#include <topic_manager.h>

Public Member Functions
bool	advertise (const AdvertiseOptions &ops, const SubscriberCallbacksPtr &callbacks)
void	getAdvertisedTopics (V_string &topics)
	Get the list of topics advertised by this node.
size_t	getNumPublishers (const std::string &_topic)
	Return the number of publishers connected to this node on a particular topic.
size_t	getNumSubscribers (const std::string &_topic)
	Return the number of subscribers a node has for a particular topic:
size_t	getNumSubscriptions ()
void	getSubscribedTopics (V_string &topics)
	Get the list of topics subscribed to by this node.
void	incrementSequence (const std::string &_topic)
bool	isLatched (const std::string &topic)
PublicationPtr	lookupPublication (const std::string &topic)
	Lookup an advertised topic.
template<typename M >
void	publish (const std::string &topic, const M &message)
void	publish (const std::string &_topic, const boost::function< SerializedMessage(void)> &serfunc, SerializedMessage &m)
void	shutdown ()
void	start ()
bool	subscribe (const SubscribeOptions &ops)
	TopicManager ()
bool	unadvertise (const std::string &topic, const SubscriberCallbacksPtr &callbacks)
bool	unsubscribe (const std::string &_topic, const SubscriptionCallbackHelperPtr &helper)
	~TopicManager ()
Static Public Member Functions
static const TopicManagerPtr &	instance ()
Private Member Functions
bool	addSubCallback (const SubscribeOptions &ops)
void	getBusInfo (XmlRpc::XmlRpcValue &info)
	Compute the info for the node's connectivity.
void	getBusInfoCallback (XmlRpc::XmlRpcValue &params, XmlRpc::XmlRpcValue &result)
void	getBusStats (XmlRpc::XmlRpcValue &stats)
	Compute the statistics for the node's connectivity.
void	getBusStatsCallback (XmlRpc::XmlRpcValue &params, XmlRpc::XmlRpcValue &result)
void	getPublications (XmlRpc::XmlRpcValue &publications)
	Return the list of advertised topics for the node.
void	getPublicationsCallback (XmlRpc::XmlRpcValue &params, XmlRpc::XmlRpcValue &result)
void	getSubscriptions (XmlRpc::XmlRpcValue &subscriptions)
	Return the list of subcriptions for the node.
void	getSubscriptionsCallback (XmlRpc::XmlRpcValue &params, XmlRpc::XmlRpcValue &result)
bool	isShuttingDown ()
bool	isTopicAdvertised (const std::string &topic)
PublicationPtr	lookupPublicationWithoutLock (const std::string &topic)
void	processPublishQueues ()
bool	pubUpdate (const std::string &topic, const std::vector< std::string > &pubs)
	Update local publisher lists.
void	pubUpdateCallback (XmlRpc::XmlRpcValue &params, XmlRpc::XmlRpcValue &result)
bool	registerSubscriber (const SubscriptionPtr &s, const std::string &datatype)
bool	requestTopic (const std::string &topic, XmlRpc::XmlRpcValue &protos, XmlRpc::XmlRpcValue &ret)
	Request a topic.
void	requestTopicCallback (XmlRpc::XmlRpcValue &params, XmlRpc::XmlRpcValue &result)
bool	unregisterPublisher (const std::string &topic)
bool	unregisterSubscriber (const std::string &topic)
Private Attributes
std::list< std::string >	advertised_topic_names_
boost::mutex	advertised_topic_names_mutex_
V_Publication	advertised_topics_
boost::recursive_mutex	advertised_topics_mutex_
ConnectionManagerPtr	connection_manager_
PollManagerPtr	poll_manager_
volatile bool	shutting_down_
boost::mutex	shutting_down_mutex_
boost::mutex	subs_mutex_
L_Subscription	subscriptions_
XMLRPCManagerPtr	xmlrpc_manager_

Detailed Description

Definition at line 63 of file topic_manager.h.

Constructor & Destructor Documentation

ros::TopicManager::TopicManager ( )

Definition at line 72 of file topic_manager.cpp.

ros::TopicManager::~TopicManager ( )

Definition at line 77 of file topic_manager.cpp.

Member Function Documentation

bool ros::TopicManager::addSubCallback ( const SubscribeOptions & ops ) [private]

if it finds a pre-existing subscription to the same topic and of the same message type, it appends the Functor to the callback vector for that subscription. otherwise, it returns false, indicating that a new subscription needs to be created.

Definition at line 204 of file topic_manager.cpp.

bool ros::TopicManager::advertise	(	const AdvertiseOptions &	ops,
		const SubscriberCallbacksPtr &	callbacks
	)

Definition at line 299 of file topic_manager.cpp.

void ros::TopicManager::getAdvertisedTopics ( V_string & topics )

Get the list of topics advertised by this node.

Parameters:

[out] topics The advertised topics

Definition at line 168 of file topic_manager.cpp.

void ros::TopicManager::getBusInfo ( XmlRpc::XmlRpcValue & info ) [private]

Compute the info for the node's connectivity.

This is the implementation of the xml-rpc getBusInfo function; it populates the XmlRpcValue object sent to it with various info about the node's connectivity.

Definition at line 938 of file topic_manager.cpp.

void ros::TopicManager::getBusInfoCallback	(	XmlRpc::XmlRpcValue &	params,
		XmlRpc::XmlRpcValue &	result
	)		`[private]`

Definition at line 1041 of file topic_manager.cpp.

void ros::TopicManager::getBusStats ( XmlRpc::XmlRpcValue & stats ) [private]

Compute the statistics for the node's connectivity.

This is the implementation of the xml-rpc getBusStats function; it populates the XmlRpcValue object sent to it with various statistics about the node's connectivity, bandwidth utilization, etc.

Definition at line 905 of file topic_manager.cpp.

void ros::TopicManager::getBusStatsCallback	(	XmlRpc::XmlRpcValue &	params,
		XmlRpc::XmlRpcValue &	result
	)		`[private]`

Definition at line 1032 of file topic_manager.cpp.

size_t ros::TopicManager::getNumPublishers ( const std::string & _topic )

Return the number of publishers connected to this node on a particular topic.

Parameters:

_topic the topic name to check

Returns:: the number of subscribers

Definition at line 884 of file topic_manager.cpp.

size_t ros::TopicManager::getNumSubscribers ( const std::string & _topic )

Return the number of subscribers a node has for a particular topic:

Parameters:

_topic The topic name to check

Returns:: number of subscribers

Definition at line 860 of file topic_manager.cpp.

size_t ros::TopicManager::getNumSubscriptions ( )

Definition at line 878 of file topic_manager.cpp.

void ros::TopicManager::getPublications ( XmlRpc::XmlRpcValue & publications ) [private]

Return the list of advertised topics for the node.

This is the implementation of the xml-rpc getPublications function; it populates the XmlRpcValue object sent to it with the list of advertised topics and their datatypes.

Definition at line 983 of file topic_manager.cpp.

void ros::TopicManager::getPublicationsCallback	(	XmlRpc::XmlRpcValue &	params,
		XmlRpc::XmlRpcValue &	result
	)		`[private]`

Definition at line 1059 of file topic_manager.cpp.

void ros::TopicManager::getSubscribedTopics ( V_string & topics )

Get the list of topics subscribed to by this node.

Parameters:

[out] The subscribed topics

Definition at line 178 of file topic_manager.cpp.

void ros::TopicManager::getSubscriptions ( XmlRpc::XmlRpcValue & subscriptions ) [private]

Return the list of subcriptions for the node.

This is the implementation of the xml-rpc getSubscriptions function; it populates the XmlRpcValue object sent to it with the list of subscribed topics and their datatypes.

Definition at line 963 of file topic_manager.cpp.

void ros::TopicManager::getSubscriptionsCallback	(	XmlRpc::XmlRpcValue &	params,
		XmlRpc::XmlRpcValue &	result
	)		`[private]`

Definition at line 1050 of file topic_manager.cpp.

void ros::TopicManager::incrementSequence ( const std::string & _topic )

Definition at line 763 of file topic_manager.cpp.

const TopicManagerPtr & ros::TopicManager::instance ( ) [static]

Definition at line 58 of file topic_manager.cpp.

bool ros::TopicManager::isLatched ( const std::string & topic )

Definition at line 772 of file topic_manager.cpp.

bool ros::TopicManager::isShuttingDown ( ) [inline, private]

Definition at line 219 of file topic_manager.h.

bool ros::TopicManager::isTopicAdvertised ( const std::string & topic ) [private]

Definition at line 468 of file topic_manager.cpp.

PublicationPtr ros::TopicManager::lookupPublication ( const std::string & topic )

Lookup an advertised topic.

This method iterates over advertised_topics, looking for one with name matching the given topic name. The advertised_topics_mutex is locked during this search. This method is only used internally.

Parameters:

topic The topic name to look for.

Returns:: Pointer to the matching Publication, NULL if none is found.

Definition at line 192 of file topic_manager.cpp.

PublicationPtr ros::TopicManager::lookupPublicationWithoutLock ( const std::string & topic ) [private]

Definition at line 783 of file topic_manager.cpp.

void ros::TopicManager::processPublishQueues ( ) [private]

Definition at line 155 of file topic_manager.cpp.

template<typename M >

void ros::TopicManager::publish	(	const std::string &	topic,
		const M &	message
	)		`[inline]`

Definition at line 122 of file topic_manager.h.

void ros::TopicManager::publish	(	const std::string &	_topic,
		const boost::function< SerializedMessage(void)> &	serfunc,
		SerializedMessage &	m
	)

Definition at line 705 of file topic_manager.cpp.

bool ros::TopicManager::pubUpdate	(	const std::string &	topic,
		const std::vector< std::string > &	pubs
	)		`[private]`

Update local publisher lists.

Use this method to update address information for publishers on a given topic.

Parameters:

topic	The topic of interest
pubs	The list of publishers to update.

Returns:: true on success, false otherwise.

Definition at line 556 of file topic_manager.cpp.

void ros::TopicManager::pubUpdateCallback	(	XmlRpc::XmlRpcValue &	params,
		XmlRpc::XmlRpcValue &	result
	)		`[private]`

Definition at line 1007 of file topic_manager.cpp.

bool ros::TopicManager::registerSubscriber	(	const SubscriptionPtr &	s,
		const std::string &	datatype
	)		`[private]`

Definition at line 481 of file topic_manager.cpp.

bool ros::TopicManager::requestTopic	(	const std::string &	topic,
		XmlRpc::XmlRpcValue &	protos,
		XmlRpc::XmlRpcValue &	ret
	)		`[private]`

Request a topic.

Negotiate a subscriber connection on a topic.

Parameters:

topic	The topic of interest.
protos	List of transport protocols, in preference order
ret	Return value

Returns:: true on success, false otherwise

Todo:: Consider making this private

Definition at line 594 of file topic_manager.cpp.

void ros::TopicManager::requestTopicCallback	(	XmlRpc::XmlRpcValue &	params,
		XmlRpc::XmlRpcValue &	result
	)		`[private]`

Definition at line 1024 of file topic_manager.cpp.

void ros::TopicManager::shutdown ( )

Definition at line 101 of file topic_manager.cpp.

void ros::TopicManager::start ( )

Definition at line 82 of file topic_manager.cpp.

bool ros::TopicManager::subscribe ( const SubscribeOptions & ops )

Definition at line 252 of file topic_manager.cpp.

bool ros::TopicManager::unadvertise	(	const std::string &	topic,
		const SubscriberCallbacksPtr &	callbacks
	)

Definition at line 408 of file topic_manager.cpp.

bool ros::TopicManager::unregisterPublisher ( const std::string & topic ) [private]

Definition at line 457 of file topic_manager.cpp.

bool ros::TopicManager::unregisterSubscriber ( const std::string & topic ) [private]

Definition at line 544 of file topic_manager.cpp.

bool ros::TopicManager::unsubscribe	(	const std::string &	_topic,
		const SubscriptionCallbackHelperPtr &	helper
	)

Definition at line 799 of file topic_manager.cpp.

Member Data Documentation

std::list<std::string> ros::TopicManager::advertised_topic_names_ [private]

Definition at line 226 of file topic_manager.h.

boost::mutex ros::TopicManager::advertised_topic_names_mutex_ [private]

Definition at line 227 of file topic_manager.h.

V_Publication ros::TopicManager::advertised_topics_ [private]

Definition at line 225 of file topic_manager.h.

boost::recursive_mutex ros::TopicManager::advertised_topics_mutex_ [private]

Definition at line 224 of file topic_manager.h.

ConnectionManagerPtr ros::TopicManager::connection_manager_ [private]

Definition at line 233 of file topic_manager.h.

PollManagerPtr ros::TopicManager::poll_manager_ [private]

Definition at line 232 of file topic_manager.h.

volatile bool ros::TopicManager::shutting_down_ [private]

Definition at line 229 of file topic_manager.h.

boost::mutex ros::TopicManager::shutting_down_mutex_ [private]

Definition at line 230 of file topic_manager.h.

boost::mutex ros::TopicManager::subs_mutex_ [private]

Definition at line 221 of file topic_manager.h.

L_Subscription ros::TopicManager::subscriptions_ [private]

Definition at line 222 of file topic_manager.h.

XMLRPCManagerPtr ros::TopicManager::xmlrpc_manager_ [private]

Definition at line 234 of file topic_manager.h.

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

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation