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.

	~CommsEndpoint ()
	Destructor.

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

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

Public Member Functions inherited from System
	System ()=default
	Constructor.

virtual	~System ()=default
	Destructor.

Additional Inherited Members
Public Types inherited from System
using	PriorityType = int32_t
	Signed integer type used for specifying priority of the execution order of PreUpdate and Update phases.

Static Public Attributes inherited from System
static constexpr PriorityType	kDefaultPriority = {0}
	Default priority value for execution order of the PreUpdate and Update phases.

static constexpr std::string_view	kPriorityElementName
	Name of the XML element from which the priority value will be parsed.

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.

System 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"

Example

<plugin
  filename="gz-sim-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.