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

#include <subscription.h>

Inheritance diagram for ros::Subscription:

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. More...

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. More...

void	headerReceived (const PublisherLinkPtr &link, const Header &h)

bool	isDropped ()
	Returns whether this Subscription has been dropped or not. More...

const std::string	md5sum ()

bool	negotiateConnection (const std::string &xmlrpc_uri)
	Negotiates a connection with a publisher. More...

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. More...

void	removeCallback (const SubscriptionCallbackHelperPtr &helper)

void	removePublisherLink (const PublisherLinkPtr &pub_link)
	Removes a subscriber from our list. More...

void	shutdown ()
	Terminate all our PublisherLinks and join our callback thread if it exists. More...

	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_

StatisticsLogger	statistics_

TransportHints	transport_hints_

Detailed Description

Manages a subscription on a single topic.

Definition at line 65 of file subscription.h.

Member Typedef Documentation

◆ CallbackInfoPtr

typedef boost::shared_ptr<CallbackInfo> ros::Subscription::CallbackInfoPtr

private

Definition at line 204 of file subscription.h.

◆ M_PublisherLinkToLatchInfo

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

private

Definition at line 239 of file subscription.h.

◆ M_string

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

Definition at line 102 of file subscription.h.

◆ PendingConnectionPtr

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

Definition at line 178 of file subscription.h.

◆ S_PendingConnection

typedef std::set<PendingConnectionPtr> ros::Subscription::S_PendingConnection

private

Definition at line 219 of file subscription.h.

◆ V_CallbackInfo

typedef std::vector<CallbackInfoPtr> ros::Subscription::V_CallbackInfo

private

Definition at line 205 of file subscription.h.

◆ V_PublisherLink

typedef std::vector<PublisherLinkPtr> ros::Subscription::V_PublisherLink

private

Definition at line 223 of file subscription.h.

◆ V_TypeAndDeserializer

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

private

Definition at line 242 of file subscription.h.

Constructor & Destructor Documentation

◆ Subscription() [1/2]

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.

◆ ~Subscription()

ros::Subscription::~Subscription ( )

virtual

Definition at line 80 of file subscription.cpp.

◆ Subscription() [2/2]

ros::Subscription::Subscription ( const Subscription & )

private

Member Function Documentation

◆ addCallback()

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 692 of file subscription.cpp.

◆ addLocalConnection()

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

Definition at line 189 of file subscription.cpp.

◆ addPublisherLink()

void ros::Subscription::addPublisherLink ( const PublisherLinkPtr & link )

private

Definition at line 809 of file subscription.cpp.

◆ datatype()

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

Definition at line 853 of file subscription.cpp.

◆ drop()

void ros::Subscription::drop ( )

Terminate all our PublisherLinks.

Definition at line 159 of file subscription.cpp.

◆ dropAllConnections()

void ros::Subscription::dropAllConnections ( )

private

Definition at line 169 of file subscription.cpp.

◆ getInfo()

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

Definition at line 123 of file subscription.cpp.

◆ getName()

const std::string& ros::Subscription::getName ( ) const

inline

Definition at line 118 of file subscription.h.

◆ getNumCallbacks()

uint32_t ros::Subscription::getNumCallbacks ( ) const

inline

Definition at line 119 of file subscription.h.

◆ getNumPublishers()

uint32_t ros::Subscription::getNumPublishers ( )

Definition at line 142 of file subscription.cpp.

◆ getPublishTypes()

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

Definition at line 830 of file subscription.cpp.

◆ getStats()

XmlRpcValue ros::Subscription::getStats ( )

Definition at line 96 of file subscription.cpp.

◆ handleMessage()

uint32_t ros::Subscription::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.

Definition at line 610 of file subscription.cpp.

◆ headerReceived()

void ros::Subscription::headerReceived	(	const PublisherLinkPtr &	link,
		const Header &	h
	)

Definition at line 799 of file subscription.cpp.

◆ isDropped()

bool ros::Subscription::isDropped ( )

inline

Returns whether this Subscription has been dropped or not.

Definition at line 95 of file subscription.h.

◆ md5sum()

const std::string ros::Subscription::md5sum ( )

Definition at line 858 of file subscription.cpp.

◆ negotiateConnection()

bool ros::Subscription::negotiateConnection ( const std::string & xmlrpc_uri )

Negotiates a connection with a publisher.

Parameters

xmlrpc_uri The XMLRPC URI to connect to to negotiate the connection

Definition at line 353 of file subscription.cpp.

◆ operator=()

Subscription& ros::Subscription::operator= ( const Subscription & )

private

◆ pendingConnectionDone()

void ros::Subscription::pendingConnectionDone	(	const PendingConnectionPtr &	pending_conn,
		XmlRpc::XmlRpcValue &	result
	)

Definition at line 456 of file subscription.cpp.

◆ pubUpdate()

bool ros::Subscription::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.

Definition at line 217 of file subscription.cpp.

◆ removeCallback()

void ros::Subscription::removeCallback ( const SubscriptionCallbackHelperPtr & helper )

Definition at line 769 of file subscription.cpp.

◆ removePublisherLink()

void ros::Subscription::removePublisherLink ( const PublisherLinkPtr & pub_link )

Removes a subscriber from our list.

Definition at line 814 of file subscription.cpp.

◆ shutdown()

void ros::Subscription::shutdown ( )

Terminate all our PublisherLinks and join our callback thread if it exists.

Definition at line 86 of file subscription.cpp.

Member Data Documentation

◆ cached_deserializers_

V_TypeAndDeserializer ros::Subscription::cached_deserializers_

private

Definition at line 243 of file subscription.h.

◆ callbacks_

V_CallbackInfo ros::Subscription::callbacks_

private

Definition at line 212 of file subscription.h.

◆ callbacks_mutex_

boost::mutex ros::Subscription::callbacks_mutex_

private

Definition at line 211 of file subscription.h.

◆ datatype_

std::string ros::Subscription::datatype_

private

Definition at line 210 of file subscription.h.

◆ dropped_

bool ros::Subscription::dropped_

private

Definition at line 215 of file subscription.h.

◆ latched_messages_

M_PublisherLinkToLatchInfo ros::Subscription::latched_messages_

private

Definition at line 240 of file subscription.h.

◆ md5sum_

std::string ros::Subscription::md5sum_

private

Definition at line 209 of file subscription.h.

◆ md5sum_mutex_

boost::mutex ros::Subscription::md5sum_mutex_

private

Definition at line 208 of file subscription.h.

◆ name_

std::string ros::Subscription::name_

private

Definition at line 207 of file subscription.h.

◆ nonconst_callbacks_

uint32_t ros::Subscription::nonconst_callbacks_

private

Definition at line 213 of file subscription.h.

◆ pending_connections_

S_PendingConnection ros::Subscription::pending_connections_

private

Definition at line 220 of file subscription.h.

◆ pending_connections_mutex_

boost::mutex ros::Subscription::pending_connections_mutex_

private

Definition at line 221 of file subscription.h.

◆ publisher_links_

V_PublisherLink ros::Subscription::publisher_links_

private

Definition at line 224 of file subscription.h.

◆ publisher_links_mutex_

boost::mutex ros::Subscription::publisher_links_mutex_

private

Definition at line 225 of file subscription.h.

◆ shutdown_mutex_

boost::mutex ros::Subscription::shutdown_mutex_

private

Definition at line 217 of file subscription.h.

◆ shutting_down_

bool ros::Subscription::shutting_down_

private

Definition at line 216 of file subscription.h.

◆ statistics_

StatisticsLogger ros::Subscription::statistics_

private

Definition at line 229 of file subscription.h.

◆ transport_hints_

TransportHints ros::Subscription::transport_hints_

private

Definition at line 227 of file subscription.h.

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

Classes

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ CallbackInfoPtr

◆ M_PublisherLinkToLatchInfo

◆ M_string

◆ PendingConnectionPtr

◆ S_PendingConnection

◆ V_CallbackInfo

◆ V_PublisherLink

◆ V_TypeAndDeserializer

Constructor & Destructor Documentation

◆ Subscription() [1/2]

◆ ~Subscription()

◆ Subscription() [2/2]

Member Function Documentation

◆ addCallback()

◆ addLocalConnection()

◆ addPublisherLink()

◆ datatype()

◆ drop()

◆ dropAllConnections()

◆ getInfo()

◆ getName()

◆ getNumCallbacks()

◆ getNumPublishers()

◆ getPublishTypes()

◆ getStats()

◆ handleMessage()

◆ headerReceived()

◆ isDropped()

◆ md5sum()

◆ negotiateConnection()

◆ operator=()

◆ pendingConnectionDone()

◆ pubUpdate()

◆ removeCallback()

◆ removePublisherLink()

◆ shutdown()

Member Data Documentation

◆ cached_deserializers_

◆ callbacks_

◆ callbacks_mutex_

◆ datatype_

◆ dropped_

◆ latched_messages_

◆ md5sum_

◆ md5sum_mutex_

◆ name_

◆ nonconst_callbacks_

◆ pending_connections_

◆ pending_connections_mutex_

◆ publisher_links_

◆ publisher_links_mutex_

◆ shutdown_mutex_

◆ shutting_down_

◆ statistics_

◆ transport_hints_