Manages topics and their subscriptions. More...

#include <transport/transport.hh>

Public Types
typedef std::map< std::string, std::list< NodePtr > >	SubNodeMap
	A map of string->list of Node pointers. More...

Public Member Functions
void	AddNode (NodePtr _node)
	Add a node to the manager. More...

void	AddNodeToProcess (NodePtr _ptr)
	Add a node to the list of nodes that requires processing. More...

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

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

void	ClearBuffers ()
	Clear all buffers. More...

void	ConnectPubToSub (const std::string &_topic, const SubscriptionTransportPtr _sublink)
	Connection a local Publisher to a remote Subscriber. More...

void	ConnectSubscribers (const std::string &_topic)
	Connect all subscribers on a topic to known publishers. More...

void	ConnectSubToPub (const msgs::Publish &_pub)
	Connect a local Subscriber to a remote Publisher. More...

void	DisconnectPubFromSub (const std::string &_topic, const std::string &_host, unsigned int _port)
	Disconnect a local publisher from a remote subscriber. More...

void	DisconnectSubFromPub (const std::string &_topic, const std::string &_host, unsigned int _port)
	Disconnect all local subscribers from a remote publisher. More...

PublicationPtr	FindPublication (const std::string &_topic)
	Find a publication object by topic. More...

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

void	GetTopicNamespaces (std::list< std::string > &_namespaces)
	Get all the topic namespaces. More...

void	Init ()
	Initialize the manager. More...

void	PauseIncoming (bool _pause)
	Pause or unpause processing of incoming messages. More...

void	ProcessNodes (bool _onlyOut=false)
	Process all nodes under management. More...

void	Publish (const std::string &_topic, MessagePtr _message, boost::function< void(uint32_t)> _cb, uint32_t _id)
	Send a message. More...

void	RegisterTopicNamespace (const std::string &_name)
	Register a new topic namespace. More...

void	RemoveNode (unsigned int _id)
	Remove a node by its id. More...

SubscriberPtr	Subscribe (const SubscribeOptions &_options)
	Subscribe to a topic. More...

void	Unadvertise (const std::string &_topic)
	Unadvertise a topic. More...

void	Unadvertise (PublisherPtr _pub)
	Unadvertise a publisher. More...

void	Unadvertise (const std::string &_topic, const uint32_t _id)
	Unadvertise a publisher, based on a publisher id. More...

void	Unsubscribe (const std::string &_topic, const NodePtr &_sub)
	Unsubscribe from a topic. More...

PublicationPtr	UpdatePublications (const std::string &_topic, const std::string &_msgType)
	Update our list of advertised topics. More...

Static Public Member Functions
static TopicManager *	Instance ()
	Get an instance of the singleton. More...

Detailed Description

Manages topics and their subscriptions.

Member Typedef Documentation

◆ SubNodeMap

typedef std::map<std::string, std::list<NodePtr> > SubNodeMap

A map of string->list of Node pointers.

Member Function Documentation

◆ AddNode()

void AddNode ( NodePtr _node )

Add a node to the manager.

Parameters

[in,out] _node The node to be added

◆ AddNodeToProcess()

void AddNodeToProcess ( NodePtr _ptr )

Add a node to the list of nodes that requires processing.

Parameters

[in] _ptr Node to process.

◆ Advertise() [1/2]

PublisherPtr Advertise	(	const std::string &	_topic,
		const std::string &	_msgTypeName,
		unsigned int	_queueLimit,
		double	_hzRate
	)

inline

Advertise on a topic.

Parameters

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

Returns: Pointer to the newly created Publisher

References GZ_ASSERT.

◆ Advertise() [2/2]

PublisherPtr Advertise	(	const std::string &	_topic,
		unsigned int	_queueLimit,
		double	_hzRate
	)

inline

Advertise on a topic.

Parameters

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

Returns: Pointer to the newly created Publisher

References gzthrow.

◆ ClearBuffers()

void ClearBuffers ( )

Clear all buffers.

◆ ConnectPubToSub()

void ConnectPubToSub	(	const std::string &	_topic,
		const SubscriptionTransportPtr	_sublink
	)

Connection a local Publisher to a remote Subscriber.

Parameters

[in]	_topic	The topic to use
[in]	_sublink	The subscription transport object to use

◆ ConnectSubscribers()

void ConnectSubscribers ( const std::string & _topic )

Connect all subscribers on a topic to known publishers.

Parameters

[in] _topic The topic to be connected

◆ ConnectSubToPub()

void ConnectSubToPub ( const msgs::Publish & _pub )

Connect a local Subscriber to a remote Publisher.

Parameters

[in] _pub The publish object to use

◆ DisconnectPubFromSub()

void DisconnectPubFromSub	(	const std::string &	_topic,
		const std::string &	_host,
		unsigned int	_port
	)

Disconnect a local publisher from a remote subscriber.

Parameters

[in]	_topic	The topic to be disconnected
[in]	_host	The host to be disconnected
[in]	_port	The port to be disconnected

◆ DisconnectSubFromPub()

void DisconnectSubFromPub	(	const std::string &	_topic,
		const std::string &	_host,
		unsigned int	_port
	)

Disconnect all local subscribers from a remote publisher.

Parameters

[in]	_topic	The topic to be disconnected
[in]	_host	The host to be disconnected
[in]	_port	The port to be disconnected

◆ FindPublication()

PublicationPtr FindPublication ( const std::string & _topic )

Find a publication object by topic.

Parameters

[in] _topic The topic to search for

Returns: Pointer to the publication object, if found (can be null)

◆ Fini()

void Fini ( )

Finalize the manager.

◆ GetTopicNamespaces()

void GetTopicNamespaces ( std::list< std::string > & _namespaces )

Get all the topic namespaces.

Parameters

[out] _namespaces The list of namespaces will be written here

◆ Init()

void Init ( )

Initialize the manager.

◆ Instance()

static TopicManager * Instance ( )

inlinestaticinherited

Get an instance of the singleton.

Referenced by Node::Advertise(), and Node::Subscribe().

◆ PauseIncoming()

void PauseIncoming ( bool _pause )

Pause or unpause processing of incoming messages.

Parameters

[in] _pause If true pause processing; otherwse unpause

◆ ProcessNodes()

void ProcessNodes ( bool _onlyOut = false )

Process all nodes under management.

Parameters

[in] _onlyOut True means only outbound messages on nodes will be sent. False means nodes process both outbound and inbound messages

◆ Publish()

void Publish	(	const std::string &	_topic,
		MessagePtr	_message,
		boost::function< void(uint32_t)>	_cb,
		uint32_t	_id
	)

Send a message.

Use a Publisher instead of calling this function directly.

Parameters

[in]	_topic	Name of the topic
[in]	_message	The message to send.
[in]	_cb	Callback, used when the publish is completed.
[in]	_id	ID associated with the message.

◆ RegisterTopicNamespace()

void RegisterTopicNamespace ( const std::string & _name )

Register a new topic namespace.

Parameters

[in] _name The name of the new namespace

◆ RemoveNode()

void RemoveNode ( unsigned int _id )

Remove a node by its id.

Parameters

[in] _id The ID of the node to be removed

◆ Subscribe()

SubscriberPtr Subscribe ( const SubscribeOptions & _options )

Subscribe to a topic.

Parameters

[in] _options The options to use for the subscription

Returns: Pointer to the newly created subscriber

◆ Unadvertise() [1/3]

void Unadvertise ( const std::string & _topic )

Unadvertise a topic.

Parameters

[in] _topic The topic to be unadvertised

◆ Unadvertise() [2/3]

void Unadvertise ( PublisherPtr _pub )

Unadvertise a publisher.

Parameters

[in] _pub Publisher to unadvertise.

◆ Unadvertise() [3/3]

void Unadvertise	(	const std::string &	_topic,
		const uint32_t	_id
	)

Unadvertise a publisher, based on a publisher id.

Parameters

[in]	_topic	The publisher's topic. It will also be unadvertised if there are no advertised publishers left.
[in]	_id	ID of the publisher to unadvertise.

◆ Unsubscribe()

void Unsubscribe	(	const std::string &	_topic,
		const NodePtr &	_sub
	)

Unsubscribe from a topic.

Use a Subscriber rather than calling this function directly

Parameters

[in]	_topic	The topic to unsubscribe from
[in]	_sub	The node to unsubscribe

◆ UpdatePublications()

PublicationPtr UpdatePublications	(	const std::string &	_topic,
		const std::string &	_msgType
	)

Update our list of advertised topics.

Parameters

[in]	_topic	The topic to be updated
[in]	_msgType	The type of the topic to be updated

Returns: True if the provided params define a new publisher, false otherwise

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

TopicManager.hh

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Typedef Documentation

◆ SubNodeMap

Member Function Documentation

◆ AddNode()

◆ AddNodeToProcess()

◆ Advertise() [1/2]

◆ Advertise() [2/2]

◆ ClearBuffers()

◆ ConnectPubToSub()

◆ ConnectSubscribers()

◆ ConnectSubToPub()

◆ DisconnectPubFromSub()

◆ DisconnectSubFromPub()

◆ FindPublication()

◆ Fini()

◆ GetTopicNamespaces()

◆ Init()

◆ Instance()

◆ PauseIncoming()

◆ ProcessNodes()

◆ Publish()

◆ RegisterTopicNamespace()

◆ RemoveNode()

◆ Subscribe()

◆ Unadvertise() [1/3]

◆ Unadvertise() [2/3]

◆ Unadvertise() [3/3]

◆ Unsubscribe()

◆ UpdatePublications()