gazebo::transport::TopicManager Class Reference

Manages topics and their subscriptions. More...

#include <TopicManager.hh>

Inheritance diagram for gazebo::transport::TopicManager:

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

Public Member Functions
void	AddNode (NodePtr _node)
template<typename M >
PublisherPtr	Advertise (const std::string &_topic, unsigned int _queueLimit, bool _latch)
	Advertise on a topic.
void	ClearBuffers ()
void	ConnectPubToSub (const std::string &topic, const SubscriptionTransportPtr &sublink)
	Connection a local Publisher to a remote Subscriber.
void	ConnectSubscribers (const std::string &topic)
	Connect all subscribers on a topic to known publishers.
void	ConnectSubToPub (const msgs::Publish &_pub)
	Connect a local Subscriber to a remote Publisher.
void	DisconnectPubFromSub (const std::string &topic, const std::string &host, unsigned int port)
	Disconnect a local publisher from a remote subscriber.
void	DisconnectSubFromPub (const std::string &topic, const std::string &host, unsigned int port)
	Disconnection all local subscribers from a remote publisher.
PublicationPtr	FindPublication (const std::string &topic)
void	Fini ()
void	GetTopicNamespaces (std::list< std::string > &_namespaces)
	Get all the topic namespaces.
void	Init ()
bool	IsAdvertised (const std::string &_topic)
	Returns true if the topic has been advertised.
void	PauseIncoming (bool _pause)
void	ProcessNodes (bool _onlyOut=false)
void	Publish (const std::string &topic, const google::protobuf::Message &message, const boost::function< void()> &cb=NULL)
	Send a message.
void	RegisterTopicNamespace (const std::string &_name)
	Register a new topic namespace.
void	RemoveNode (unsigned int _id)
SubscriberPtr	Subscribe (const SubscribeOptions &options)
	Subscribe to a topic.
void	Unadvertise (const std::string &topic)
	Stop advertising on a topic.
void	Unsubscribe (const std::string &_topic, const NodePtr &_sub)
	Unsubscribe from a topic.
PublicationPtr	UpdatePublications (const std::string &topic, const std::string &msgType)
	Update our list of advertised topics.

Additional Inherited Members
Static Public Member Functions inherited from SingletonT< T >
static T *	Instance ()
	Get an instance of the singleton.
Protected Member Functions inherited from SingletonT< T >
	SingletonT ()
	Constructor.
virtual	~SingletonT ()
	Destructor.

Detailed Description

Manages topics and their subscriptions.

Member Typedef Documentation

typedef std::map<std::string, std::list<NodePtr> > gazebo::transport::TopicManager::SubNodeMap

Member Function Documentation

void gazebo::transport::TopicManager::AddNode

(

NodePtr

_node

)

template<typename M >

PublisherPtr gazebo::transport::TopicManager::Advertise ( const std::string &  _topic, unsigned int  _queueLimit, bool  _latch  )

inline

Advertise on a topic.

Parameters

topic

The name of the topic

References gazebo::transport::Publication::AddPublisher(), gazebo::transport::Publication::AddSubscription(), FindPublication(), gazebo::transport::Publication::GetLocallyAdvertised(), gzthrow, SingletonT< T >::Instance(), NULL, gazebo::transport::Publication::SetLocallyAdvertised(), and UpdatePublications().

void gazebo::transport::TopicManager::ClearBuffers

(

)

void gazebo::transport::TopicManager::ConnectPubToSub	(	const std::string &	topic,
		const SubscriptionTransportPtr &	sublink
	)

Connection a local Publisher to a remote Subscriber.

void gazebo::transport::TopicManager::ConnectSubscribers

(

const std::string &

topic

)

Connect all subscribers on a topic to known publishers.

void gazebo::transport::TopicManager::ConnectSubToPub

(

const msgs::Publish &

_pub

)

Connect a local Subscriber to a remote Publisher.

void gazebo::transport::TopicManager::DisconnectPubFromSub	(	const std::string &	topic,
		const std::string &	host,
		unsigned int	port
	)

Disconnect a local publisher from a remote subscriber.

void gazebo::transport::TopicManager::DisconnectSubFromPub	(	const std::string &	topic,
		const std::string &	host,
		unsigned int	port
	)

Disconnection all local subscribers from a remote publisher.

PublicationPtr gazebo::transport::TopicManager::FindPublication

(

const std::string &

topic

)

Referenced by Advertise().

void gazebo::transport::TopicManager::Fini

(

)

void gazebo::transport::TopicManager::GetTopicNamespaces

(

std::list< std::string > &

_namespaces

)

Get all the topic namespaces.

void gazebo::transport::TopicManager::Init

(

)

bool gazebo::transport::TopicManager::IsAdvertised

(

const std::string &

_topic

)

Returns true if the topic has been advertised.

Parameters

_topic

The name of the topic to check

Returns

True if the topic has been advertised

void gazebo::transport::TopicManager::PauseIncoming

(

bool

_pause

)

void gazebo::transport::TopicManager::ProcessNodes

(

bool

_onlyOut = false

)

Parameters

_onlyOut

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

void gazebo::transport::TopicManager::Publish	(	const std::string &	topic,
		const google::protobuf::Message &	message,
		const boost::function< void()> &	cb = NULL
	)

Send a message.

Use a Publisher instead of calling this function directly.

Parameters

topic	Name of the topic
message	The message to send.
cb	Callback, used when the publish is completed.

void gazebo::transport::TopicManager::RegisterTopicNamespace

(

const std::string &

_name

)

Register a new topic namespace.

void gazebo::transport::TopicManager::RemoveNode

(

unsigned int

_id

)

SubscriberPtr gazebo::transport::TopicManager::Subscribe

(

const SubscribeOptions &

options

)

Subscribe to a topic.

void gazebo::transport::TopicManager::Unadvertise

(

const std::string &

topic

)

Stop advertising on a topic.

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

Unsubscribe from a topic.

Use a Subscriber rather than calling this function directly

PublicationPtr gazebo::transport::TopicManager::UpdatePublications	(	const std::string &	topic,
		const std::string &	msgType
	)

Update our list of advertised topics.

Returns

True if the provided params define a new publisher.

Referenced by Advertise().

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

• TopicManager.hh