A Publication manages an advertised topic. More...

#include <publication.h>

Public Member Functions
void	addCallbacks (const SubscriberCallbacksPtr &callbacks)
void	addSubscriberLink (const SubscriberLinkPtr &sub_link)
	Adds a publisher to our list.
void	drop ()
	Drop this publication. Disconnects all publishers.
bool	enqueueMessage (const SerializedMessage &m)
	queues an outgoing message into each of the publishers, so that it gets sent to every subscriber
const std::string &	getDataType () const
	Returns the data type of the message published by this publication.
void	getInfo (XmlRpc::XmlRpcValue &info)
	Get the accumulated info for this publication.
size_t	getMaxQueue ()
	returns the max queue size of this publication
const std::string &	getMD5Sum () const
	Returns the md5sum of the message published by this publication.
const std::string &	getMessageDefinition () const
	Returns the full definition of the message published by this publication.
const std::string &	getName () const
	Returns the name of the topic this publication broadcasts to.
size_t	getNumCallbacks ()
uint32_t	getNumSubscribers ()
	Returns the number of subscribers this publication has.
void	getPublishTypes (bool &serialize, bool &nocopy, const std::type_info &ti)
uint32_t	getSequence ()
	Returns the sequence number.
XmlRpc::XmlRpcValue	getStats ()
	Get the accumulated stats for this publication.
bool	hasSubscribers ()
	Returns whether or not this publication has any subscribers.
uint32_t	incrementSequence ()
bool	isDropped ()
	Returns if this publication is valid or not.
bool	isLatched ()
bool	isLatching ()
void	processPublishQueue ()
	Publication (const std::string &name, const std::string &datatype, const std::string &_md5sum, const std::string &message_definition, size_t max_queue, bool latch, bool has_header)
void	publish (SerializedMessage &m)
void	removeCallbacks (const SubscriberCallbacksPtr &callbacks)
void	removeSubscriberLink (const SubscriberLinkPtr &sub_link)
	Removes a publisher from our list (deleting it if it's the last reference)
bool	validateHeader (const Header &h, std::string &error_msg)
	~Publication ()
Private Types
typedef std::vector < SubscriberCallbacksPtr >	V_Callback
typedef std::vector < SerializedMessage >	V_SerializedMessage
Private Member Functions
void	dropAllConnections ()
void	peerConnect (const SubscriberLinkPtr &sub_link)
	Called when a new peer has connected. Calls the connection callback.
void	peerDisconnect (const SubscriberLinkPtr &sub_link)
	Called when a peer has disconnected. Calls the disconnection callback.
Private Attributes
V_Callback	callbacks_
boost::mutex	callbacks_mutex_
std::string	datatype_
bool	dropped_
bool	has_header_
uint32_t	intraprocess_subscriber_count_
SerializedMessage	last_message_
bool	latch_
size_t	max_queue_
std::string	md5sum_
std::string	message_definition_
std::string	name_
V_SerializedMessage	publish_queue_
boost::mutex	publish_queue_mutex_
uint32_t	seq_
boost::mutex	seq_mutex_
V_SubscriberLink	subscriber_links_
boost::mutex	subscriber_links_mutex_

Detailed Description

A Publication manages an advertised topic.

Definition at line 53 of file publication.h.

Member Typedef Documentation

typedef std::vector<SubscriberCallbacksPtr> ros::Publication::V_Callback [private]

Definition at line 169 of file publication.h.

typedef std::vector<SerializedMessage> ros::Publication::V_SerializedMessage [private]

Definition at line 185 of file publication.h.

Constructor & Destructor Documentation

ros::Publication::Publication	(	const std::string &	name,
		const std::string &	datatype,
		const std::string &	_md5sum,
		const std::string &	message_definition,
		size_t	max_queue,
		bool	latch,
		bool	has_header
	)

Definition at line 76 of file publication.cpp.

ros::Publication::~Publication ( )

Definition at line 96 of file publication.cpp.

Member Function Documentation

void ros::Publication::addCallbacks ( const SubscriberCallbacksPtr & callbacks )

Definition at line 101 of file publication.cpp.

void ros::Publication::addSubscriberLink ( const SubscriberLinkPtr & sub_link )

Adds a publisher to our list.

Definition at line 196 of file publication.cpp.

void ros::Publication::drop ( )

Drop this publication. Disconnects all publishers.

Definition at line 138 of file publication.cpp.

void ros::Publication::dropAllConnections ( ) [private]

Definition at line 307 of file publication.cpp.

bool ros::Publication::enqueueMessage ( const SerializedMessage & m )

queues an outgoing message into each of the publishers, so that it gets sent to every subscriber

Definition at line 157 of file publication.cpp.

const std::string& ros::Publication::getDataType ( ) const [inline]

Returns the data type of the message published by this publication.

Definition at line 104 of file publication.h.

void ros::Publication::getInfo ( XmlRpc::XmlRpcValue & info )

Get the accumulated info for this publication.

Definition at line 290 of file publication.cpp.

size_t ros::Publication::getMaxQueue ( ) [inline]

returns the max queue size of this publication

Definition at line 76 of file publication.h.

const std::string& ros::Publication::getMD5Sum ( ) const [inline]

Returns the md5sum of the message published by this publication.

Definition at line 108 of file publication.h.

const std::string& ros::Publication::getMessageDefinition ( ) const [inline]

Returns the full definition of the message published by this publication.

Definition at line 112 of file publication.h.

const std::string& ros::Publication::getName ( ) const [inline]

Returns the name of the topic this publication broadcasts to.

Definition at line 100 of file publication.h.

size_t ros::Publication::getNumCallbacks ( )

Definition at line 356 of file publication.cpp.

uint32_t ros::Publication::getNumSubscribers ( )

Returns the number of subscribers this publication has.

Definition at line 371 of file publication.cpp.

void ros::Publication::getPublishTypes	(	bool &	serialize,
		bool &	nocopy,
		const std::type_info &	ti
	)

Definition at line 377 of file publication.cpp.

uint32_t ros::Publication::getSequence ( ) [inline]

Returns the sequence number.

Definition at line 116 of file publication.h.

XmlRpc::XmlRpcValue ros::Publication::getStats ( )

Get the accumulated stats for this publication.

Definition at line 255 of file publication.cpp.

bool ros::Publication::hasSubscribers ( )

Returns whether or not this publication has any subscribers.

Definition at line 398 of file publication.cpp.

uint32_t ros::Publication::incrementSequence ( )

Definition at line 362 of file publication.cpp.

bool ros::Publication::isDropped ( ) [inline]

Returns if this publication is valid or not.

Definition at line 136 of file publication.h.

bool ros::Publication::isLatched ( ) [inline]

Definition at line 118 of file publication.h.

bool ros::Publication::isLatching ( ) [inline]

Definition at line 142 of file publication.h.

void ros::Publication::peerConnect ( const SubscriberLinkPtr & sub_link ) [private]

Called when a new peer has connected. Calls the connection callback.

Definition at line 326 of file publication.cpp.

void ros::Publication::peerDisconnect ( const SubscriberLinkPtr & sub_link ) [private]

Called when a peer has disconnected. Calls the disconnection callback.

Definition at line 341 of file publication.cpp.

void ros::Publication::processPublishQueue ( )

Definition at line 430 of file publication.cpp.

void ros::Publication::publish ( SerializedMessage & m )

Definition at line 404 of file publication.cpp.

void ros::Publication::removeCallbacks ( const SubscriberCallbacksPtr & callbacks )

Definition at line 122 of file publication.cpp.

void ros::Publication::removeSubscriberLink ( const SubscriberLinkPtr & sub_link )

Removes a publisher from our list (deleting it if it's the last reference)

Definition at line 225 of file publication.cpp.

bool ros::Publication::validateHeader	(	const Header &	h,
		std::string &	error_msg
	)

Definition at line 458 of file publication.cpp.

Member Data Documentation

V_Callback ros::Publication::callbacks_ [private]

Definition at line 170 of file publication.h.

boost::mutex ros::Publication::callbacks_mutex_ [private]

Definition at line 171 of file publication.h.

std::string ros::Publication::datatype_ [private]

Definition at line 162 of file publication.h.

bool ros::Publication::dropped_ [private]

Definition at line 177 of file publication.h.

bool ros::Publication::has_header_ [private]

Definition at line 180 of file publication.h.

uint32_t ros::Publication::intraprocess_subscriber_count_ [private]

Definition at line 183 of file publication.h.

SerializedMessage ros::Publication::last_message_ [private]

Definition at line 181 of file publication.h.

bool ros::Publication::latch_ [private]

Definition at line 179 of file publication.h.

size_t ros::Publication::max_queue_ [private]

Definition at line 165 of file publication.h.

std::string ros::Publication::md5sum_ [private]

Definition at line 163 of file publication.h.

std::string ros::Publication::message_definition_ [private]

Definition at line 164 of file publication.h.

std::string ros::Publication::name_ [private]

Definition at line 161 of file publication.h.

V_SerializedMessage ros::Publication::publish_queue_ [private]

Definition at line 186 of file publication.h.

boost::mutex ros::Publication::publish_queue_mutex_ [private]

Definition at line 187 of file publication.h.

uint32_t ros::Publication::seq_ [private]

Definition at line 166 of file publication.h.

boost::mutex ros::Publication::seq_mutex_ [private]

Definition at line 167 of file publication.h.

V_SubscriberLink ros::Publication::subscriber_links_ [private]

Definition at line 173 of file publication.h.

boost::mutex ros::Publication::subscriber_links_mutex_ [private]

Definition at line 175 of file publication.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation