Public Types | Public Member Functions | Static Public Member Functions | Private Types | Private Member Functions | Private Attributes | Static Private Attributes | List of all members
rtt_roscomm::RosPublishActivity Class Reference

#include <rtt_rostopic_ros_publish_activity.hpp>

Inheritance diagram for rtt_roscomm::RosPublishActivity:
Inheritance graph

Public Types

typedef boost::shared_ptr< RosPublishActivityshared_ptr
- Public Types inherited from RTT::base::ActivityInterface
typedef boost::shared_ptr< ActivityInterfaceshared_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::ThreadInterfacethread ()
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 RunnableInterfacegetRunner () 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_TASKgetTask ()
virtual const RTOS_TASKgetTask () 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< RosPublishActivityweak_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
- 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

Definition at line 79 of file rtt_rostopic_ros_publish_activity.hpp.

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.

Definition at line 69 of file rtt_rostopic_ros_publish_activity.hpp.

Definition at line 71 of file rtt_rostopic_ros_publish_activity.hpp.

Constructor & Destructor Documentation

rtt_roscomm::RosPublishActivity::RosPublishActivity ( const std::string &  name)

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 ( )

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 ( )

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.

Member Data Documentation

Publishers rtt_roscomm::RosPublishActivity::publishers

Definition at line 80 of file rtt_rostopic_ros_publish_activity.hpp.

RTT::os::Mutex rtt_roscomm::RosPublishActivity::publishers_lock

Definition at line 81 of file rtt_rostopic_ros_publish_activity.hpp.

RosPublishActivity::weak_ptr rtt_roscomm::RosPublishActivity::ros_pub_act

This pointer may not be refcounted since it would prevent cleanup.

Definition at line 73 of file rtt_rostopic_ros_publish_activity.hpp.

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

Author(s): Ruben Smits, Jonathan Bohren
autogenerated on Thu Jan 16 2020 03:47:11