gazebo::transport::Publication Class Reference

A publication for a topic. More...

#include <transport/transport.hh>

Public Member Functions
	Publication (const std::string &_topic, const std::string &_msgType)
	Constructor. More...
virtual	~Publication ()
	Destructor. More...
void	AddPublisher (PublisherPtr _pub)
	Add a publisher. More...
void	AddSubscription (const CallbackHelperPtr _callback)
	Subscribe a callback to our topic. More...
void	AddSubscription (const NodePtr &_node)
	Subscribe a node to our topic. More...
void	AddTransport (const PublicationTransportPtr &_publink)
	Add a transport. More...
unsigned int	GetCallbackCount () const
	Get the number of callbacks. More...
bool	GetLocallyAdvertised () const
	Was the topic has been advertised from this process? More...
std::string	GetMsgType () const
	Get the type of message. More...
unsigned int	GetNodeCount () const
	Get the number of nodes. More...
MessagePtr	GetPrevMsg (uint32_t _pubId)
	Get a previous message for a publisher. More...
unsigned int	GetRemoteSubscriptionCount ()
	Get the number of remote subscriptions. More...
unsigned int	GetTransportCount () const
	Get the number of transports. More...
bool	HasTransport (const std::string &_host, unsigned int _port)
	Does a given transport exist? More...
void	LocalPublish (const std::string &_data)
	Publish data to local subscribers (skip serialization) More...
int	Publish (MessagePtr _msg, boost::function< void(uint32_t)> _cb, uint32_t _id)
	Publish data to remote subscribers. More...
void	RemovePublisher (PublisherPtr _pub)
	Remove a publisher. More...
void	RemoveSubscription (const NodePtr &_node)
	Unsubscribe a node from our topic. More...
void	RemoveSubscription (const std::string &_host, unsigned int _port)
	Unsubscribe a a node by host/port from our topic. More...
void	RemoveTransport (const std::string &_host, unsigned int _port)
	Remove a transport. More...
void	SetLocallyAdvertised (bool _value)
	Set whether this topic has been advertised from this process. More...
void	SetPrevMsg (uint32_t _pubId, MessagePtr _msg)
	Set the previous message for a publisher. More...

Detailed Description

A publication for a topic.

This facilitates transport of messages

Constructor & Destructor Documentation

gazebo::transport::Publication::Publication	(	const std::string &	_topic,
		const std::string &	_msgType
	)

Constructor.

Parameters

[in]	_topic	The topic we're publishing
[in]	_msgType	The type of the topic we're publishing

virtual gazebo::transport::Publication::~Publication ( )

virtual

Destructor.

Member Function Documentation

void gazebo::transport::Publication::AddPublisher

(

PublisherPtr

_pub

)

Add a publisher.

Parameters

[in,out]

_pub

Pointer to publisher object to be added

void gazebo::transport::Publication::AddSubscription

(

const CallbackHelperPtr

_callback

)

Subscribe a callback to our topic.

Parameters

[in]

_callback

The callback

void gazebo::transport::Publication::AddSubscription

(

const NodePtr &

_node

)

Subscribe a node to our topic.

Parameters

[in]

_node

The node

void gazebo::transport::Publication::AddTransport

(

const PublicationTransportPtr &

_publink

)

Add a transport.

Parameters

[in]

_publink

Pointer to publication transport object to be added

unsigned int gazebo::transport::Publication::GetCallbackCount

(

)

const

Get the number of callbacks.

Returns

The number of callbacks

bool gazebo::transport::Publication::GetLocallyAdvertised

(

)

const

Was the topic has been advertised from this process?

Returns

true if the topic has been advertised from this process, false otherwise

std::string gazebo::transport::Publication::GetMsgType

(

)

const

Get the type of message.

Returns

The type of message

unsigned int gazebo::transport::Publication::GetNodeCount

(

)

const

Get the number of nodes.

Returns

The number of nodes

MessagePtr gazebo::transport::Publication::GetPrevMsg

(

uint32_t

_pubId

)

Get a previous message for a publisher.

Parameters

[in]

_pubId

ID of the publisher.

Returns

Pointer to the previous message. NULL if there is no previous message.

unsigned int gazebo::transport::Publication::GetRemoteSubscriptionCount

(

)

Get the number of remote subscriptions.

Returns

The number of remote subscriptions

unsigned int gazebo::transport::Publication::GetTransportCount

(

)

const

Get the number of transports.

Returns

The number of transports

bool gazebo::transport::Publication::HasTransport	(	const std::string &	_host,
		unsigned int	_port
	)

Does a given transport exist?

Parameters

[in]	_host	Hostname of the transport
[in]	_port	Port of the transport

Returns

true if the transport exists, false otherwise

void gazebo::transport::Publication::LocalPublish

(

const std::string &

_data

)

Publish data to local subscribers (skip serialization)

Parameters

[in]

_data

The data to be published

int gazebo::transport::Publication::Publish	(	MessagePtr	_msg,
		boost::function< void(uint32_t)>	_cb,
		uint32_t	_id
	)

Publish data to remote subscribers.

Parameters

[in]	_msg	Message to be published
[in]	_cb	Callback to be invoked after publishing is completed

Returns

Number of remote subscribers that will receive the message.

void gazebo::transport::Publication::RemovePublisher

(

PublisherPtr

_pub

)

Remove a publisher.

Parameters

[in]

_pub

Pointer to publisher object to remove.

void gazebo::transport::Publication::RemoveSubscription

(

const NodePtr &

_node

)

Unsubscribe a node from our topic.

Parameters

[in]

_node

The node

void gazebo::transport::Publication::RemoveSubscription	(	const std::string &	_host,
		unsigned int	_port
	)

Unsubscribe a a node by host/port from our topic.

Parameters

[in]	_host	The node's hostname
[in]	_port	The node's port

void gazebo::transport::Publication::RemoveTransport	(	const std::string &	_host,
		unsigned int	_port
	)

Remove a transport.

Parameters

[in]	_host	The transport's hostname
[in]	_port	The transport's port

void gazebo::transport::Publication::SetLocallyAdvertised

(

bool

_value

)

Set whether this topic has been advertised from this process.

Parameters

[in]

_value

If true, the topic was locally advertise, otherwise it was not

void gazebo::transport::Publication::SetPrevMsg	(	uint32_t	_pubId,
		MessagePtr	_msg
	)

Set the previous message for a publisher.

Parameters

[in]	_pubId	ID of the publisher.
[in]	_msg	The previous message.

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

• Publication.hh