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. More...

void	drop ()
	Drop this publication. Disconnects all publishers. More...

bool	enqueueMessage (const SerializedMessage &m)
	queues an outgoing message into each of the publishers, so that it gets sent to every subscriber More...

const std::string &	getDataType () const
	Returns the data type of the message published by this publication. More...

void	getInfo (XmlRpc::XmlRpcValue &info)
	Get the accumulated info for this publication. More...

size_t	getMaxQueue ()
	returns the max queue size of this publication More...

const std::string &	getMD5Sum () const
	Returns the md5sum of the message published by this publication. More...

const std::string &	getMessageDefinition () const
	Returns the full definition of the message published by this publication. More...

const std::string &	getName () const
	Returns the name of the topic this publication broadcasts to. More...

size_t	getNumCallbacks ()

uint32_t	getNumSubscribers ()
	Returns the number of subscribers this publication has. More...

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

uint32_t	getSequence ()
	Returns the sequence number. More...

XmlRpc::XmlRpcValue	getStats ()
	Get the accumulated stats for this publication. More...

bool	hasSubscribers ()
	Returns whether or not this publication has any subscribers. More...

uint32_t	incrementSequence ()

bool	isDropped ()
	Returns if this publication is valid or not. More...

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) More...

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. More...

void	peerDisconnect (const SubscriberLinkPtr &sub_link)
	Called when a peer has disconnected. Calls the disconnection callback. More...

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 306 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 287 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 355 of file publication.cpp.

uint32_t ros::Publication::getNumSubscribers ( )

Returns the number of subscribers this publication has.

Definition at line 370 of file publication.cpp.

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

Definition at line 376 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 397 of file publication.cpp.

uint32_t ros::Publication::incrementSequence ( )

Definition at line 361 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 325 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 340 of file publication.cpp.

void ros::Publication::processPublishQueue ( )

Definition at line 429 of file publication.cpp.

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

Definition at line 403 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 457 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