rtt_rostopic.cpp

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#include <rtt_roscomm/rostopic.h>

RTT::ConnPolicy rtt_roscomm::topic(const std::string& name) {
  RTT::ConnPolicy cp = RTT::ConnPolicy::data();
  cp.transport = protocol_id;
  cp.name_id = name;
  cp.init = false;
  cp.pull = false;
  return cp;
}

RTT::ConnPolicy rtt_roscomm::topicLatched(const std::string& name) {
  RTT::ConnPolicy cp = RTT::ConnPolicy::data();
  cp.transport = protocol_id;
  cp.name_id = name;
  cp.init = true;
  cp.pull = false;
  return cp;
}

RTT::ConnPolicy rtt_roscomm::topicBuffer(const std::string& name, int size) {
  RTT::ConnPolicy cp = RTT::ConnPolicy::buffer(size);
  cp.transport = protocol_id;
  cp.name_id = name;
  cp.init = false;
  cp.pull = false;
  return cp;
}

RTT::ConnPolicy rtt_roscomm::topicUnbuffered(const std::string& name) {
  RTT::ConnPolicy cp = RTT::ConnPolicy();
  cp.type = RTT::ConnPolicy::UNBUFFERED;
  cp.transport = protocol_id;
  cp.name_id = name;
  cp.init = false;
  cp.pull = false;
  return cp;
}