Publisher Class Reference

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

#include <transport/transport.hh>

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...
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 latest message over the wire. For internal use only. 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	(	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.

virtual ~Publisher ( )

virtual

Destructor.

Member Function Documentation

void Fini

(

)

Finalize the publisher.

std::string GetMsgType

(

)

const

Get the message type.

Returns

The message type

unsigned int GetOutgoingCount

(

)

const

Get the number of outgoing messages.

Returns

The number of outgoing messages

std::string GetPrevMsg

(

)

const

Get the previously published message.

Returns

The previously published message, if any

MessagePtr GetPrevMsgPtr

(

)

const

Get the previously published message.

Returns

The previously published message, if any

std::string GetTopic

(

)

const

Get the topic name.

Returns

The topic name

bool HasConnections

(

)

const

Are there any connections?

Returns

true if there are any connections, false otherwise

uint32_t Id

(

)

const

Get the id of this publisher.

Returns

Unique id of this publisher.

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 out

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 out

void SendMessage

(

)

Send latest message over the wire. For internal use only.

void SetNode

(

NodePtr

_node

)

Set our containing node.

Parameters

[in]

_node

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

void SetPublication

(

PublicationPtr

_publication

)

Set the publication object for a particular publication.

Parameters

[in]

_publication

Pointer to the publication object to be set

void WaitForConnection

(

)

const

Block until a connection has been established with this publisher.

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