Represents a collection of standard services that can be used to bridge a ROS based member to the swarm. More...

#include <Node.h>

Inheritance diagram for swarmros::bridge::Node:

Public Member Functions
void	BridgeParameter (const std::string &name, const std::string &parameter, bool isWritable)
	Bridge a parameter between the ROS parameter server and the swarm. More...

void	ForwardEvent (const std::string &source, const std::string &message)
	Forward events from a topic to the swarm. More...

void	ForwardTelemetry (const std::string &source, const std::string &message, const std::string &name, bool includeInStatus)
	Forward telemetry data to the swarm. More...

ros::NodeHandle &	GetNodeHandle ()
	Get ROS node handle. More...

	Node (swarmio::Endpoint *endpoint)
	Construct a new Node object. More...

virtual void	NodeDidJoin (const swarmio::Node *node) noexceptoverride
	Called when a new Node has joined the group. More...

virtual void	NodeWasDiscovered (const swarmio::Node *node) noexceptoverride
	Called when a new Node has been discovered. More...

virtual void	NodeWillLeave (const swarmio::Node *node) noexceptoverride
	Called when a Node signals that it will leave. More...

void	PublishEvent (const std::string &suffix, const std::string &message, const std::string &name)
	Forward events from the swarm to a ROS topic. More...

void	PublishParameter (const std::string &suffix, const std::string &message, const std::string &name, const std::string &parameter, bool isWritable)
	Bridge and publish a parameter between ROS and the swarm. More...

Private Member Functions
void	PublishUpdateForNode (const swarmio::Node *node)
	Publish a generic info update for a node. More...

Private Member Functions inherited from swarmio::profiles::MemberProfile
swarmio::services::event::Service &	GetEventService ()
	Get a reference for the Event service. More...

swarmio::services::keyvalue::Service &	GetKeyValueService ()
	Get a reference for the Key-Value service. More...

	MemberProfile (Endpoint *endpoint)
	Construct a new MemberProfile. More...

virtual	~MemberProfile ()
	Destroy the MemberProfile object. More...

Private Member Functions inherited from swarmio::profiles::Profile
swarmio::services::discovery::Service &	GetDiscoveryService ()
	Get a reference for the Discovery service. More...

swarmio::services::ping::Service &	GetPingService ()
	Get a reference for the Ping service. More...

swarmio::services::telemetry::Service &	GetTelemetryService ()
	Get a reference for the Telemetry service. More...

virtual	~Profile ()
	Destroy the Profile object. More...

	Profile (Endpoint *endpoint, bool performActiveDiscovery)
	Construct a new Profile. More...

Private Member Functions inherited from swarmio::Mailbox
virtual void	Disconnect ()
	Disconnect this Mailbox from the Endpoint. More...

Endpoint *	GetEndpoint ()
	Get the associated Endpoint. More...

	Mailbox (const Mailbox &)=delete
	Remove copy constructor. More...

virtual void	MailboxWasConnected () noexcept
	Called when the mailbox is attached to an already running endpoint or if the attached endpoint has just started. More...

virtual void	MailboxWillBeDisconnected () noexcept
	Called right before the mailbox is disconnected from its endpoint or if the attached endpoint is about to stop. More...

Mailbox &	operator= (const Mailbox &)=delete
	Remove assignment operator. More...

virtual bool	ReceiveMessage (const Node sender, const data::Message message)
	Delivery point of all messages. More...

virtual	~Mailbox ()
	Destroy the Mailbox object. More...

void	FinishConstruction ()
	Called when the last constructor has finished its job. More...

void	FinishMovingTo (Mailbox *other)
	Called when message handling should be passed onto the new instance. More...

	Mailbox ()
	Construct a disconnected Mailbox. More...

	Mailbox (Endpoint *endpoint)
	Construct a new Mailbox object. More...

	Mailbox (Mailbox &&other)
	Move a Mailbox object. More...

Private Attributes
ros::NodeHandle	_nodeHandle
	Node handle. More...

ros::Publisher	_nodesPublisher
	The publisher for the nodes topic. More...

std::list< std::unique_ptr< Pylon > >	_pylons
	Active bridging services. More...

ros::Publisher	_uuidPublisher
	The publisher for the uuid topic. More...

Private Attributes inherited from swarmio::profiles::MemberProfile
swarmio::services::event::Service	_eventService
	Event service. More...

swarmio::services::keyvalue::Service	_keyvalueService
	Key-Value service. More...

Private Attributes inherited from swarmio::profiles::Profile
swarmio::services::discovery::Service	_discoveryService
	Discovery service. More...

swarmio::services::ping::Service	_pingService
	Ping service. More...

swarmio::services::telemetry::Service	_telemetryService
	Telemetry service. More...

Detailed Description

Represents a collection of standard services that can be used to bridge a ROS based member to the swarm.

Definition at line 18 of file swarmros/include/swarmros/bridge/Node.h.

Constructor & Destructor Documentation

Node::Node ( swarmio::Endpoint * endpoint )

Construct a new Node object.

Parameters

endpoint Endpoint to use

Definition at line 13 of file bridge/Node.cpp.

Member Function Documentation

void Node::BridgeParameter	(	const std::string &	name,
		const std::string &	parameter,
		bool	isWritable
	)

Bridge a parameter between the ROS parameter server and the swarm.

Parameters

name	Global parameter name
parameter	ROS parameter name
isWritable	True if set requests are accepted

Definition at line 76 of file bridge/Node.cpp.

void Node::ForwardEvent	(	const std::string &	source,
		const std::string &	message
	)

Forward events from a topic to the swarm.

Parameters

source	Source ROS topic
message	ROS message type

Definition at line 61 of file bridge/Node.cpp.

void Node::ForwardTelemetry	(	const std::string &	source,
		const std::string &	message,
		const std::string &	name,
		bool	includeInStatus
	)

Forward telemetry data to the swarm.

Parameters

source	Source ROS topic
message	ROS message type
name	Telemetry name
includeInStatus	Include in status broadcast

Definition at line 56 of file bridge/Node.cpp.

ros::NodeHandle& swarmros::bridge::Node::GetNodeHandle ( )

inline

Get ROS node handle.

Returns: ros::NodeHandle& Node handle

Definition at line 68 of file swarmros/include/swarmros/bridge/Node.h.

void Node::NodeDidJoin ( const swarmio::Node * node )

overridevirtualnoexcept

Called when a new Node has joined the group.

Parameters

node	The node that has been discovered

Reimplemented from swarmio::Mailbox.

Definition at line 46 of file bridge/Node.cpp.

void Node::NodeWasDiscovered ( const swarmio::Node * node )

overridevirtualnoexcept

Called when a new Node has been discovered.

Parameters

node	The node that has been discovered

Reimplemented from swarmio::Mailbox.

Definition at line 41 of file bridge/Node.cpp.

void Node::NodeWillLeave ( const swarmio::Node * node )

overridevirtualnoexcept

Called when a Node signals that it will leave.

Parameters

node	The node that has left

Reimplemented from swarmio::Mailbox.

Definition at line 51 of file bridge/Node.cpp.

void Node::PublishEvent	(	const std::string &	suffix,
		const std::string &	message,
		const std::string &	name
	)

Forward events from the swarm to a ROS topic.

Parameters

suffix	Local topic suffix
message	ROS message type
name	Global event name

Definition at line 66 of file bridge/Node.cpp.

void Node::PublishParameter	(	const std::string &	suffix,
		const std::string &	message,
		const std::string &	name,
		const std::string &	parameter,
		bool	isWritable
	)

Bridge and publish a parameter between ROS and the swarm.

Parameters

suffix	Local topic suffix
message	ROS message type
name	Global parameter name
parameter	ROS parameter name
isWritable	True if set requests are accepted

Definition at line 71 of file bridge/Node.cpp.

void Node::PublishUpdateForNode ( const swarmio::Node * node )

private

Publish a generic info update for a node.

Parameters

node Node

Definition at line 31 of file bridge/Node.cpp.

Member Data Documentation

ros::NodeHandle swarmros::bridge::Node::_nodeHandle

private

Node handle.

Definition at line 32 of file swarmros/include/swarmros/bridge/Node.h.

ros::Publisher swarmros::bridge::Node::_nodesPublisher

private

The publisher for the nodes topic.

Definition at line 39 of file swarmros/include/swarmros/bridge/Node.h.

std::list<std::unique_ptr<Pylon> > swarmros::bridge::Node::_pylons

private

Active bridging services.

Definition at line 26 of file swarmros/include/swarmros/bridge/Node.h.

ros::Publisher swarmros::bridge::Node::_uuidPublisher

private

The publisher for the uuid topic.

Definition at line 45 of file swarmros/include/swarmros/bridge/Node.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation