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 ignition::gazebo::UpdateInfo &_info, ignition::gazebo::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="ignition::gazebo::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()
|
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()
|
overridevirtual |
Implements ISystemPreUpdate.
The documentation for this class was generated from the following file: