uavcan::Publisher< DataType_ > Class Template Reference

#include <publisher.hpp>

Inheritance diagram for uavcan::Publisher< DataType_ >:

Public Types
typedef DataType_	DataType
	Message data type. More...

Public Member Functions
int	broadcast (const DataType &message)
int	broadcast (const DataType &message, TransferID tid)
	Publisher (INode &node, MonotonicDuration tx_timeout=getDefaultTxTimeout(), MonotonicDuration max_transfer_interval=TransferSender::getDefaultMaxTransferInterval())

Static Public Member Functions
static MonotonicDuration	getDefaultTxTimeout ()

Private Types
typedef GenericPublisher< DataType_, DataType_ >	BaseType

Additional Inherited Members
Protected Member Functions inherited from uavcan::GenericPublisher< DataType_, DataType_ >
	GenericPublisher (INode &node, MonotonicDuration tx_timeout, MonotonicDuration max_transfer_interval=TransferSender::getDefaultMaxTransferInterval())
int	init ()
int	init (TransferPriority priority)
int	publish (const DataType_ &message, TransferType transfer_type, NodeID dst_node_id, MonotonicTime blocking_deadline=MonotonicTime())
int	publish (const DataType_ &message, TransferType transfer_type, NodeID dst_node_id, TransferID tid, MonotonicTime blocking_deadline=MonotonicTime())
	~GenericPublisher ()
Protected Member Functions inherited from uavcan::GenericPublisherBase
int	doInit (DataTypeKind dtkind, const char *dtname)
int	genericPublish (const StaticTransferBufferImpl &buffer, TransferType transfer_type, NodeID dst_node_id, TransferID *tid, MonotonicTime blocking_deadline)
	GenericPublisherBase (INode &node, MonotonicDuration tx_timeout, MonotonicDuration max_transfer_interval)
TransferSender &	getTransferSender ()
const TransferSender &	getTransferSender () const
MonotonicTime	getTxDeadline () const
bool	isInited () const
	~GenericPublisherBase ()
void	allowAnonymousTransfers ()
INode &	getNode () const
TransferPriority	getPriority () const
MonotonicDuration	getTxTimeout () const
void	setPriority (const TransferPriority prio)
void	setTxTimeout (MonotonicDuration tx_timeout)
Static Protected Member Functions inherited from uavcan::GenericPublisherBase
static MonotonicDuration	getMaxTxTimeout ()
static MonotonicDuration	getMinTxTimeout ()

Detailed Description

template<typename DataType_>
class uavcan::Publisher< DataType_ >

Use this class to publish messages to the bus (broadcast, unicast, or both).

Template Parameters

DataType_

Message data type

Definition at line 18 of file publisher.hpp.

Member Typedef Documentation

BaseType

template<typename DataType_ >

typedef GenericPublisher<DataType_, DataType_> uavcan::Publisher< DataType_ >::BaseType

private

Definition at line 20 of file publisher.hpp.

DataType

template<typename DataType_ >

typedef DataType_ uavcan::Publisher< DataType_ >::DataType

Message data type.

Definition at line 23 of file publisher.hpp.

Constructor & Destructor Documentation

Publisher()

template<typename DataType_ >

uavcan::Publisher< DataType_ >::Publisher ( INode &  node, MonotonicDuration  tx_timeout = getDefaultTxTimeout(), MonotonicDuration  max_transfer_interval = TransferSender::getDefaultMaxTransferInterval()  )

inlineexplicit

Parameters

node	Node instance this publisher will be registered with.
tx_timeout	If CAN frames of this message are not delivered to the bus in this amount of time, they will be discarded. Default value is good enough for rather high-frequency, high-priority messages.
max_transfer_interval	Maximum expected transfer interval. It's absolutely safe to leave default value here. It just defines how soon the Transfer ID tracking objects associated with this message type will be garbage collected by the library if it's no longer being published.

Definition at line 38 of file publisher.hpp.

Member Function Documentation

broadcast() [1/2]

template<typename DataType_ >

int uavcan::Publisher< DataType_ >::broadcast ( const DataType &  message )

inline

Broadcast the message. Returns negative error code.

Definition at line 52 of file publisher.hpp.

broadcast() [2/2]

template<typename DataType_ >

int uavcan::Publisher< DataType_ >::broadcast ( const DataType &  message, TransferID  tid  )

inline

Warning: You probably don't want to use this method; it's for advanced use cases like e.g. network time synchronization. Use the overloaded method with fewer arguments instead. This overload allows to explicitly specify Transfer ID. Returns negative error code.

Definition at line 63 of file publisher.hpp.

getDefaultTxTimeout()

template<typename DataType_ >

static MonotonicDuration uavcan::Publisher< DataType_ >::getDefaultTxTimeout ( )

inlinestatic

Definition at line 68 of file publisher.hpp.

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

• publisher.hpp