Forms a bond to monitor another process. More...

#include <bond.h>

Public Member Functions
	Bond (const std::string &topic, const std::string &id, boost::function< void(void)> on_broken=boost::function< void(void)>(), boost::function< void(void)> on_formed=boost::function< void(void)>())
	Constructs a bond, but does not connect. More...

void	breakBond ()
	Breaks the bond, notifying the other process. More...

double	getConnectTimeout () const

double	getDisconnectTimeout () const

double	getHeartbeatPeriod () const

double	getHeartbeatTimeout () const

std::string	getId ()

std::string	getInstanceId ()

std::string	getTopic ()

bool	isBroken ()
	Indicates if the bond is broken. More...

void	setBrokenCallback (boost::function< void(void)> on_broken)
	Sets the broken callback. More...

void	setCallbackQueue (ros::CallbackQueueInterface *queue)

void	setConnectTimeout (double dur)

void	setDisconnectTimeout (double dur)

void	setFormedCallback (boost::function< void(void)> on_formed)
	Sets the formed callback. More...

void	setHeartbeatPeriod (double dur)

void	setHeartbeatTimeout (double dur)

void	start ()
	Starts the bond and connects to the sister process. More...

bool	waitUntilBroken (ros::Duration timeout=ros::Duration(-1))
	Blocks until the bond is broken for at most 'duration'. More...

bool	waitUntilBroken (ros::WallDuration timeout=ros::WallDuration(-1))
	Blocks until the bond is broken for at most 'duration'. More...

bool	waitUntilFormed (ros::Duration timeout=ros::Duration(-1))
	Blocks until the bond is formed for at most 'duration'. More...

bool	waitUntilFormed (ros::WallDuration timeout=ros::WallDuration(-1))
	Blocks until the bond is formed for at most 'duration'. More...

	~Bond ()
	Destructs the object, breaking the bond if it is still formed. More...

Private Member Functions
void	bondStatusCB (const bond::Status::ConstPtr &msg)

void	doPublishing (const ros::SteadyTimerEvent &e)

void	flushPendingCallbacks ()

void	onConnectTimeout ()

void	onDisconnectTimeout ()

void	onHeartbeatTimeout ()

void	publishStatus (bool active)

Private Attributes
boost::scoped_ptr< BondSM >	bondsm_

boost::condition	condition_

double	connect_timeout_

Timeout	connect_timer_

double	disconnect_timeout_

Timeout	disconnect_timer_

double	heartbeat_period_

double	heartbeat_timeout_

Timeout	heartbeat_timer_

std::string	id_

std::string	instance_id_

boost::mutex	mutex_

ros::NodeHandle	nh_

boost::function< void(void)>	on_broken_

boost::function< void(void)>	on_formed_

std::vector< boost::function< void(void)> >	pending_callbacks_

ros::Publisher	pub_

ros::SteadyTimer	publishingTimer_

std::string	sister_instance_id_

bool	sisterDiedFirst_

BondSMContext	sm_

bool	started_

ros::Subscriber	sub_

std::string	topic_

Friends
class	::BondSM

Detailed Description

Forms a bond to monitor another process.

The bond::Bond class implements a bond, allowing you to monitor another process and be notified when it dies. In turn, it will be notified when you die.

Definition at line 68 of file bond.h.

Constructor & Destructor Documentation

◆ Bond()

bond::Bond::Bond	(	const std::string &	topic,
		const std::string &	id,
		boost::function< void(void)>	on_broken = `boost::function<void(void)>()`,
		boost::function< void(void)>	on_formed = `boost::function<void(void)>()`
	)

Constructs a bond, but does not connect.

Parameters

topic	The topic used to exchange the bond status messages.
id	The ID of the bond, which should match the ID used on the sister's end.
on_broken	callback that will be called when the bond is broken.
on_formed	callback that will be called when the bond is formed.

Definition at line 67 of file bond.cpp.

◆ ~Bond()

bond::Bond::~Bond ( )

Destructs the object, breaking the bond if it is still formed.

Definition at line 92 of file bond.cpp.

Member Function Documentation

◆ bondStatusCB()

void bond::Bond::bondStatusCB ( const bond::Status::ConstPtr & msg )

private

Definition at line 309 of file bond.cpp.

◆ breakBond()

void bond::Bond::breakBond ( )

Breaks the bond, notifying the other process.

Definition at line 262 of file bond.cpp.

◆ doPublishing()

void bond::Bond::doPublishing ( const ros::SteadyTimerEvent & e )

private

Definition at line 342 of file bond.cpp.

◆ flushPendingCallbacks()

void bond::Bond::flushPendingCallbacks ( )

private

Definition at line 368 of file bond.cpp.

◆ getConnectTimeout()

double bond::Bond::getConnectTimeout ( ) const

inline

Definition at line 87 of file bond.h.

◆ getDisconnectTimeout()

double bond::Bond::getDisconnectTimeout ( ) const

inline

Definition at line 89 of file bond.h.

◆ getHeartbeatPeriod()

double bond::Bond::getHeartbeatPeriod ( ) const

inline

Definition at line 93 of file bond.h.

◆ getHeartbeatTimeout()

double bond::Bond::getHeartbeatTimeout ( ) const

inline

Definition at line 91 of file bond.h.

◆ getId()

std::string bond::Bond::getId ( )

inline

Definition at line 148 of file bond.h.

◆ getInstanceId()

std::string bond::Bond::getInstanceId ( )

inline

Definition at line 149 of file bond.h.

◆ getTopic()

std::string bond::Bond::getTopic ( )

inline

Definition at line 147 of file bond.h.

◆ isBroken()

bool bond::Bond::isBroken ( )

Indicates if the bond is broken.

Returns: true iff the bond has been broken.

Definition at line 256 of file bond.cpp.

◆ onConnectTimeout()

void bond::Bond::onConnectTimeout ( )

private

Definition at line 275 of file bond.cpp.

◆ onDisconnectTimeout()

void bond::Bond::onDisconnectTimeout ( )

private

Definition at line 300 of file bond.cpp.

◆ onHeartbeatTimeout()

void bond::Bond::onHeartbeatTimeout ( )

private

Definition at line 283 of file bond.cpp.

◆ publishStatus()

void bond::Bond::publishStatus ( bool active )

private

Definition at line 355 of file bond.cpp.

◆ setBrokenCallback()

void bond::Bond::setBrokenCallback ( boost::function< void(void)> on_broken )

Sets the broken callback.

Definition at line 192 of file bond.cpp.

◆ setCallbackQueue()

void bond::Bond::setCallbackQueue ( ros::CallbackQueueInterface * queue )

Definition at line 163 of file bond.cpp.

◆ setConnectTimeout()

void bond::Bond::setConnectTimeout ( double dur )

Definition at line 120 of file bond.cpp.

◆ setDisconnectTimeout()

void bond::Bond::setDisconnectTimeout ( double dur )

Definition at line 131 of file bond.cpp.

◆ setFormedCallback()

void bond::Bond::setFormedCallback ( boost::function< void(void)> on_formed )

Sets the formed callback.

Definition at line 186 of file bond.cpp.

◆ setHeartbeatPeriod()

void bond::Bond::setHeartbeatPeriod ( double dur )

Definition at line 153 of file bond.cpp.

◆ setHeartbeatTimeout()

void bond::Bond::setHeartbeatTimeout ( double dur )

Definition at line 142 of file bond.cpp.

◆ start()

void bond::Bond::start ( )

Starts the bond and connects to the sister process.

Definition at line 174 of file bond.cpp.

◆ waitUntilBroken() [1/2]

bool bond::Bond::waitUntilBroken ( ros::Duration timeout = ros::Duration(-1) )

Blocks until the bond is broken for at most 'duration'.

Parameters

timeout Maximum duration to wait. If -1 then this call will not timeout.

Returns: true iff the bond has been broken, even if it has never been formed.

Definition at line 227 of file bond.cpp.

◆ waitUntilBroken() [2/2]

bool bond::Bond::waitUntilBroken ( ros::WallDuration timeout = ros::WallDuration(-1) )

Blocks until the bond is broken for at most 'duration'.

Parameters

timeout Maximum duration to wait. If -1 then this call will not timeout.

Returns: true iff the bond has been broken, even if it has never been formed.

Definition at line 231 of file bond.cpp.

◆ waitUntilFormed() [1/2]

bool bond::Bond::waitUntilFormed ( ros::Duration timeout = ros::Duration(-1) )

Blocks until the bond is formed for at most 'duration'.

Parameters

timeout Maximum duration to wait. If -1 then this call will not timeout.

Returns: true iff the bond has been formed.

Definition at line 198 of file bond.cpp.

◆ waitUntilFormed() [2/2]

bool bond::Bond::waitUntilFormed ( ros::WallDuration timeout = ros::WallDuration(-1) )

Blocks until the bond is formed for at most 'duration'.

Parameters

timeout Maximum duration to wait. If -1 then this call will not timeout.

Returns: true iff the bond has been formed.

Definition at line 202 of file bond.cpp.

Friends And Related Function Documentation

◆ ::BondSM

friend class ::BondSM

friend

Definition at line 152 of file bond.h.

Member Data Documentation

◆ bondsm_

boost::scoped_ptr<BondSM> bond::Bond::bondsm_

private

Definition at line 155 of file bond.h.

◆ condition_

boost::condition bond::Bond::condition_

private

Definition at line 168 of file bond.h.

◆ connect_timeout_

double bond::Bond::connect_timeout_

private

Definition at line 170 of file bond.h.

◆ connect_timer_

Timeout bond::Bond::connect_timer_

private

Definition at line 175 of file bond.h.

◆ disconnect_timeout_

double bond::Bond::disconnect_timeout_

private

Definition at line 172 of file bond.h.

◆ disconnect_timer_

Timeout bond::Bond::disconnect_timer_

private

Definition at line 177 of file bond.h.

◆ heartbeat_period_

double bond::Bond::heartbeat_period_

private

Definition at line 173 of file bond.h.

◆ heartbeat_timeout_

double bond::Bond::heartbeat_timeout_

private

Definition at line 171 of file bond.h.

◆ heartbeat_timer_

Timeout bond::Bond::heartbeat_timer_

private

Definition at line 176 of file bond.h.

◆ id_

std::string bond::Bond::id_

private

Definition at line 159 of file bond.h.

◆ instance_id_

std::string bond::Bond::instance_id_

private

Definition at line 160 of file bond.h.

◆ mutex_

boost::mutex bond::Bond::mutex_

private

Definition at line 167 of file bond.h.

◆ nh_

ros::NodeHandle bond::Bond::nh_

private

Definition at line 154 of file bond.h.

◆ on_broken_

boost::function<void(void)> bond::Bond::on_broken_

private

Definition at line 162 of file bond.h.

◆ on_formed_

boost::function<void(void)> bond::Bond::on_formed_

private

Definition at line 163 of file bond.h.

◆ pending_callbacks_

std::vector<boost::function<void(void)> > bond::Bond::pending_callbacks_

private

Definition at line 192 of file bond.h.

◆ pub_

ros::Publisher bond::Bond::pub_

private

Definition at line 180 of file bond.h.

◆ publishingTimer_

ros::SteadyTimer bond::Bond::publishingTimer_

private

Definition at line 181 of file bond.h.

◆ sister_instance_id_

std::string bond::Bond::sister_instance_id_

private

Definition at line 161 of file bond.h.

◆ sisterDiedFirst_

bool bond::Bond::sisterDiedFirst_

private

Definition at line 164 of file bond.h.

◆ sm_

BondSMContext bond::Bond::sm_

private

Definition at line 156 of file bond.h.

◆ started_

bool bond::Bond::started_

private

Definition at line 165 of file bond.h.

◆ sub_

ros::Subscriber bond::Bond::sub_

private

Definition at line 179 of file bond.h.

◆ topic_

std::string bond::Bond::topic_

private

Definition at line 158 of file bond.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Bond()

◆ ~Bond()

Member Function Documentation

◆ bondStatusCB()

◆ breakBond()

◆ doPublishing()

◆ flushPendingCallbacks()

◆ getConnectTimeout()

◆ getDisconnectTimeout()

◆ getHeartbeatPeriod()

◆ getHeartbeatTimeout()

◆ getId()

◆ getInstanceId()

◆ getTopic()

◆ isBroken()

◆ onConnectTimeout()

◆ onDisconnectTimeout()

◆ onHeartbeatTimeout()

◆ publishStatus()

◆ setBrokenCallback()

◆ setCallbackQueue()

◆ setConnectTimeout()

◆ setDisconnectTimeout()

◆ setFormedCallback()

◆ setHeartbeatPeriod()

◆ setHeartbeatTimeout()

◆ start()

◆ waitUntilBroken() [1/2]

◆ waitUntilBroken() [2/2]

◆ waitUntilFormed() [1/2]

◆ waitUntilFormed() [2/2]

Friends And Related Function Documentation

◆ ::BondSM

Member Data Documentation

◆ bondsm_

◆ condition_

◆ connect_timeout_

◆ connect_timer_

◆ disconnect_timeout_

◆ disconnect_timer_

◆ heartbeat_period_

◆ heartbeat_timeout_

◆ heartbeat_timer_

◆ id_

◆ instance_id_

◆ mutex_

◆ nh_

◆ on_broken_

◆ on_formed_

◆ pending_callbacks_

◆ pub_

◆ publishingTimer_

◆ sister_instance_id_

◆ sisterDiedFirst_

◆ sm_

◆ started_

◆ sub_

◆ topic_