#include <rtt_rostopic_ros_publish_activity.hpp>

Inheritance diagram for rtt_roscomm::RosPublishActivity:

[legend]

Public Types
typedef boost::shared_ptr< RosPublishActivity >	shared_ptr

Public Types inherited from RTT::base::ActivityInterface
typedef boost::shared_ptr< ActivityInterface >	shared_ptr

Public Member Functions
void	addPublisher (RosPublisher *pub)

void	removePublisher (RosPublisher *pub)

	~RosPublishActivity ()

Public Member Functions inherited from RTT::Activity
	Activity (base::RunnableInterface *r=0, const std::string &name="Activity")

	Activity (int priority, base::RunnableInterface *r=0, const std::string &name="Activity")

	Activity (int scheduler, int priority, base::RunnableInterface *r=0, const std::string &name="Activity")

	Activity (int scheduler, int priority, Seconds period, base::RunnableInterface *r=0, const std::string &name="Activity")

	Activity (int priority, Seconds period, base::RunnableInterface *r=0, const std::string &name="Activity")

	Activity (int scheduler, int priority, Seconds period, unsigned cpu_affinity, base::RunnableInterface *r=0, const std::string &name="Activity")

virtual bool	breakLoop ()

virtual bool	execute ()

virtual void	finalize ()

virtual unsigned	getCpuAffinity () const

virtual Seconds	getPeriod () const

virtual bool	initialize ()

virtual bool	isActive () const

virtual bool	isPeriodic () const

virtual bool	isRunning () const

virtual bool	setCpuAffinity (unsigned cpu)

virtual bool	setPeriod (Seconds period)

void	setWaitPeriodPolicy (int p)

virtual bool	start ()

virtual void	step ()

virtual bool	stop ()

virtual os::ThreadInterface *	thread ()

virtual bool	timeout ()

virtual bool	trigger ()

virtual void	work (base::RunnableInterface::WorkReason reason)

virtual	~Activity ()

Public Member Functions inherited from RTT::base::ActivityInterface
	ActivityInterface ()

	ActivityInterface (RunnableInterface *run)

virtual RunnableInterface *	getRunner () const

virtual bool	run (RunnableInterface *r)

virtual	~ActivityInterface ()

Public Member Functions inherited from RTT::os::Thread
virtual int	getMaxOverrun () const

virtual const char *	getName () const

void	getPeriod (secs &s, nsecs &ns) const

virtual nsecs	getPeriodNS () const

virtual unsigned int	getPid () const

virtual int	getPriority () const

virtual int	getScheduler () const

Seconds	getStopTimeout () const

virtual RTOS_TASK *	getTask ()

virtual const RTOS_TASK *	getTask () const

virtual void	setMaxOverrun (int m)

bool	setPeriod (Seconds s)

bool	setPeriod (TIME_SPEC p)

bool	setPeriod (secs s, nsecs ns)

virtual bool	setPriority (int priority)

virtual bool	setScheduler (int sched_type)

void	setStopTimeout (Seconds s)

	Thread (int scheduler, int priority, double period, unsigned cpu_affinity, const std::string &name)

virtual void	yield ()

virtual	~Thread ()

Public Member Functions inherited from RTT::os::ThreadInterface
bool	isSelf () const

	ThreadInterface ()

unsigned int	threadNumber () const

virtual	~ThreadInterface ()

Static Public Member Functions
static shared_ptr	Instance ()

Static Public Member Functions inherited from RTT::os::Thread
static void	setLockTimeoutNoPeriod (double timeout_in_s)

static void	setLockTimeoutPeriodFactor (double factor)

static void	setStackSize (unsigned int ssize)

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. More...

Additional Inherited Members
Protected Member Functions inherited from RTT::base::ActivityInterface
void	disableRun (RunnableInterface *caller)

Protected Member Functions inherited from RTT::os::Thread
void	emergencyStop ()

void	terminate ()

Protected Attributes inherited from RTT::Activity
os::Condition	msg_cond

os::Mutex	msg_lock

bool	mstopRequested

bool	mtimeout

int	mwaitpolicy

double	update_period

Protected Attributes inherited from RTT::base::ActivityInterface
RunnableInterface *	runner

Protected Attributes inherited from RTT::os::Thread
bool	active

MutexRecursive	breaker

bool	inloop

int	maxOverRun

int	msched_type

NANO_TIME	period

bool	prepareForExit

RTOS_TASK	rtos_task

bool	running

rt_sem_t	sem

double	stopTimeout

Protected Attributes inherited from RTT::os::ThreadInterface
int	threadnb

Static Protected Attributes inherited from RTT::os::Thread
static unsigned int	default_stack_size

static double	lock_timeout_no_period_in_s

static double	lock_timeout_period_factor

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

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 ( )

privatevirtual

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.