Publisher Class Reference

A publisher of messages on a topic. More...

#include <transport/transport.hh>

Inherits enable_shared_from_this< Publisher >.

Public Member Functions
	Publisher (const std::string &_topic, const std::string &_msgType, unsigned int _limit, double _hzRate)
	Constructor. More...
virtual	~Publisher ()
	Destructor. More...
void	Fini ()
	Finalize the publisher. More...
std::string	GetMsgType () const
	Get the message type. More...
unsigned int	GetOutgoingCount () const
	Get the number of outgoing messages. More...
std::string	GetPrevMsg () const
	Get the previously published message. More...
MessagePtr	GetPrevMsgPtr () const
	Get the previously published message. More...
unsigned int	GetRemoteSubscriptionCount ()
	Get the amount of remote subscribers. More...
std::string	GetTopic () const
	Get the topic name. More...
bool	HasConnections () const
	Are there any connections? More...
uint32_t	Id () const
	Get the id of this publisher. More...
void	Publish (const google::protobuf::Message &_message, bool _block=false)
	Publish a protobuf message on the topic. More...
template<typename M >
void	Publish (M _message, bool _block=false)
	Publish an arbitrary message on the topic. More...
void	SendMessage ()
	Send message(s) in the local buffer over the wire. More...
void	SetNode (NodePtr _node)
	Set our containing node. More...
void	SetPublication (PublicationPtr _publication)
	Set the publication object for a particular publication. More...
void	WaitForConnection () const
	Block until a connection has been established with this publisher. More...
bool	WaitForConnection (const common::Time &_timeout) const
	Block until a connection has been established with this publisher. More...

Detailed Description

A publisher of messages on a topic.

Constructor & Destructor Documentation

Publisher()

Publisher	(	const std::string &	_topic,
		const std::string &	_msgType,
		unsigned int	_limit,
		double	_hzRate
	)

Constructor.

Parameters

[in]	_topic	Name of topic to be published
[in]	_msgType	Type of the message to be published
[in]	_limit	Maximum number of outgoing messages to queue
[in]	_hz	Update rate for the publisher. Units are 1.0/seconds.

~Publisher()

virtual ~Publisher ( )

virtual

Destructor.

Member Function Documentation

Fini()

void Fini

(

)

Finalize the publisher.

Referenced by Publisher::Publish().

GetMsgType()

std::string GetMsgType

(

)

const

Get the message type.

Returns

The message type

Referenced by Publisher::Publish().

GetOutgoingCount()

unsigned int GetOutgoingCount

(

)

const

Get the number of outgoing messages.

Returns

The number of outgoing messages

Referenced by Publisher::Publish().

GetPrevMsg()

std::string GetPrevMsg

(

)

const

Get the previously published message.

Returns

The previously published message, if any

Referenced by Publisher::Publish().

GetPrevMsgPtr()

MessagePtr GetPrevMsgPtr

(

)

const

Get the previously published message.

Returns

The previously published message, if any

Referenced by Publisher::Publish().

GetRemoteSubscriptionCount()

unsigned int GetRemoteSubscriptionCount

(

)

Get the amount of remote subscribers.

See also

Publication::GetRemoteSubscriptionCount()

GetTopic()

std::string GetTopic

(

)

const

Get the topic name.

Returns

The topic name

Referenced by Publisher::Publish().

HasConnections()

bool HasConnections

(

)

const

Are there any connections?

Returns

true if there are any connections, false otherwise

Id()

uint32_t Id

(

)

const

Get the id of this publisher.

Returns

Unique id of this publisher.

Referenced by Publisher::Publish().

Publish() [1/2]

void Publish ( const google::protobuf::Message &  _message, bool  _block = false  )

inline

Publish a protobuf message on the topic.

Parameters

[in]	_message	Message to be published
[in]	_block	Whether to block until the message is actually written into the local message buffer, and SendMessage() is called. Note that it may be required to call SendMessage() again if it could not be sent out immediately. Check with GetOutgoingCount() if there are still messages in the queue which need to be sent out.

Publish() [2/2]

void Publish ( M  _message, bool  _block = false  )

inline

Publish an arbitrary message on the topic.

Parameters

[in]	_message	Message to be published
[in]	_block	Whether to block until the message is actually written into the local message buffer, and SendMessage() is called. Note that it may be required to call SendMessage() again if it could not be sent out immediately. Check with GetOutgoingCount() if there are still messages in the queue which need to be sent out.

References Publisher::Fini(), Publisher::GetMsgType(), Publisher::GetOutgoingCount(), Publisher::GetPrevMsg(), Publisher::GetPrevMsgPtr(), Publisher::GetTopic(), Publisher::Id(), Publisher::SendMessage(), and Publisher::SetNode().

SendMessage()

void SendMessage

(

)

Send message(s) in the local buffer over the wire.

This will be called from Publish() and should normally only be used internally, however you may need to call this function if using blocking calls to Publish (parameter _block = true) in order to ensure the whole message buffer is sent out.

Referenced by Publisher::Publish().

SetNode()

void SetNode

(

NodePtr

_node

)

Set our containing node.

Parameters

[in]

_node

Pointer to a node. Should be the node that create this publisher.

Referenced by Publisher::Publish().

SetPublication()

void SetPublication

(

PublicationPtr

_publication

)

Set the publication object for a particular publication.

Parameters

[in]

_publication

Pointer to the publication object to be set

WaitForConnection() [1/2]

void WaitForConnection

(

)

const

Block until a connection has been established with this publisher.

WaitForConnection() [2/2]

bool WaitForConnection

(

const common::Time &

_timeout

)

const

Block until a connection has been established with this publisher.

Parameters

[in]

_timeout

Maxiumum time to wait. Use a negative time value to wait forever.

Returns

True if a connection was established.

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

• Publisher.hh