bond::Bond Class Reference

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

#include <bond.h>

List of all members.

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.
void	breakBond ()
	Breaks the bond, notifying the other process.
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.
void	setBrokenCallback (boost::function< void(void)> on_broken)
	Sets the broken callback.
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.
void	setHeartbeatPeriod (double dur)
void	setHeartbeatTimeout (double dur)
void	start ()
	Starts the bond and connects to the sister process.
bool	waitUntilBroken (ros::Duration timeout=ros::Duration(-1))
	Blocks until the bond is broken for at most 'duration'.
bool	waitUntilBroken (ros::WallDuration timeout=ros::WallDuration(-1))
	Blocks until the bond is broken for at most 'duration'.
bool	waitUntilFormed (ros::Duration timeout=ros::Duration(-1))
	Blocks until the bond is formed for at most 'duration'.
bool	waitUntilFormed (ros::WallDuration timeout=ros::WallDuration(-1))
	Blocks until the bond is formed for at most 'duration'.
	~Bond ()
	Destructs the object, breaking the bond if it is still formed.
Private Member Functions
void	bondStatusCB (const bond::Status::ConstPtr &msg)
void	doPublishing (const ros::WallTimerEvent &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::WallTimer	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 54 of file bond.h.

---

Constructor & Destructor Documentation

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 63 of file bond.cpp.

bond::Bond::~Bond

(

)

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

Definition at line 88 of file bond.cpp.

---

Member Function Documentation

void bond::Bond::bondStatusCB

(

const bond::Status::ConstPtr &

msg

)

[private]

Definition at line 299 of file bond.cpp.

void bond::Bond::breakBond

(

)

Breaks the bond, notifying the other process.

Definition at line 251 of file bond.cpp.

void bond::Bond::doPublishing

(

const ros::WallTimerEvent &

e

)

[private]

Definition at line 333 of file bond.cpp.

void bond::Bond::flushPendingCallbacks

(

)

[private]

Definition at line 365 of file bond.cpp.

double bond::Bond::getConnectTimeout

(

)

const [inline]

Definition at line 73 of file bond.h.

double bond::Bond::getDisconnectTimeout

(

)

const [inline]

Definition at line 75 of file bond.h.

double bond::Bond::getHeartbeatPeriod

(

)

const [inline]

Definition at line 79 of file bond.h.

double bond::Bond::getHeartbeatTimeout

(

)

const [inline]

Definition at line 77 of file bond.h.

std::string bond::Bond::getId

(

)

[inline]

Definition at line 134 of file bond.h.

std::string bond::Bond::getInstanceId

(

)

[inline]

Definition at line 135 of file bond.h.

std::string bond::Bond::getTopic

(

)

[inline]

Definition at line 133 of file bond.h.

bool bond::Bond::isBroken

(

)

Indicates if the bond is broken.

Returns:

true iff the bond has been broken.

Definition at line 245 of file bond.cpp.

void bond::Bond::onConnectTimeout

(

)

[private]

Definition at line 265 of file bond.cpp.

void bond::Bond::onDisconnectTimeout

(

)

[private]

Definition at line 290 of file bond.cpp.

void bond::Bond::onHeartbeatTimeout

(

)

[private]

Definition at line 273 of file bond.cpp.

void bond::Bond::publishStatus

(

bool

active

)

[private]

Definition at line 352 of file bond.cpp.

void bond::Bond::setBrokenCallback

(

boost::function< void(void)>

on_broken

)

Sets the broken callback.

Definition at line 187 of file bond.cpp.

void bond::Bond::setCallbackQueue

(

ros::CallbackQueueInterface *

queue

)

Definition at line 159 of file bond.cpp.

void bond::Bond::setConnectTimeout

(

double

dur

)

Definition at line 116 of file bond.cpp.

void bond::Bond::setDisconnectTimeout

(

double

dur

)

Definition at line 127 of file bond.cpp.

void bond::Bond::setFormedCallback

(

boost::function< void(void)>

on_formed

)

Sets the formed callback.

Definition at line 181 of file bond.cpp.

void bond::Bond::setHeartbeatPeriod

(

double

dur

)

Definition at line 149 of file bond.cpp.

void bond::Bond::setHeartbeatTimeout

(

double

dur

)

Definition at line 138 of file bond.cpp.

void bond::Bond::start

(

)

Starts the bond and connects to the sister process.

Definition at line 170 of file bond.cpp.

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 219 of file bond.cpp.

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 223 of file bond.cpp.

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 193 of file bond.cpp.

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 197 of file bond.cpp.

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Friends And Related Function Documentation

friend class ::BondSM [friend]

Definition at line 138 of file bond.h.

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Member Data Documentation

boost::scoped_ptr<BondSM> bond::Bond::bondsm_ [private]

Definition at line 141 of file bond.h.

boost::condition bond::Bond::condition_ [private]

Definition at line 154 of file bond.h.

double bond::Bond::connect_timeout_ [private]

Definition at line 156 of file bond.h.

Timeout bond::Bond::connect_timer_ [private]

Definition at line 161 of file bond.h.

double bond::Bond::disconnect_timeout_ [private]

Definition at line 158 of file bond.h.

Timeout bond::Bond::disconnect_timer_ [private]

Definition at line 163 of file bond.h.

double bond::Bond::heartbeat_period_ [private]

Definition at line 159 of file bond.h.

double bond::Bond::heartbeat_timeout_ [private]

Definition at line 157 of file bond.h.

Timeout bond::Bond::heartbeat_timer_ [private]

Definition at line 162 of file bond.h.

std::string bond::Bond::id_ [private]

Definition at line 145 of file bond.h.

std::string bond::Bond::instance_id_ [private]

Definition at line 146 of file bond.h.

boost::mutex bond::Bond::mutex_ [private]

Definition at line 153 of file bond.h.

ros::NodeHandle bond::Bond::nh_ [private]

Definition at line 140 of file bond.h.

boost::function<void(void)> bond::Bond::on_broken_ [private]

Definition at line 148 of file bond.h.

boost::function<void(void)> bond::Bond::on_formed_ [private]

Definition at line 149 of file bond.h.

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

Definition at line 178 of file bond.h.

ros::Publisher bond::Bond::pub_ [private]

Definition at line 166 of file bond.h.

ros::WallTimer bond::Bond::publishingTimer_ [private]

Definition at line 167 of file bond.h.

std::string bond::Bond::sister_instance_id_ [private]

Definition at line 147 of file bond.h.

bool bond::Bond::sisterDiedFirst_ [private]

Definition at line 150 of file bond.h.

BondSMContext bond::Bond::sm_ [private]

Definition at line 142 of file bond.h.

bool bond::Bond::started_ [private]

Definition at line 151 of file bond.h.

ros::Subscriber bond::Bond::sub_ [private]

Definition at line 165 of file bond.h.

std::string bond::Bond::topic_ [private]

Definition at line 144 of file bond.h.

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

• bond.h
• bond.cpp