CommsEndpoint Class Reference

A system that registers in the comms broker an endpoint. You're creating an address attached to the model where the plugin is running. The system will bind this address in the broker automatically for you and unbind it when the model is destroyed. More...

#include <CommsEndpoint.hh>

Public Member Functions
	CommsEndpoint ()
	Constructor. More...
	~CommsEndpoint ()
	Destructor. More...
void	Configure (const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override
	Configure the system. More...
void	PreUpdate (const UpdateInfo &_info, EntityComponentManager &_ecm) override
Public Member Functions inherited from System
	System ()=default
	Constructor. More...
virtual	~System ()=default
	Destructor. More...

Detailed Description

A system that registers in the comms broker an endpoint. You're creating an address attached to the model where the plugin is running. The system will bind this address in the broker automatically for you and unbind it when the model is destroyed.

The endpoint can be configured with the following SDF parameters:

• Required parameters: <address> An identifier used to receive messages (string). <topic> The topic name where you want to receive the messages targeted to this address.
• Optional parameters: <broker> Element used to capture where are the broker services. This block can contain any of the next optional parameters: <bind_service>: Service name used to bind an address. The default value is "/broker/bind" <unbind_service>: Service name used to unbind from an address. The default value is "/broker/unbind"

Here's an example: <plugin filename="ignition-gazebo-comms-endpoint-system" name="systems::CommsEndpoint"> <address>addr1</address> <topic>addr1/rx</topic> <broker> <bind_service>/broker/bind</bind_service> <unbind_service>/broker/unbind</unbind_service> </broker> </plugin>

Constructor & Destructor Documentation

CommsEndpoint()

CommsEndpoint

(

)

Constructor.

~CommsEndpoint()

~CommsEndpoint

(

)

Destructor.

Member Function Documentation

Configure()

void Configure ( const Entity &  _entity, const std::shared_ptr< const sdf::Element > &  _sdf, EntityComponentManager &  _ecm, EventManager &  _eventMgr  )

overridevirtual

Configure the system.

Parameters

[in]	_entity	The entity this plugin is attached to.
[in]	_sdf	The SDF Element associated with this system plugin.
[in]	_ecm	The EntityComponentManager of the given simulation instance.
[in]	_eventMgr	The EventManager of the given simulation instance.

Implements ISystemConfigure.

PreUpdate()

void PreUpdate ( const UpdateInfo &  _info, EntityComponentManager &  _ecm  )

overridevirtual

Implements ISystemPreUpdate.

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

• CommsEndpoint.hh