Function Discovery::send_discovery_beacon

Function Documentation

void Discovery::send_discovery_beacon(cbor::TxStream stream, std::string node_name, std::string node_namespace, int entity_type, rmw_gid_t entity_gid, std::string topic_name, std::string type_name, bool disconnect)

Send a discovery beacon.

This function sends a beacon in the underwater channel containing all the informations related to a specific entity of a node.

Parameters:

  • stream – The stream used to send data

  • node_name – The name of the node holding the entity

  • node_namespace – The namespace of the node holding the entity

  • entity_type – The type of the entity

  • entity_gid – The global identifier of the entity

  • topic_name – The topic name

  • type_name – The topic type

  • disconnect – Flag used to determine if an entity is connecting or disconnecting