Manages a subscription on a single topic. More...

#include <subscription.h>

Classes
struct	CallbackInfo
struct	LatchInfo
class	PendingConnection
Public Types
typedef std::map< std::string, std::string >	M_string
typedef boost::shared_ptr < PendingConnection >	PendingConnectionPtr
Public Member Functions
bool	addCallback (const SubscriptionCallbackHelperPtr &helper, const std::string &md5sum, CallbackQueueInterface *queue, int32_t queue_size, const VoidConstPtr &tracked_object, bool allow_concurrent_callbacks)
void	addLocalConnection (const PublicationPtr &pub)
const std::string	datatype ()
void	drop ()
	Terminate all our PublisherLinks.
void	getInfo (XmlRpc::XmlRpcValue &info)
const std::string &	getName () const
uint32_t	getNumCallbacks () const
uint32_t	getNumPublishers ()
void	getPublishTypes (bool &ser, bool &nocopy, const std::type_info &ti)
XmlRpc::XmlRpcValue	getStats ()
uint32_t	handleMessage (const SerializedMessage &m, bool ser, bool nocopy, const boost::shared_ptr< M_string > &connection_header, const PublisherLinkPtr &link)
	Called to notify that a new message has arrived from a publisher. Schedules the callback for invokation with the callback queue.
void	headerReceived (const PublisherLinkPtr &link, const Header &h)
bool	isDropped ()
	Returns whether this Subscription has been dropped or not.
const std::string	md5sum ()
bool	negotiateConnection (const std::string &xmlrpc_uri)
	Negotiates a connection with a publisher.
void	pendingConnectionDone (const PendingConnectionPtr &pending_conn, XmlRpc::XmlRpcValue &result)
bool	pubUpdate (const std::vector< std::string > &pubs)
	Handle a publisher update list received from the master. Creates/drops PublisherLinks based on the list. Never handles new self-subscriptions.
void	removeCallback (const SubscriptionCallbackHelperPtr &helper)
void	removePublisherLink (const PublisherLinkPtr &pub_link)
	Removes a subscriber from our list.
void	shutdown ()
	Terminate all our PublisherLinks and join our callback thread if it exists.
	Subscription (const std::string &name, const std::string &md5sum, const std::string &datatype, const TransportHints &transport_hints)
virtual	~Subscription ()
Private Types
typedef boost::shared_ptr < CallbackInfo >	CallbackInfoPtr
typedef std::map < PublisherLinkPtr, LatchInfo >	M_PublisherLinkToLatchInfo
typedef std::set < PendingConnectionPtr >	S_PendingConnection
typedef std::vector < CallbackInfoPtr >	V_CallbackInfo
typedef std::vector < PublisherLinkPtr >	V_PublisherLink
typedef std::vector< std::pair < const std::type_info *, MessageDeserializerPtr > >	V_TypeAndDeserializer
Private Member Functions
void	addPublisherLink (const PublisherLinkPtr &link)
void	dropAllConnections ()
Subscription &	operator= (const Subscription &)
	Subscription (const Subscription &)
Private Attributes
V_TypeAndDeserializer	cached_deserializers_
V_CallbackInfo	callbacks_
boost::mutex	callbacks_mutex_
std::string	datatype_
bool	dropped_
M_PublisherLinkToLatchInfo	latched_messages_
std::string	md5sum_
boost::mutex	md5sum_mutex_
std::string	name_
uint32_t	nonconst_callbacks_
S_PendingConnection	pending_connections_
boost::mutex	pending_connections_mutex_
V_PublisherLink	publisher_links_
boost::mutex	publisher_links_mutex_
boost::mutex	shutdown_mutex_
bool	shutting_down_
TransportHints	transport_hints_

Detailed Description

Manages a subscription on a single topic.

Definition at line 64 of file subscription.h.

Member Typedef Documentation

typedef boost::shared_ptr<CallbackInfo> ros::Subscription::CallbackInfoPtr [private]

Definition at line 203 of file subscription.h.

typedef std::map<PublisherLinkPtr, LatchInfo> ros::Subscription::M_PublisherLinkToLatchInfo [private]

Definition at line 236 of file subscription.h.

typedef std::map<std::string, std::string> ros::Subscription::M_string

Definition at line 101 of file subscription.h.

typedef boost::shared_ptr<PendingConnection> ros::Subscription::PendingConnectionPtr

Definition at line 177 of file subscription.h.

typedef std::set<PendingConnectionPtr> ros::Subscription::S_PendingConnection [private]

Definition at line 218 of file subscription.h.

typedef std::vector<CallbackInfoPtr> ros::Subscription::V_CallbackInfo [private]

Definition at line 204 of file subscription.h.

typedef std::vector<PublisherLinkPtr> ros::Subscription::V_PublisherLink [private]

Definition at line 222 of file subscription.h.

typedef std::vector<std::pair<const std::type_info*, MessageDeserializerPtr> > ros::Subscription::V_TypeAndDeserializer [private]

Definition at line 239 of file subscription.h.

Constructor & Destructor Documentation

ros::Subscription::Subscription	(	const std::string &	name,
		const std::string &	md5sum,
		const std::string &	datatype,
		const TransportHints &	transport_hints
	)

Definition at line 69 of file subscription.cpp.

ros::Subscription::~Subscription ( ) [virtual]

Definition at line 80 of file subscription.cpp.

ros::Subscription::Subscription ( const Subscription & ) [private]

Member Function Documentation

bool ros::Subscription::addCallback	(	const SubscriptionCallbackHelperPtr &	helper,
		const std::string &	md5sum,
		CallbackQueueInterface *	queue,
		int32_t	queue_size,
		const VoidConstPtr &	tracked_object,
		bool	allow_concurrent_callbacks
	)

Definition at line 676 of file subscription.cpp.

void ros::Subscription::addLocalConnection ( const PublicationPtr & pub )

Definition at line 179 of file subscription.cpp.

void ros::Subscription::addPublisherLink ( const PublisherLinkPtr & link ) [private]

Definition at line 790 of file subscription.cpp.

const std::string ros::Subscription::datatype ( )

Definition at line 834 of file subscription.cpp.

void ros::Subscription::drop ( )

Terminate all our PublisherLinks.

Definition at line 149 of file subscription.cpp.

void ros::Subscription::dropAllConnections ( ) [private]

Definition at line 159 of file subscription.cpp.

void ros::Subscription::getInfo ( XmlRpc::XmlRpcValue & info )

Definition at line 126 of file subscription.cpp.

const std::string& ros::Subscription::getName ( ) const [inline]

Definition at line 117 of file subscription.h.

uint32_t ros::Subscription::getNumCallbacks ( ) const [inline]

Definition at line 118 of file subscription.h.

uint32_t ros::Subscription::getNumPublishers ( )

Definition at line 143 of file subscription.cpp.

void ros::Subscription::getPublishTypes	(	bool &	ser,
		bool &	nocopy,
		const std::type_info &	ti
	)

Definition at line 811 of file subscription.cpp.

XmlRpcValue ros::Subscription::getStats ( )

Definition at line 96 of file subscription.cpp.

uint32_t ros::Subscription::handleMessage	(	const SerializedMessage &	m,
		bool	ser,
		bool	nocopy,
		const boost::shared_ptr< M_string > &	connection_header,
		const PublisherLinkPtr &	link
	)