#include <topic_manager.h>

Public Member Functions
bool	advertise (const AdvertiseOptions &ops, const SubscriberCallbacksPtr &callbacks)

void	getAdvertisedTopics (V_string &topics)
	Get the list of topics advertised by this node. More...

size_t	getNumPublishers (const std::string &_topic)
	Return the number of publishers connected to this node on a particular topic. More...

size_t	getNumSubscribers (const std::string &_topic)
	Return the number of subscribers a node has for a particular topic: More...

size_t	getNumSubscriptions ()

void	getSubscribedTopics (V_string &topics)
	Get the list of topics subscribed to by this node. More...

void	incrementSequence (const std::string &_topic)

bool	isLatched (const std::string &topic)

PublicationPtr	lookupPublication (const std::string &topic)
	Lookup an advertised topic. More...

void	publish (const std::string &_topic, const std::function< SerializedMessage(void)> &serfunc, SerializedMessage &m)

template<typename M >
void	publish (const std::string &topic, const M &message)

void	shutdown ()

void	start ()

bool	subscribe (const SubscribeOptions &ops)

	TopicManager ()

bool	unadvertise (const std::string &topic, const SubscriberCallbacksPtr &callbacks)

bool	unsubscribe (const std::string &_topic, const SubscriptionCallbackHelperPtr &helper)

	~TopicManager ()

Static Public Member Functions
static const TopicManagerPtr &	instance ()

Private Member Functions
bool	addSubCallback (const SubscribeOptions &ops)

void	getBusInfo (XmlRpc::XmlRpcValue &info)
	Compute the info for the node's connectivity. More...

void	getBusInfoCallback (XmlRpc::XmlRpcValue &params, XmlRpc::XmlRpcValue &result)

void	getBusStats (XmlRpc::XmlRpcValue &stats)
	Compute the statistics for the node's connectivity. More...

void	getBusStatsCallback (XmlRpc::XmlRpcValue &params, XmlRpc::XmlRpcValue &result)

void	getPublications (XmlRpc::XmlRpcValue &publications)
	Return the list of advertised topics for the node. More...

void	getPublicationsCallback (XmlRpc::XmlRpcValue &params, XmlRpc::XmlRpcValue &result)

void	getSubscriptions (XmlRpc::XmlRpcValue &subscriptions)
	Return the list of subcriptions for the node. More...

void	getSubscriptionsCallback (XmlRpc::XmlRpcValue &params, XmlRpc::XmlRpcValue &result)

bool	isShuttingDown ()

bool	isTopicAdvertised (const std::string &topic)

PublicationPtr	lookupPublicationWithoutLock (const std::string &topic)

void	processPublishQueues ()

bool	pubUpdate (const std::string &topic, const std::vector< std::string > &pubs)
	Update local publisher lists. More...

void	pubUpdateCallback (XmlRpc::XmlRpcValue &params, XmlRpc::XmlRpcValue &result)

bool	registerSubscriber (const SubscriptionPtr &s, const std::string &datatype)

bool	requestTopic (const std::string &topic, XmlRpc::XmlRpcValue &protos, XmlRpc::XmlRpcValue &ret)
	Request a topic. More...

void	requestTopicCallback (XmlRpc::XmlRpcValue &params, XmlRpc::XmlRpcValue &result)

bool	unregisterPublisher (const std::string &topic)

bool	unregisterSubscriber (const std::string &topic)

Private Attributes
std::list< std::string >	advertised_topic_names_

std::mutex	advertised_topic_names_mutex_

V_Publication	advertised_topics_

boost::recursive_mutex	advertised_topics_mutex_

ConnectionManagerPtr	connection_manager_

PollManagerPtr	poll_manager_

volatile bool	shutting_down_

std::mutex	shutting_down_mutex_

std::mutex	subs_mutex_

L_Subscription	subscriptions_

XMLRPCManagerPtr	xmlrpc_manager_

Detailed Description

Definition at line 64 of file topic_manager.h.

Constructor & Destructor Documentation

◆ TopicManager()

roswrap::TopicManager::TopicManager ( )

◆ ~TopicManager()

roswrap::TopicManager::~TopicManager ( )

Member Function Documentation

◆ addSubCallback()

bool roswrap::TopicManager::addSubCallback ( const SubscribeOptions & ops )

private

if it finds a pre-existing subscription to the same topic and of the same message type, it appends the Functor to the callback vector for that subscription. otherwise, it returns false, indicating that a new subscription needs to be created.

◆ advertise()

bool roswrap::TopicManager::advertise	(	const AdvertiseOptions &	ops,
		const SubscriberCallbacksPtr &	callbacks
	)

◆ getAdvertisedTopics()

void roswrap::TopicManager::getAdvertisedTopics ( V_string & topics )

Get the list of topics advertised by this node.

Parameters

[out] topics The advertised topics

◆ getBusInfo()

void roswrap::TopicManager::getBusInfo ( XmlRpc::XmlRpcValue & info )

private

Compute the info for the node's connectivity.

This is the implementation of the xml-rpc getBusInfo function; it populates the XmlRpcValue object sent to it with various info about the node's connectivity.

◆ getBusInfoCallback()

void roswrap::TopicManager::getBusInfoCallback	(	XmlRpc::XmlRpcValue &	params,
		XmlRpc::XmlRpcValue &	result
	)

private

◆ getBusStats()

void roswrap::TopicManager::getBusStats ( XmlRpc::XmlRpcValue & stats )

private

Compute the statistics for the node's connectivity.

This is the implementation of the xml-rpc getBusStats function; it populates the XmlRpcValue object sent to it with various statistics about the node's connectivity, bandwidth utilization, etc.

◆ getBusStatsCallback()

void roswrap::TopicManager::getBusStatsCallback	(	XmlRpc::XmlRpcValue &	params,
		XmlRpc::XmlRpcValue &	result
	)

private

◆ getNumPublishers()

size_t roswrap::TopicManager::getNumPublishers ( const std::string & _topic )

Return the number of publishers connected to this node on a particular topic.

Parameters

_topic the topic name to check

Returns: the number of subscribers

◆ getNumSubscribers()

size_t roswrap::TopicManager::getNumSubscribers ( const std::string & _topic )

Return the number of subscribers a node has for a particular topic:

Parameters

_topic The topic name to check

Returns: number of subscribers

◆ getNumSubscriptions()

size_t roswrap::TopicManager::getNumSubscriptions ( )

◆ getPublications()

void roswrap::TopicManager::getPublications ( XmlRpc::XmlRpcValue & publications )

private

Return the list of advertised topics for the node.

This is the implementation of the xml-rpc getPublications function; it populates the XmlRpcValue object sent to it with the list of advertised topics and their datatypes.

◆ getPublicationsCallback()

void roswrap::TopicManager::getPublicationsCallback	(	XmlRpc::XmlRpcValue &	params,
		XmlRpc::XmlRpcValue &	result
	)

private

◆ getSubscribedTopics()

void roswrap::TopicManager::getSubscribedTopics ( V_string & topics )

Get the list of topics subscribed to by this node.

Parameters

[out] The subscribed topics

◆ getSubscriptions()

void roswrap::TopicManager::getSubscriptions ( XmlRpc::XmlRpcValue & subscriptions )

private

Return the list of subcriptions for the node.

This is the implementation of the xml-rpc getSubscriptions function; it populates the XmlRpcValue object sent to it with the list of subscribed topics and their datatypes.

◆ getSubscriptionsCallback()

void roswrap::TopicManager::getSubscriptionsCallback	(	XmlRpc::XmlRpcValue &	params,
		XmlRpc::XmlRpcValue &	result
	)

private

◆ incrementSequence()

void roswrap::TopicManager::incrementSequence ( const std::string & _topic )

◆ instance()

static const TopicManagerPtr& roswrap::TopicManager::instance ( )

static

◆ isLatched()

bool roswrap::TopicManager::isLatched ( const std::string & topic )

◆ isShuttingDown()

bool roswrap::TopicManager::isShuttingDown ( )

inlineprivate

Definition at line 220 of file topic_manager.h.

◆ isTopicAdvertised()

bool roswrap::TopicManager::isTopicAdvertised ( const std::string & topic )

private

◆ lookupPublication()

PublicationPtr roswrap::TopicManager::lookupPublication ( const std::string & topic )

Lookup an advertised topic.

This method iterates over advertised_topics, looking for one with name matching the given topic name. The advertised_topics_mutex is locked during this search. This method is only used internally.

Parameters

topic The topic name to look for.

Returns: Pointer to the matching Publication, NULL if none is found.

◆ lookupPublicationWithoutLock()

PublicationPtr roswrap::TopicManager::lookupPublicationWithoutLock ( const std::string & topic )

private

◆ processPublishQueues()

void roswrap::TopicManager::processPublishQueues ( )

private

◆ publish() [1/2]

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

◆ publish() [2/2]

template<typename M >

void roswrap::TopicManager::publish	(	const std::string &	topic,
		const M &	message
	)

inline

Definition at line 123 of file topic_manager.h.

◆ pubUpdate()

bool roswrap::TopicManager::pubUpdate	(	const std::string &	topic,
		const std::vector< std::string > &	pubs
	)

private

Update local publisher lists.

Use this method to update address information for publishers on a given topic.

Parameters

topic	The topic of interest
pubs	The list of publishers to update.

Returns: true on success, false otherwise.

◆ pubUpdateCallback()

void roswrap::TopicManager::pubUpdateCallback	(	XmlRpc::XmlRpcValue &	params,
		XmlRpc::XmlRpcValue &	result
	)

private

◆ registerSubscriber()

bool roswrap::TopicManager::registerSubscriber	(	const SubscriptionPtr &	s,
		const std::string &	datatype
	)

private

◆ requestTopic()

bool roswrap::TopicManager::requestTopic	(	const std::string &	topic,
		XmlRpc::XmlRpcValue &	protos,
		XmlRpc::XmlRpcValue &	ret
	)

private

Request a topic.

Negotiate a subscriber connection on a topic.

Parameters

topic	The topic of interest.
protos	List of transport protocols, in preference order
ret	Return value

Returns: true on success, false otherwise

Todo:: Consider making this private

◆ requestTopicCallback()

void roswrap::TopicManager::requestTopicCallback	(	XmlRpc::XmlRpcValue &	params,
		XmlRpc::XmlRpcValue &	result
	)

private

◆ shutdown()

void roswrap::TopicManager::shutdown ( )

◆ start()

void roswrap::TopicManager::start ( )

◆ subscribe()

bool roswrap::TopicManager::subscribe ( const SubscribeOptions & ops )

◆ unadvertise()

bool roswrap::TopicManager::unadvertise	(	const std::string &	topic,
		const SubscriberCallbacksPtr &	callbacks
	)

◆ unregisterPublisher()

bool roswrap::TopicManager::unregisterPublisher ( const std::string & topic )

private

◆ unregisterSubscriber()

bool roswrap::TopicManager::unregisterSubscriber ( const std::string & topic )

private

◆ unsubscribe()

bool roswrap::TopicManager::unsubscribe	(	const std::string &	_topic,
		const SubscriptionCallbackHelperPtr &	helper
	)

Member Data Documentation

◆ advertised_topic_names_

std::list<std::string> roswrap::TopicManager::advertised_topic_names_

private

Definition at line 227 of file topic_manager.h.

◆ advertised_topic_names_mutex_

std::mutex roswrap::TopicManager::advertised_topic_names_mutex_

private

Definition at line 228 of file topic_manager.h.

◆ advertised_topics_

V_Publication roswrap::TopicManager::advertised_topics_

private

Definition at line 226 of file topic_manager.h.

◆ advertised_topics_mutex_

boost::recursive_mutex roswrap::TopicManager::advertised_topics_mutex_

private

Definition at line 225 of file topic_manager.h.

◆ connection_manager_

ConnectionManagerPtr roswrap::TopicManager::connection_manager_

private

Definition at line 234 of file topic_manager.h.

◆ poll_manager_

PollManagerPtr roswrap::TopicManager::poll_manager_

private

Definition at line 233 of file topic_manager.h.

◆ shutting_down_

volatile bool roswrap::TopicManager::shutting_down_

private

Definition at line 230 of file topic_manager.h.

◆ shutting_down_mutex_

std::mutex roswrap::TopicManager::shutting_down_mutex_

private

Definition at line 231 of file topic_manager.h.

◆ subs_mutex_

std::mutex roswrap::TopicManager::subs_mutex_

private

Definition at line 222 of file topic_manager.h.

◆ subscriptions_

L_Subscription roswrap::TopicManager::subscriptions_

private

Definition at line 223 of file topic_manager.h.

◆ xmlrpc_manager_

XMLRPCManagerPtr roswrap::TopicManager::xmlrpc_manager_

private

Definition at line 235 of file topic_manager.h.

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

topic_manager.h

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TopicManager()

◆ ~TopicManager()

Member Function Documentation

◆ addSubCallback()

◆ advertise()

◆ getAdvertisedTopics()

◆ getBusInfo()

◆ getBusInfoCallback()

◆ getBusStats()

◆ getBusStatsCallback()

◆ getNumPublishers()

◆ getNumSubscribers()

◆ getNumSubscriptions()

◆ getPublications()

◆ getPublicationsCallback()

◆ getSubscribedTopics()

◆ getSubscriptions()

◆ getSubscriptionsCallback()

◆ incrementSequence()

◆ instance()

◆ isLatched()

◆ isShuttingDown()

◆ isTopicAdvertised()

◆ lookupPublication()

◆ lookupPublicationWithoutLock()

◆ processPublishQueues()

◆ publish() [1/2]

◆ publish() [2/2]

◆ pubUpdate()

◆ pubUpdateCallback()

◆ registerSubscriber()

◆ requestTopic()

◆ requestTopicCallback()

◆ shutdown()

◆ start()

◆ subscribe()

◆ unadvertise()

◆ unregisterPublisher()

◆ unregisterSubscriber()

◆ unsubscribe()

Member Data Documentation

◆ advertised_topic_names_

◆ advertised_topic_names_mutex_

◆ advertised_topics_

◆ advertised_topics_mutex_

◆ connection_manager_

◆ poll_manager_

◆ shutting_down_

◆ shutting_down_mutex_

◆ subs_mutex_

◆ subscriptions_

◆ xmlrpc_manager_