		const google::protobuf::Message &	_message
	)

inline

A convenience function for a one-time publication of a message.

This is inefficient, compared to Node::Advertise followed by Publisher::Publish. This function should only be used when sending a message very infrequently.

Parameters

[in]	_topic	The topic to advertise
[in]	_message	Message to be published

◆ RemoveCallback()

void RemoveCallback	(	const std::string &	_topic,
		unsigned int	_id
	)

◆ Subscribe() [1/4]

SubscriberPtr Subscribe	(	const std::string &	_topic,
		void(T::*)(const boost::shared_ptr< M const > &)	_fp,
		T *	_obj,
		bool	_latching = `false`
	)

inline

Subscribe to a topic using a class method as the callback.

Parameters

[in]	_topic	The topic to subscribe to
[in]	_fp	Class method to be called on receipt of new message
[in]	_obj	Class instance to be used on receipt of new message
[in]	_latching	If true, latch latest incoming message; otherwise don't latch

Returns: Pointer to new Subscriber object

References SingletonT< TopicManager >::Instance().

◆ Subscribe() [2/4]

SubscriberPtr Subscribe	(	const std::string &	_topic,
		void(*)(const boost::shared_ptr< M const > &)	_fp,
		bool	_latching = `false`
	)

inline

Subscribe to a topic using a bare function as the callback.

Parameters

[in]	_topic	The topic to subscribe to
[in]	_fp	Function to be called on receipt of new message
[in]	_latching	If true, latch latest incoming message; otherwise don't latch

Returns: Pointer to new Subscriber object

References SingletonT< TopicManager >::Instance().

◆ Subscribe() [3/4]

SubscriberPtr Subscribe	(	const std::string &	_topic,
		void(T::*)(const std::string &)	_fp,
		T *	_obj,
		bool	_latching = `false`
	)

inline

Subscribe to a topic using a class method as the callback.

Parameters

[in]	_topic	The topic to subscribe to
[in]	_fp	Class method to be called on receipt of new message
[in]	_obj	Class instance to be used on receipt of new message
[in]	_latching	If true, latch latest incoming message; otherwise don't latch

Returns: Pointer to new Subscriber object

References SubscribeOptions::Init(), and SingletonT< TopicManager >::Instance().

◆ Subscribe() [4/4]

SubscriberPtr Subscribe	(	const std::string &	_topic,
		void(*)(const std::string &)	_fp,
		bool	_latching = `false`
	)

inline

Subscribe to a topic using a bare function as the callback.

Parameters

[in]	_topic	The topic to subscribe to
[in]	_fp	Function to be called on receipt of new message
[in]	_latching	If true, latch latest incoming message; otherwise don't latch

Returns: Pointer to new Subscriber object

References SubscribeOptions::Init(), and SingletonT< TopicManager >::Instance().

◆ TryInit()

bool TryInit ( const common::Time & _maxWait = common::Time(1, 0) )

Try to initialize the node to use the global namespace, and specify the maximum wait time.

If a global namespace is not available by the time a duration of _maxWait has transpired, this will return false, and the Node will not be initialized.

Parameters

[in] _maxWait The maximum amount of time to wait for the Node to initialize. The initialization might be delayed while waiting for namespaces to be found. The default is 1 second.

Returns: True if a global namespace was found, and this node has been initialized to it. False if a global namespace was not found (the node will not be initialized in that case).

See also: Init()

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

Node.hh

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Node()

◆ ~Node()

Member Function Documentation

◆ Advertise() [1/2]

◆ Advertise() [2/2]

◆ DecodeTopicName()

◆ EncodeTopicName()

◆ Fini()

◆ GetId()

◆ GetMsgType()

◆ GetTopicNamespace()

◆ HandleData()

◆ HandleMessage()

◆ HasLatchedSubscriber()

◆ Init()

◆ InsertLatchedMsg() [1/2]

◆ InsertLatchedMsg() [2/2]

◆ IsInitialized()

◆ ProcessIncoming()

◆ ProcessPublishers()

◆ Publish() [1/2]

◆ Publish() [2/2]

◆ RemoveCallback()

◆ Subscribe() [1/4]

◆ Subscribe() [2/4]

◆ Subscribe() [3/4]

◆ Subscribe() [4/4]

◆ TryInit()