#include <rtt_rostopic_ros_publish_activity.hpp>

Inheritance diagram for rtt_roscomm::RosPublishActivity:

Public Types
typedef boost::shared_ptr < RosPublishActivity >	shared_ptr
Public Member Functions
void	addPublisher (RosPublisher *pub)
void	removePublisher (RosPublisher *pub)
	~RosPublishActivity ()
Static Public Member Functions
static shared_ptr	Instance ()
Private Types
typedef Publishers::iterator	iterator
typedef std::set< RosPublisher * >	Publishers
typedef boost::weak_ptr < RosPublishActivity >	weak_ptr
Private Member Functions
void	loop ()
	RosPublishActivity (const std::string &name)
Private Attributes
Publishers	publishers
RTT::os::Mutex	publishers_lock
Static Private Attributes
static weak_ptr	ros_pub_act
	This pointer may not be refcounted since it would prevent cleanup.

Detailed Description

A process wide thread that handles all publishing of ROS topics of the current process. There is no strong reason why only one publisher should exist, in later implementations, one publisher thread per channel may exist as well. See the usage recommendations for Instance()

Definition at line 66 of file rtt_rostopic_ros_publish_activity.hpp.

Member Typedef Documentation

typedef Publishers::iterator rtt_roscomm::RosPublishActivity::iterator [private]

Definition at line 79 of file rtt_rostopic_ros_publish_activity.hpp.

typedef std::set< RosPublisher* > rtt_roscomm::RosPublishActivity::Publishers [private]

A set keeping track of all publishers in the current process. It must be guarded by the mutex since insertion/removal happens concurrently.

Definition at line 78 of file rtt_rostopic_ros_publish_activity.hpp.

typedef boost::shared_ptr<RosPublishActivity> rtt_roscomm::RosPublishActivity::shared_ptr

Reimplemented from RTT::base::ActivityInterface.

Definition at line 69 of file rtt_rostopic_ros_publish_activity.hpp.

typedef boost::weak_ptr<RosPublishActivity> rtt_roscomm::RosPublishActivity::weak_ptr [private]

Definition at line 71 of file rtt_rostopic_ros_publish_activity.hpp.

Constructor & Destructor Documentation

rtt_roscomm::RosPublishActivity::RosPublishActivity ( const std::string & name ) [private]

Definition at line 38 of file rtt_rostopic_ros_publish_activity.cpp.

rtt_roscomm::RosPublishActivity::~RosPublishActivity ( )

Definition at line 72 of file rtt_rostopic_ros_publish_activity.cpp.

Member Function Documentation

void rtt_roscomm::RosPublishActivity::addPublisher ( RosPublisher * pub )

Definition at line 62 of file rtt_rostopic_ros_publish_activity.cpp.

RosPublishActivity::shared_ptr rtt_roscomm::RosPublishActivity::Instance ( ) [static]

Returns the single instance of the RosPublisher. This function is not thread-safe when it creates the RosPublisher object. Therefor, it is advised to cache the object which Intance() returns such that, in the unlikely event that two publishers exist, you consistently keep using the same instance, which is fine then.

Definition at line 52 of file rtt_rostopic_ros_publish_activity.cpp.

void rtt_roscomm::RosPublishActivity::loop ( ) [private, virtual]

Reimplemented from RTT::Activity.

Definition at line 45 of file rtt_rostopic_ros_publish_activity.cpp.

void rtt_roscomm::RosPublishActivity::removePublisher ( RosPublisher * pub )

Definition at line 67 of file rtt_rostopic_ros_publish_activity.cpp.