TopicManager Class Reference

Manages topics and their subscriptions. More...

#include <transport/transport.hh>

Inherits SingletonT< TopicManager >.

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...
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

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

A map of string->list of Node pointers.

Member Function Documentation

void AddNode

(

NodePtr

_node

)

Add a node to the manager.

Parameters

[in,out]

_node

The node to be added

void AddNodeToProcess

(

NodePtr

_ptr

)

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

Parameters

[in]

_ptr

Node to process.

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 TopicManager::FindPublication(), GZ_ASSERT, gzthrow, SingletonT< ConnectionManager >::Instance(), NULL, and TopicManager::UpdatePublications().

void ClearBuffers

(

)

Clear all buffers.

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

void ConnectSubscribers

(

const std::string &

_topic

)

Connect all subscribers on a topic to known publishers.

Parameters

[in]

_topic

The topic to be connected

void ConnectSubToPub

(

const msgs::Publish &

_pub

)

Connect a local Subscriber to a remote Publisher.

Parameters

[in]

_pub

The publish object to use

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

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

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)

Referenced by TopicManager::Advertise().

void Fini

(

)

Finalize the manager.

void GetTopicNamespaces

(

std::list< std::string > &

_namespaces

)

Get all the topic namespaces.

Parameters

[out]

_namespaces

The list of namespaces will be written here

void Init

(

)

Initialize the manager.

static TopicManager * Instance ( )

inlinestaticinherited

Get an instance of the singleton.

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

void PauseIncoming

(

bool

_pause

)

Pause or unpause processing of incoming messages.

Parameters

[in]

_pause

If true pause processing; otherwse unpause

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

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.

void RegisterTopicNamespace

(

const std::string &

_name

)

Register a new topic namespace.

Parameters

[in]

_name

The name of the new namespace

void RemoveNode

(

unsigned int

_id

)

Remove a node by its id.

Parameters

[in]

_id

The ID of the node to be removed

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

void Unadvertise

(

const std::string &

_topic

)

Unadvertise a topic.

Parameters

[in]

_topic

The topic to be unadvertised

void Unadvertise

(

PublisherPtr

_pub

)

Unadvertise a publisher.

Parameters

[in]

_pub

Publisher to unadvertise.

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.

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

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

Referenced by TopicManager::Advertise().

---

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

• TopicManager.hh