Manages topics and their subscriptions. More...

#include <transport/transport.hh>

Inheritance diagram for gazebo::transport::TopicManager:

Public Types
typedef std::map< std::string, std::list< NodePtr > >	SubNodeMap
	A map of string->list of Node pointers.

Public Member Functions
void	AddNode (NodePtr _node)
	Add a node to the manager.

template<typename M >
PublisherPtr	Advertise (const std::string &_topic, unsigned int _queueLimit, double _hzRate)
	Advertise on a topic.

void	ClearBuffers ()
	Clear all buffers.

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)
	Disconnect all local subscribers from a remote publisher.

PublicationPtr	FindPublication (const std::string &_topic)
	Find a publication object by topic.

void	Fini ()
	Finalize the manager.

std::map< std::string, std::list< std::string > >	GetAdvertisedTopics () const GAZEBO_DEPRECATED
	Get a list of all the topics.

void	GetTopicNamespaces (std::list< std::string > &_namespaces)
	Get all the topic namespaces.

void	Init ()
	Initialize the manager.

bool	IsAdvertised (const std::string &_topic)
	Has the topic been advertised?

void	PauseIncoming (bool _pause)
	Pause or unpause processing of incoming messages.

void	ProcessNodes (bool _onlyOut=false)
	Process all nodes under management.

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)
	Remove a node by its id.

SubscriberPtr	Subscribe (const SubscribeOptions &_options)
	Subscribe to a topic.

void	Unadvertise (const std::string &_topic)
	Unadvertise 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

A map of string->list of Node pointers.

Member Function Documentation

void gazebo::transport::TopicManager::AddNode ( NodePtr _node )

Add a node to the manager.

Parameters

[in,out] _node The node to be added

template<typename M >

PublisherPtr gazebo::transport::TopicManager::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 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 ( )

Clear all buffers.

void gazebo::transport::TopicManager::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 gazebo::transport::TopicManager::ConnectSubscribers ( const std::string & _topic )

Connect all subscribers on a topic to known publishers.

Parameters

[in] _topic The topic to be connected

void gazebo::transport::TopicManager::ConnectSubToPub ( const msgs::Publish & _pub )

Connect a local Subscriber to a remote Publisher.

Parameters

[in] _pub The publish object to use

void gazebo::transport::TopicManager::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 gazebo::transport::TopicManager::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 gazebo::transport::TopicManager::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 Advertise().

void gazebo::transport::TopicManager::Fini ( )

Finalize the manager.

std::map<std::string, std::list<std::string> > gazebo::transport::TopicManager::GetAdvertisedTopics ( ) const

Get a list of all the topics.

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

See Also: transport::GetAdvertisedTopics

void gazebo::transport::TopicManager::GetTopicNamespaces ( std::list< std::string > & _namespaces )

Get all the topic namespaces.

Parameters

[out] _namespaces The list of namespaces will be written here

void gazebo::transport::TopicManager::Init ( )

Initialize the manager.

bool gazebo::transport::TopicManager::IsAdvertised ( const std::string & _topic )

Has the topic been advertised?

Parameters

[in] _topic The name of the topic to check

Returns: true if the topic has been advertised, false otherwise

void gazebo::transport::TopicManager::PauseIncoming ( bool _pause )

Pause or unpause processing of incoming messages.

Parameters

[in] _pause If true pause processing; otherwse unpause

void gazebo::transport::TopicManager::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 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.

Parameters

[in] _name The name of the new namespace

void gazebo::transport::TopicManager::RemoveNode ( unsigned int _id )

Remove a node by its id.

Parameters

[in] _id The ID of the node to be removed

SubscriberPtr gazebo::transport::TopicManager::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 gazebo::transport::TopicManager::Unadvertise ( const std::string & _topic )

Unadvertise a topic.

Parameters

[in] _topic The topic to be unadvertised

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

Parameters

[in]	_topic	The topic to unsubscribe from
[in]	_sub	The node to unsubscribe

PublicationPtr gazebo::transport::TopicManager::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 Advertise().

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

TopicManager.hh

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Member Function Documentation