Handles transportation of messages. More...

Files
file	TransportTypes.hh
	Forward declarations for transport.

Classes
class	CallbackHelper
	A helper class to handle callbacks when messages arrive. More...

class	CallbackHelperT< M >
	Callback helper Template. More...

class	Connection
	Single TCP/IP connection manager. More...

class	ConnectionManager
	Manager of connections. More...

class	IOManager
	Manages boost::asio IO. More...

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

class	Publication
	A publication for a topic. More...

class	PublicationTransport
	transport/transport.hh More...

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

class	RawCallbackHelper
	Used to connect publishers to subscribers, where the subscriber wants the raw data from the publisher. More...

class	SubscribeOptions
	Options for a subscription. More...

class	Subscriber
	A subscriber to a topic. More...

class	SubscriptionTransport
	transport/transport.hh More...

class	TopicManager
	Manages topics and their subscriptions. More...

Typedefs
typedef boost::shared_ptr< CallbackHelper >	CallbackHelperPtr
	boost shared pointer to transport::CallbackHelper More...

Functions
void	clear_buffers ()
	Clear any remaining communication buffers. More...

transport::ConnectionPtr	connectToMaster ()
	Create a connection to master. More...

void	fini ()
	Cleanup the transport component. More...

bool	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. More...

void	get_topic_namespaces (std::list< std::string > &_namespaces)
	Return all the namespace (world names) on the master. More...

std::map< std::string, std::list< std::string > >	getAdvertisedTopics ()
	Get a list of all the topics and their message types. More...

std::list< std::string >	getAdvertisedTopics (const std::string &_msgType)
	Get a list of all the unique advertised topic names. More...

bool	getMinimalComms ()
	Get whether minimal comms has been enabled. More...

std::string	getTopicMsgType (const std::string &_topicName)
	Get the message typename that is published on the given topic. More...

bool	init (const std::string &_masterHost="", unsigned int _masterPort=0, uint32_t _timeoutIterations=30)
	Initialize the transport system. More...

bool	is_stopped ()
	Is the transport system stopped? More...

void	pause_incoming (bool _pause)
	Pause or unpause incoming messages. 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...

boost::shared_ptr< msgs::Response >	request (const std::string &_worldName, const std::string &_request, const std::string &_data="", const common::Time &_timeout=-1)
	Send a request and receive a response. More...

void	requestNoReply (const std::string &_worldName, const std::string &_request, const std::string &_data="")
	Send a request and don't wait for a response. More...

void	requestNoReply (NodePtr _node, const std::string &_request, const std::string &_data="")
	Send a request and don't wait for a response. More...

void	run ()
	Run the transport component. More...

void	setMinimalComms (bool _enabled)
	Set whether minimal comms should be used. More...

void	stop ()
	Stop the transport component from running. More...

bool	waitForNamespaces (const gazebo::common::Time &_maxWait)
	Blocks while waiting for topic namespaces from the Master. More...

Detailed Description

Handles transportation of messages.

Remarks

Environment Variables:

GAZEBO_IP_WHITE_LIST: Comma separated list of valid IPs. Leave this empty to accept connections from all addresses.
GAZEBO_IP: IP address to export. This will override the default IP lookup.
GAZEBO_HOSTNAME: Hostame to export. Setting this will override both GAZEBO_IP and the default IP lookup.

Typedef Documentation

◆ CallbackHelperPtr

typedef boost::shared_ptr<CallbackHelper> CallbackHelperPtr

boost shared pointer to transport::CallbackHelper

Function Documentation

◆ clear_buffers()

void gazebo::transport::clear_buffers ( )

Clear any remaining communication buffers.

◆ connectToMaster()

transport::ConnectionPtr gazebo::transport::connectToMaster ( )

Create a connection to master.

Returns: Connection to the master, NULL on error.

Referenced by gazebo::transport::publish().

◆ fini()

void gazebo::transport::fini ( )

Cleanup the transport component.

◆ get_master_uri()

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)

◆ get_topic_namespaces()

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

◆ getAdvertisedTopics() [1/2]

std::map<std::string, std::list<std::string> > gazebo::transport::getAdvertisedTopics ( )

Get a list of all the topics and their message types.

Returns: A map where keys are message types, and values are a list of topic names.

Referenced by gazebo::transport::publish().

◆ getAdvertisedTopics() [2/2]

std::list<std::string> gazebo::transport::getAdvertisedTopics ( const std::string & _msgType )

Get a list of all the unique advertised topic names.

Parameters

[in] _msgType Type of message to filter the result on. If empty, then a list of all the topics is returned.

Returns: A list of the advertised topics that publish messages of the type specified by _msgType.

◆ getMinimalComms()

bool gazebo::transport::getMinimalComms ( )

Get whether minimal comms has been enabled.

Returns: True if minimal comms is enabled.

Referenced by gazebo::transport::publish().

◆ getTopicMsgType()

std::string gazebo::transport::getTopicMsgType ( const std::string & _topicName )

Get the message typename that is published on the given topic.

Parameters

[in] _topicName Name of the topic to query.

Returns: The message type, or empty string if the topic is not valid.

Referenced by gazebo::transport::publish().

◆ init()

bool gazebo::transport::init	(	const std::string &	_masterHost = `""`,
		unsigned int	_masterPort = `0`,
		uint32_t	_timeoutIterations = `30`
	)

Initialize the transport system.

Parameters

[in]	_masterHost	The hostname or IP of the master. Leave empty to use pull address from the GAZEBO_MASTER_URI env var.
[in]	_masterPort	The port of the master. Leave empty to use pull address from the GAZEBO_MASTER_URI env var.
[in]	_timeoutIterations	Number of times to wait for a connection to master.

Returns: true if initialization succeeded; false otherwise

◆ is_stopped()

bool is_stopped ( )

Is the transport system stopped?

Returns: true if the transport system is stopped; false otherwise

Referenced by Connection::AsyncRead().

◆ pause_incoming()

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

◆ publish()

void gazebo::transport::publish	(	const std::string &	_topic,
		const google::protobuf::Message &	_message
	)

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

References gazebo::transport::connectToMaster(), gazebo::transport::getAdvertisedTopics(), gazebo::transport::getMinimalComms(), gazebo::transport::getTopicMsgType(), gazebo::transport::setMinimalComms(), and gazebo::transport::waitForNamespaces().

◆ request()

boost::shared_ptr<msgs::Response> gazebo::transport::request	(	const std::string &	_worldName,
		const std::string &	_request,
		const std::string &	_data = `""`,
		const common::Time &	_timeout = `-1`
	)

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 type request.
[in]	_data	Optional data string.
[in]	_timeout	Maxiumum time to wait. Use a negative time value to wait forever.

Returns: The response to the request. Can be empty.

◆ requestNoReply() [1/2]

void gazebo::transport::requestNoReply	(	const std::string &	_worldName,
		const std::string &	_request,
		const std::string &	_data = `""`
	)

Send a request and don't wait for a response.

This is non-blocking.

Parameters

[in]	_worldName	The name of the world to which the request should be sent.
[in]	_request	The type request.
[in]	_data	Optional data string.

◆ requestNoReply() [2/2]

void gazebo::transport::requestNoReply	(	NodePtr	_node,
		const std::string &	_request,
		const std::string &	_data = `""`
	)

Send a request and don't wait for a response.

This is non-blocking.

Parameters

[in]	_node	Pointer to a node that provides communication.
[in]	_request	The type request.
[in]	_data	Optional data string.

◆ run()

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

◆ setMinimalComms()

void gazebo::transport::setMinimalComms ( bool _enabled )

Set whether minimal comms should be used.

This will be used to reduce network traffic.

Referenced by gazebo::transport::publish().

◆ stop()

void gazebo::transport::stop ( )

Stop the transport component from running.

◆ waitForNamespaces()

bool gazebo::transport::waitForNamespaces ( const gazebo::common::Time & _maxWait )

Blocks while waiting for topic namespaces from the Master.

This function will wait a maximum of _maxWait.

Returns: True if namespaces were found before _maxWait time.

Referenced by gazebo::transport::publish().

Files

Classes

Typedefs

Functions

Detailed Description

Typedef Documentation

◆ CallbackHelperPtr

Function Documentation

◆ clear_buffers()

◆ connectToMaster()

◆ fini()

◆ get_master_uri()

◆ get_topic_namespaces()

◆ getAdvertisedTopics() [1/2]

◆ getAdvertisedTopics() [2/2]

◆ getMinimalComms()

◆ getTopicMsgType()

◆ init()

◆ is_stopped()

◆ pause_incoming()

◆ publish()

◆ request()

◆ requestNoReply() [1/2]

◆ requestNoReply() [2/2]

◆ run()

◆ setMinimalComms()

◆ stop()

◆ waitForNamespaces()