rosbridge_library.internal.publishers.MultiPublisher Class Reference

Public Member Functions
def	__init__ (self, topic, msg_type=None, latched_client_id=None, queue_size=100)
def	has_clients (self)
def	publish (self, msg)
def	register_client (self, client_id)
def	unregister (self)
def	unregister_client (self, client_id)
def	verify_type (self, msg_type)

Public Attributes
	clients
	latched_client_id
	listener
	msg_class
	publisher
	topic

Detailed Description

Keeps track of the clients that are using a particular publisher.

Provides an API to publish messages and register clients that are using
this publisher 

Definition at line 119 of file publishers.py.

Constructor & Destructor Documentation

def rosbridge_library.internal.publishers.MultiPublisher.__init__	(		self,
			topic,
			msg_type = None,
			latched_client_id = None,
			queue_size = 100
	)

Register a publisher on the specified topic.

Keyword arguments:
topic    -- the name of the topic to register the publisher to
msg_type -- (optional) the type to register the publisher as.  If not
provided, an attempt will be made to infer the topic type
latch    -- (optional) if a client requested this publisher to be latched,
    provide the client_id of that client here

Throws:
TopicNotEstablishedException -- if no msg_type was specified by the
caller and the topic is not yet established, so a topic type cannot
be inferred
TypeConflictException        -- if the msg_type was specified by the
caller and the topic is established, and the established type is
different to the user-specified msg_type

Definition at line 125 of file publishers.py.

Member Function Documentation

def rosbridge_library.internal.publishers.MultiPublisher.has_clients

(

self

)

Return true if there are clients to this publisher. 

Definition at line 240 of file publishers.py.

def rosbridge_library.internal.publishers.MultiPublisher.publish	(		self,
			msg
	)

Publish a message using this publisher.

Keyword arguments:
msg -- the dict (json) message to publish

Throws:
Exception -- propagates exceptions from message conversion if the
provided msg does not properly conform to the message type of this
publisher

Definition at line 193 of file publishers.py.

def rosbridge_library.internal.publishers.MultiPublisher.register_client	(		self,
			client_id
	)

Register the specified client as a client of this publisher.

Keyword arguments:
client_id -- the ID of the client using the publisher

Definition at line 218 of file publishers.py.

def rosbridge_library.internal.publishers.MultiPublisher.unregister

(

self

)

Unregisters the publisher and clears the clients 

Definition at line 171 of file publishers.py.

def rosbridge_library.internal.publishers.MultiPublisher.unregister_client	(		self,
			client_id
	)

Unregister the specified client from this publisher.

If the specified client_id is not a client of this publisher, nothing
happens.

Keyword arguments:
client_id -- the ID of the client to remove

Definition at line 227 of file publishers.py.

def rosbridge_library.internal.publishers.MultiPublisher.verify_type	(		self,
			msg_type
	)

Verify that the publisher publishes messages of the specified type.

Keyword arguments:
msg_type -- the type to check this publisher against

Throws:
Exception -- if ros_loader cannot load the specified msg type
TypeConflictException -- if the msg_type is different than the type of
this publisher

Definition at line 176 of file publishers.py.

Member Data Documentation

rosbridge_library.internal.publishers.MultiPublisher.clients

Definition at line 163 of file publishers.py.

rosbridge_library.internal.publishers.MultiPublisher.latched_client_id

Definition at line 164 of file publishers.py.

rosbridge_library.internal.publishers.MultiPublisher.listener

Definition at line 168 of file publishers.py.

rosbridge_library.internal.publishers.MultiPublisher.msg_class

Definition at line 166 of file publishers.py.

rosbridge_library.internal.publishers.MultiPublisher.publisher

Definition at line 167 of file publishers.py.

rosbridge_library.internal.publishers.MultiPublisher.topic

Definition at line 165 of file publishers.py.

---

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

• publishers.py