roswrap::Publisher Class Reference

Manages an advertisement on a specific topic. More...

#include <publisher.h>

Classes
class	Impl

Public Member Functions
uint32_t	getNumSubscribers () const
	Returns the number of subscribers that are currently connected to this Publisher. More...
std::string	getTopic () const
	Returns the topic that this Publisher will publish on. More...
bool	isLatched () const
	Returns whether or not this topic is latched. More...
	operator void * () const
bool	operator!= (const Publisher &rhs) const
bool	operator< (const Publisher &rhs) const
bool	operator== (const Publisher &rhs) const
template<typename M >
void	publish (const M &message) const
	Publish a message on the topic associated with this Publisher. More...
template<typename M >
void	publish (const std::shared_ptr< M > &message) const
	Publish a message on the topic associated with this Publisher. More...
	Publisher ()
	Publisher (const Publisher &rhs)
void	shutdown ()
	Shutdown the advertisement associated with this Publisher. More...
	~Publisher ()

Private Types
typedef std::shared_ptr< Impl >	ImplPtr
typedef std::weak_ptr< Impl >	ImplWPtr

Private Member Functions
void	incrementSequence () const
void	publish (const std::function< SerializedMessage(void)> &serfunc, SerializedMessage &m) const
	Publisher (const std::string &topic, const std::string &md5sum, const std::string &datatype, const NodeHandle &node_handle, const SubscriberCallbacksPtr &callbacks)

Private Attributes
ImplPtr	impl_

Friends
class	NodeHandle
class	NodeHandleBackingCollection

Detailed Description

Manages an advertisement on a specific topic.

A Publisher should always be created through a call to NodeHandle::advertise(), or copied from one that was. Once all copies of a specific Publisher go out of scope, any subscriber status callbacks associated with that handle will stop being called. Once all Publishers for a given topic go out of scope the topic will be unadvertised.

Definition at line 48 of file ros/publisher.h.

Member Typedef Documentation

ImplPtr

typedef std::shared_ptr<Impl> roswrap::Publisher::ImplPtr

private

Definition at line 194 of file ros/publisher.h.

ImplWPtr

typedef std::weak_ptr<Impl> roswrap::Publisher::ImplWPtr

private

Definition at line 195 of file ros/publisher.h.

Constructor & Destructor Documentation

Publisher() [1/3]

roswrap::Publisher::Publisher ( )

inline

Definition at line 51 of file ros/publisher.h.

Publisher() [2/3]

roswrap::Publisher::Publisher

(

const Publisher &

rhs

)

~Publisher()

roswrap::Publisher::~Publisher

(

)

Publisher() [3/3]

roswrap::Publisher::Publisher ( const std::string &  topic, const std::string &  md5sum, const std::string &  datatype, const NodeHandle &  node_handle, const SubscriberCallbacksPtr &  callbacks  )

private

Member Function Documentation

getNumSubscribers()

uint32_t roswrap::Publisher::getNumSubscribers

(

)

const

Returns the number of subscribers that are currently connected to this Publisher.

getTopic()

std::string roswrap::Publisher::getTopic

(

)

const

Returns the topic that this Publisher will publish on.

incrementSequence()

void roswrap::Publisher::incrementSequence ( ) const

private

isLatched()

bool roswrap::Publisher::isLatched

(

)

const

Returns whether or not this topic is latched.

operator void *()

roswrap::Publisher::operator void * ( ) const

inline

Definition at line 152 of file ros/publisher.h.

operator!=()

bool roswrap::Publisher::operator!= ( const Publisher &  rhs ) const

inline

Definition at line 164 of file ros/publisher.h.

operator<()

bool roswrap::Publisher::operator< ( const Publisher &  rhs ) const

inline

Definition at line 154 of file ros/publisher.h.

operator==()

bool roswrap::Publisher::operator== ( const Publisher &  rhs ) const

inline

Definition at line 159 of file ros/publisher.h.

publish() [1/3]

template<typename M >

void roswrap::Publisher::publish ( const M &  message ) const

inline

Publish a message on the topic associated with this Publisher.

Definition at line 96 of file ros/publisher.h.

publish() [2/3]

void roswrap::Publisher::publish ( const std::function< SerializedMessage(void)> &  serfunc, SerializedMessage &  m  ) const

private

publish() [3/3]

template<typename M >

void roswrap::Publisher::publish ( const std::shared_ptr< M > &  message ) const

inline

Publish a message on the topic associated with this Publisher.

This version of publish will allow fast intra-process message-passing in the future, so you may not mutate the message after it has been passed in here (since it will be passed directly into a callback function)

Definition at line 64 of file ros/publisher.h.

shutdown()

void roswrap::Publisher::shutdown

(

)

Shutdown the advertisement associated with this Publisher.

This method usually does not need to be explicitly called, as automatic shutdown happens when all copies of this Publisher go out of scope

This method overrides the automatic reference counted unadvertise, and does so immediately.

Note

Note that if multiple advertisements were made through NodeHandle::advertise(), this will only remove the one associated with this Publisher

Friends And Related Function Documentation

NodeHandle

friend class NodeHandle

friend

Definition at line 199 of file ros/publisher.h.

NodeHandleBackingCollection

friend class NodeHandleBackingCollection

friend

Definition at line 200 of file ros/publisher.h.

Member Data Documentation

impl_

ImplPtr roswrap::Publisher::impl_

private

Definition at line 197 of file ros/publisher.h.

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

• ros/publisher.h