A class that allows a client to communicate with other peers. There are two main communication modes: pub/sub messages and service calls. More...

#include <gz/transport/Node.hh>

Classes
class	Publisher
	A class that is used to store information about an advertised publisher. An instance of this class is returned from Node::Advertise, and should be used in subsequent Node::Publisher::Publish calls. More...

Public Member Functions
	Node (const NodeOptions &_options=NodeOptions())
	Constructor. More...

virtual	~Node ()
	Destructor. More...

template<typename RequestT , typename ReplyT >
bool	Advertise (const std::string &_topic, bool(*_callback)(const RequestT &_request, ReplyT &_reply), const AdvertiseServiceOptions &_options=AdvertiseServiceOptions())
	Advertise a new service. In this version the callback is a plain function pointer. More...

template<typename ReplyT >
bool	Advertise (const std::string &_topic, bool(*_callback)(ReplyT &_reply), const AdvertiseServiceOptions &_options=AdvertiseServiceOptions())
	Advertise a new service without input parameter. In this version the callback is a free function. More...

template<typename ClassT , typename RequestT , typename ReplyT >
bool	Advertise (const std::string &_topic, bool(ClassT::_callback)(const RequestT &_request, ReplyT &_reply), ClassT _obj, const AdvertiseServiceOptions &_options=AdvertiseServiceOptions())
	Advertise a new service. In this version the callback is a member function. More...

template<typename ClassT , typename ReplyT >
bool	Advertise (const std::string &_topic, bool(ClassT::_callback)(ReplyT &_reply), ClassT _obj, const AdvertiseServiceOptions &_options=AdvertiseServiceOptions())
	Advertise a new service without input parameter. In this version the callback is a member function. More...

template<typename MessageT >
Node::Publisher	Advertise (const std::string &_topic, const AdvertiseMessageOptions &_options=AdvertiseMessageOptions())
	Advertise a new topic. If a topic is currently advertised, you cannot advertise it a second time (regardless of its type). More...

Node::Publisher	Advertise (const std::string &_topic, const std::string &_msgTypeName, const AdvertiseMessageOptions &_options=AdvertiseMessageOptions())
	Advertise a new topic. If a topic is currently advertised, you cannot advertise it a second time (regardless of its type). More...

template<typename RequestT , typename ReplyT >
bool	Advertise (const std::string &_topic, std::function< bool(const RequestT &_request, ReplyT &_reply)> _callback, const AdvertiseServiceOptions &_options=AdvertiseServiceOptions())
	Advertise a new service. In this version the callback is a lambda function. More...

template<typename ReplyT >
bool	Advertise (const std::string &_topic, std::function< bool(ReplyT &_reply)> &_callback, const AdvertiseServiceOptions &_options=AdvertiseServiceOptions())
	Advertise a new service without input parameter. In this version the callback is a lambda function. More...

template<typename RequestT >
bool	Advertise (const std::string &_topic, std::function< void(const RequestT &_request)> &_callback, const AdvertiseServiceOptions &_options=AdvertiseServiceOptions())
	Advertise a new service without any output parameter. In this version the callback is a lambda function. More...

template<typename RequestT >
bool	Advertise (const std::string &_topic, void(*_callback)(const RequestT &_request), const AdvertiseServiceOptions &_options=AdvertiseServiceOptions())
	Advertise a new service without any output parameter. In this version the callback is a free function. More...

template<typename ClassT , typename RequestT >
bool	Advertise (const std::string &_topic, void(ClassT::_callback)(const RequestT &_request), ClassT _obj, const AdvertiseServiceOptions &_options=AdvertiseServiceOptions())
	Advertise a new service without any output parameter. In this version the callback is a member function. More...

std::vector< std::string >	AdvertisedServices () const
	Get the list of services advertised by this node. More...

std::vector< std::string >	AdvertisedTopics () const
	Get the list of topics advertised by this node. More...

bool	EnableStats (const std::string &_topic, bool _enable, const std::string &_publicationTopic="/statistics", uint64_t _publicationRate=1)
	Turn topic statistics on or off. More...

const NodeOptions &	Options () const
	Get the reference to the current node options. More...

template<typename RequestT >
bool	Request (const std::string &_topic, const RequestT &_request)
	Request a new service without waiting for response. More...

template<typename RequestT , typename ReplyT >
bool	Request (const std::string &_topic, const RequestT &_request, const unsigned int &_timeout, ReplyT &_reply, bool &_result)
	Request a new service using a blocking call. More...

template<typename RequestT , typename ReplyT >
bool	Request (const std::string &_topic, const RequestT &_request, std::function< void(const ReplyT &_reply, const bool _result)> &_callback)
	Request a new service using a non-blocking call. In this version the callback is a lambda function. More...

template<typename RequestT , typename ReplyT >
bool	Request (const std::string &_topic, const RequestT &_request, void(*_callback)(const ReplyT &_reply, const bool _result))
	Request a new service using a non-blocking call. In this version the callback is a free function. More...

template<typename ClassT , typename RequestT , typename ReplyT >
bool	Request (const std::string &_topic, const RequestT &_request, void(ClassT::_callback)(const ReplyT &_reply, const bool _result), ClassT _obj)
	Request a new service using a non-blocking call. In this version the callback is a member function. More...

template<typename ReplyT >
bool	Request (const std::string &_topic, const unsigned int &_timeout, ReplyT &_reply, bool &_result)
	Request a new service without input parameter using a blocking call. More...

template<typename ReplyT >
bool	Request (const std::string &_topic, std::function< void(const ReplyT &_reply, const bool _result)> &_callback)
	Request a new service without input parameter using a non-blocking call. In this version the callback is a lambda function. More...

template<typename ReplyT >
bool	Request (const std::string &_topic, void(*_callback)(const ReplyT &_reply, const bool _result))
	Request a new service without input parameter using a non-blocking call. In this version the callback is a free function. More...

template<typename ClassT , typename ReplyT >
bool	Request (const std::string &_topic, void(ClassT::_callback)(const ReplyT &_reply, const bool _result), ClassT _obj)
	Request a new service without input parameter using a non-blocking call. In this version the callback is a member function. More...

bool	RequestRaw (const std::string &_topic, const std::string &_request, const std::string &_requestType, const std::string &_responseType, unsigned int _timeout, std::string &_response, bool &_result)
	Request a new service using a blocking call. This request function expects a serialized protobuf message as the request and returns a serialized protobuf message as the response. More...

bool	ServiceInfo (const std::string &_service, std::vector< ServicePublisher > &_publishers) const
	Get the information about a service. More...

void	ServiceList (std::vector< std::string > &_services) const
	Get the list of topics currently advertised in the network. Note that this function can block for some time if the discovery is in its initialization phase. The value of the "heartbeatInterval" constant, with a default value of 1000ms, sets the maximum blocking time period. More...

template<typename MessageT >
bool	Subscribe (const std::string &_topic, std::function< void(const MessageT &_msg)> _callback, const SubscribeOptions &_opts=SubscribeOptions())
	Subscribe to a topic registering a callback. Note that this callback does not include any message information. In this version the callback is a lamda function. More...

template<typename MessageT >
bool	Subscribe (const std::string &_topic, std::function< void(const MessageT &_msg, const MessageInfo &_info)> _callback, const SubscribeOptions &_opts=SubscribeOptions())
	Subscribe to a topic registering a callback. Note that this callback includes message information. In this version the callback is a lamda function. More...

template<typename MessageT >
bool	Subscribe (const std::string &_topic, void(*_callback)(const MessageT &_msg), const SubscribeOptions &_opts=SubscribeOptions())
	Subscribe to a topic registering a callback. Note that this callback does not include any message information. In this version the callback is a free function. More...

template<typename MessageT >
bool	Subscribe (const std::string &_topic, void(*_callback)(const MessageT &_msg, const MessageInfo &_info), const SubscribeOptions &_opts=SubscribeOptions())
	Subscribe to a topic registering a callback. Note that this callback includes message information. In this version the callback is a free function. More...

template<typename ClassT , typename MessageT >
bool	Subscribe (const std::string &_topic, void(ClassT::_callback)(const MessageT &_msg), ClassT _obj, const SubscribeOptions &_opts=SubscribeOptions())
	Subscribe to a topic registering a callback. Note that this callback does not include any message information. In this version the callback is a member function. More...

template<typename ClassT , typename MessageT >
bool	Subscribe (const std::string &_topic, void(ClassT::_callback)(const MessageT &_msg, const MessageInfo &_info), ClassT _obj, const SubscribeOptions &_opts=SubscribeOptions())
	Subscribe to a topic registering a callback. Note that this callback includes message information. In this version the callback is a member function. More...

std::vector< std::string >	SubscribedTopics () const
	Get the list of topics subscribed by this node. Note that we might be interested in one topic but we still don't know the address of a publisher. More...

bool	SubscribeRaw (const std::string &_topic, const RawCallback &_callback, const std::string &_msgType=kGenericMessageType, const SubscribeOptions &_opts=SubscribeOptions())
	Subscribe to a topic registering a callback. The callback must accept a std::string to represent the message data, and a MessageInfo which provides metadata about the message. More...

bool	TopicInfo (const std::string &_topic, std::vector< MessagePublisher > &_publishers) const
	Get the information about a topic. More...

void	TopicList (std::vector< std::string > &_topics) const
	Get the list of topics currently advertised in the network. Note that this function can block for some time if the discovery is in its initialization phase. The value of the "heartbeatInterval" constant, with a default value of 1000 ms, sets the maximum blocking time period. More...

std::optional< TopicStatistics >	TopicStats (const std::string &_topic) const
	Get the current statistics for a topic. Statistics must have been enabled using the EnableStatistics function, otherwise the return value will be std::nullopt. More...

bool	UnadvertiseSrv (const std::string &_topic)
	Unadvertise a service. More...

bool	Unsubscribe (const std::string &_topic)
	Unsubscribe from a topic. More...

Detailed Description

A class that allows a client to communicate with other peers. There are two main communication modes: pub/sub messages and service calls.

Constructor & Destructor Documentation

◆ Node()

Node ( const NodeOptions & _options = NodeOptions() )

explicit

Constructor.

Parameters

[in] _options Node options.

◆ ~Node()

virtual ~Node ( )

virtual

Destructor.

Member Function Documentation

◆ Advertise() [1/11]

bool Advertise	(	const std::string &	_topic,
		bool(*)(const RequestT &_request, ReplyT &_reply)	_callback,
		const AdvertiseServiceOptions &	_options = `AdvertiseServiceOptions()`
	)

Advertise a new service. In this version the callback is a plain function pointer.

Parameters

[in]	_topic	Topic name associated to the service.
[in]	_callback	Callback to handle the service request with the following parameters: _request Protobuf message containing the request. _reply Protobuf message containing the response. Returns Service call result.
[in]	_options	Advertise options.

Returns: true when the topic has been successfully advertised or false otherwise.

See also: AdvertiseOptions.

◆ Advertise() [2/11]

bool Advertise	(	const std::string &	_topic,
		bool(*)(ReplyT &_reply)	_callback,
		const AdvertiseServiceOptions &	_options = `AdvertiseServiceOptions()`
	)

Advertise a new service without input parameter. In this version the callback is a free function.

Parameters

[in]	_topic	Topic name associated to the service.
[in]	_callback	Callback to handle the service request with the following parameters: _reply Protobuf message containing the response. Returns Service call result.
[in]	_options	Advertise options.

Returns: true when the topic has been successfully advertised or false otherwise.

See also: AdvertiseOptions.

◆ Advertise() [3/11]

bool Advertise	(	const std::string &	_topic,
		bool(ClassT::*)(const RequestT &_request, ReplyT &_reply)	_callback,
		ClassT *	_obj,
		const AdvertiseServiceOptions &	_options = `AdvertiseServiceOptions()`
	)

Advertise a new service. In this version the callback is a member function.

Parameters

[in]	_topic	Topic name associated to the service.
[in]	_callback	Callback to handle the service request with the following parameters: _request Protobuf message containing the request. _reply Protobuf message containing the response. Returns Service call result.
[in]	_obj	Instance containing the member function.
[in]	_options	Advertise options.

Returns: true when the topic has been successfully advertised or false otherwise.

See also: AdvertiseOptions.

◆ Advertise() [4/11]

bool Advertise	(	const std::string &	_topic,
		bool(ClassT::*)(ReplyT &_reply)	_callback,
		ClassT *	_obj,
		const AdvertiseServiceOptions &	_options = `AdvertiseServiceOptions()`
	)

Advertise a new service without input parameter. In this version the callback is a member function.

Parameters

[in]	_topic	Topic name associated to the service.
[in]	_callback	Callback to handle the service request with the following parameters: _reply Protobuf message containing the response. Returns Service call result.
[in]	_obj	Instance containing the member function.
[in]	_options	Advertise options.

Returns: true when the topic has been successfully advertised or false otherwise.

See also: AdvertiseOptions.

◆ Advertise() [5/11]

Node::Publisher Advertise	(	const std::string &	_topic,
		const AdvertiseMessageOptions &	_options = `AdvertiseMessageOptions()`
	)

Advertise a new topic. If a topic is currently advertised, you cannot advertise it a second time (regardless of its type).

Parameters

[in]	_topic	Topic name to be advertised.
[in]	_options	Advertise options.

Returns: A PublisherId, which can be used in Node::Publish calls. The PublisherId also acts as boolean, where true occurs if the topic was succesfully advertised.

See also: AdvertiseOptions.

◆ Advertise() [6/11]

Node::Publisher Advertise	(	const std::string &	_topic,
		const std::string &	_msgTypeName,
		const AdvertiseMessageOptions &	_options = `AdvertiseMessageOptions()`
	)

Advertise a new topic. If a topic is currently advertised, you cannot advertise it a second time (regardless of its type).

Parameters

[in]	_topic	Topic name to be advertised.
[in]	_msgTypeName	Name of the message type that will be published on the topic. The message type name can be retrieved from a protobuf message using the GetTypeName() function.
[in]	_options	Advertise options.

Returns: A PublisherId, which can be used in Node::Publish calls. The PublisherId also acts as boolean, where true occurs if the topic was succesfully advertised.

See also: AdvertiseOptions.

◆ Advertise() [7/11]

bool Advertise	(	const std::string &	_topic,
		std::function< bool(const RequestT &_request, ReplyT &_reply)>	_callback,
		const AdvertiseServiceOptions &	_options = `AdvertiseServiceOptions()`
	)

Advertise a new service. In this version the callback is a lambda function.

Parameters

[in]	_topic	Topic name associated to the service.
[in]	_callback	Callback to handle the service request with the following parameters: _request Protobuf message containing the request. _reply Protobuf message containing the response. Returns Service call result.
[in]	_options	Advertise options.

Returns: true when the topic has been successfully advertised or false otherwise.

See also: AdvertiseOptions.

◆ Advertise() [8/11]

bool Advertise	(	const std::string &	_topic,
		std::function< bool(ReplyT &_reply)> &	_callback,
		const AdvertiseServiceOptions &	_options = `AdvertiseServiceOptions()`
	)

Advertise a new service without input parameter. In this version the callback is a lambda function.

Parameters

[in]	_topic	Topic name associated to the service.
[in]	_callback	Callback to handle the service request with the following parameters: _reply Protobuf message containing the response. Returns Service call result.
[in]	_options	Advertise options.

Returns: true when the topic has been successfully advertised or false otherwise.

See also: AdvertiseOptions.

◆ Advertise() [9/11]

bool Advertise	(	const std::string &	_topic,
		std::function< void(const RequestT &_request)> &	_callback,
		const AdvertiseServiceOptions &	_options = `AdvertiseServiceOptions()`
	)

Advertise a new service without any output parameter. In this version the callback is a lambda function.

Parameters

[in]	_topic	Topic name associated to the service.
[in]	_callback	Callback to handle the service request with the following parameters: _request Protobuf message containing the request.
[in]	_options	Advertise options.

Returns: true when the topic has been successfully advertised or false otherwise.

See also: AdvertiseOptions.

◆ Advertise() [10/11]

bool Advertise	(	const std::string &	_topic,
		void(*)(const RequestT &_request)	_callback,
		const AdvertiseServiceOptions &	_options = `AdvertiseServiceOptions()`
	)

Advertise a new service without any output parameter. In this version the callback is a free function.

Parameters

[in]	_topic	Topic name associated to the service.
[in]	_callback	Callback to handle the service request with the following parameters: _request Protobuf message containing the request.
[in]	_options	Advertise options.

Returns: true when the topic has been successfully advertised or false otherwise.

See also: AdvertiseOptions.

◆ Advertise() [11/11]

bool Advertise	(	const std::string &	_topic,
		void(ClassT::*)(const RequestT &_request)	_callback,
		ClassT *	_obj,
		const AdvertiseServiceOptions &	_options = `AdvertiseServiceOptions()`
	)

Advertise a new service without any output parameter. In this version the callback is a member function.

Parameters

[in]	_topic	Topic name associated to the service.
[in]	_callback	Callback to handle the service request with the following parameters: _request Protobuf message containing the request.
[in]	_obj	Instance containing the member function.
[in]	_options	Advertise options.

Returns: true when the topic has been successfully advertised or false otherwise.

See also: AdvertiseOptions

◆ AdvertisedServices()

std::vector<std::string> AdvertisedServices ( ) const

Get the list of services advertised by this node.

Returns: A vector containing all services advertised by this node.

◆ AdvertisedTopics()

std::vector<std::string> AdvertisedTopics ( ) const

Get the list of topics advertised by this node.

Returns: A vector containing all the topics advertised by this node.

◆ EnableStats()

bool EnableStats	(	const std::string &	_topic,
		bool	_enable,
		const std::string &	_publicationTopic = `"/statistics"`,
		uint64_t	_publicationRate = `1`
	)

Turn topic statistics on or off.

Parameters

[in]	_topic	The name of the topic on which to enable or disable statistics.
[in]	_enable	True to enable statistics, false to disable.
[in]	_publicationTopic	Topic on which to publish statistics.
[in]	_publicationRate	Rate at which to publish statistics.

◆ Options()

const NodeOptions& Options ( ) const

Get the reference to the current node options.

Returns: Reference to the current node options.

◆ Request() [1/9]

bool Request	(	const std::string &	_topic,
		const RequestT &	_request
	)

Request a new service without waiting for response.

Parameters

[in]	_topic	Topic requested.
[in]	_request	Protobuf message containing the request's parameters.

Returns: true when the service call was succesfully requested.

◆ Request() [2/9]

bool Request	(	const std::string &	_topic,
		const RequestT &	_request,
		const unsigned int &	_timeout,
		ReplyT &	_reply,
		bool &	_result
	)

Request a new service using a blocking call.

Parameters

[in]	_topic	Service name requested.
[in]	_request	Protobuf message containing the request's parameters.
[in]	_timeout	The request will timeout after '_timeout' ms.
[out]	_reply	Protobuf message containing the response.
[out]	_result	Result of the service call.

Returns: true when the request was executed or false if the timeout expired.

◆ Request() [3/9]

bool Request	(	const std::string &	_topic,
		const RequestT &	_request,
		std::function< void(const ReplyT &_reply, const bool _result)> &	_callback
	)

Request a new service using a non-blocking call. In this version the callback is a lambda function.

Parameters

[in]	_topic	Service name requested.
[in]	_request	Protobuf message containing the request's parameters.
[in]	_callback	Lambda function executed when the response arrives. The callback has the following parameters: _reply Protobuf message containing the response. _result Result of the service call. If false, there was a problem executing your request.

Returns: true when the service call was succesfully requested.

◆ Request() [4/9]

bool Request	(	const std::string &	_topic,
		const RequestT &	_request,
		void(*)(const ReplyT &_reply, const bool _result)	_callback
	)

Request a new service using a non-blocking call. In this version the callback is a free function.

Parameters

[in]	_topic	Service name requested.
[in]	_request	Protobuf message containing the request's parameters.
[in]	_callback	Pointer to the callback function executed when the response arrives. The callback has the following parameters: _reply Protobuf message containing the response. _result Result of the service call. If false, there was a problem executing your request.

Returns: true when the service call was succesfully requested.

◆ Request() [5/9]

bool Request	(	const std::string &	_topic,
		const RequestT &	_request,
		void(ClassT::*)(const ReplyT &_reply, const bool _result)	_callback,
		ClassT *	_obj
	)

Request a new service using a non-blocking call. In this version the callback is a member function.

Parameters

[in]	_topic	Service name requested.
[in]	_request	Protobuf message containing the request's parameters.
[in]	_callback	Pointer to the callback function executed when the response arrives. The callback has the following parameters: _reply Protobuf message containing the response. _result Result of the service call. If false, there was a problem executing your request.
[in]	_obj	Instance containing the member function.

Returns: true when the service call was succesfully requested.

◆ Request() [6/9]

bool Request	(	const std::string &	_topic,
		const unsigned int &	_timeout,
		ReplyT &	_reply,
		bool &	_result
	)

Request a new service without input parameter using a blocking call.

Parameters

[in]	_topic	Service name requested.
[in]	_timeout	The request will timeout after '_timeout' ms.
[out]	_reply	Protobuf message containing the response.
[out]	_result	Result of the service call.

Returns: true when the request was executed or false if the timeout expired.

◆ Request() [7/9]

bool Request	(	const std::string &	_topic,
		std::function< void(const ReplyT &_reply, const bool _result)> &	_callback
	)

Request a new service without input parameter using a non-blocking call. In this version the callback is a lambda function.

Parameters

[in]	_topic	Service name requested.
[in]	_callback	Lambda function executed when the response arrives. The callback has the following parameters: _reply Protobuf message containing the response. _result Result of the service call. If false, there was a problem executing your request.

Returns: true when the service call was succesfully requested.

◆ Request() [8/9]

bool Request	(	const std::string &	_topic,
		void(*)(const ReplyT &_reply, const bool _result)	_callback
	)

Request a new service without input parameter using a non-blocking call. In this version the callback is a free function.

Parameters

[in]	_topic	Service name requested.
[in]	_callback	Pointer to the callback function executed when the response arrives. The callback has the following parameters: _reply Protobuf message containing the response. _result Result of the service call. If false, there was a problem executing your request.

Returns: true when the service call was succesfully requested.

◆ Request() [9/9]

bool Request	(	const std::string &	_topic,
		void(ClassT::*)(const ReplyT &_reply, const bool _result)	_callback,
		ClassT *	_obj
	)

Request a new service without input parameter using a non-blocking call. In this version the callback is a member function.

Parameters

[in]	_topic	Service name requested.
[in]	_callback	Pointer to the callback function executed when the response arrives. The callback has the following parameters: _reply Protobuf message containing the response. _result Result of the service call. If false, there was a problem executing your request.
[in]	_obj	Instance containing the member function.

Returns: true when the service call was succesfully requested.

◆ RequestRaw()

bool RequestRaw	(	const std::string &	_topic,
		const std::string &	_request,
		const std::string &	_requestType,
		const std::string &	_responseType,
		unsigned int	_timeout,
		std::string &	_response,
		bool &	_result
	)

Request a new service using a blocking call. This request function expects a serialized protobuf message as the request and returns a serialized protobuf message as the response.

Parameters

[in]	_topic	Service name requested.
[in]	_request	Protobuf message serialized into a string containing the request's parameters.
[in]	_requestType	Message type of the request.
[in]	_responseType	Message type of the response.
[in]	_timeout	The request will timeout after '_timeout' ms.
[out]	_response	Serialized protobuf message containing the response.
[out]	_result	Result of the service call.

Returns: true when the request was executed or false if the timeout expired.

◆ ServiceInfo()

bool ServiceInfo	(	const std::string &	_service,
		std::vector< ServicePublisher > &	_publishers
	)		const

Get the information about a service.

Parameters

[in]	_service	Name of the service.
[out]	_publishers	List of publishers on the service.

Returns: False if unable to get service info.

◆ ServiceList()

void ServiceList ( std::vector< std::string > & _services ) const

Get the list of topics currently advertised in the network. Note that this function can block for some time if the discovery is in its initialization phase. The value of the "heartbeatInterval" constant, with a default value of 1000ms, sets the maximum blocking time period.

Parameters

[out] _services List of advertised services.

◆ Subscribe() [1/6]

bool Subscribe	(	const std::string &	_topic,
		std::function< void(const MessageT &_msg)>	_callback,
		const SubscribeOptions &	_opts = `SubscribeOptions()`
	)

Subscribe to a topic registering a callback. Note that this callback does not include any message information. In this version the callback is a lamda function.

Parameters

[in]	_topic	Topic to be subscribed.
[in]	_callback	Lambda function with the following parameters: _msg Protobuf message containing a new topic update.
[in]	_opts	Subscription options.

Returns: true when successfully subscribed or false otherwise.

◆ Subscribe() [2/6]

bool Subscribe	(	const std::string &	_topic,
		std::function< void(const MessageT &_msg, const MessageInfo &_info)>	_callback,
		const SubscribeOptions &	_opts = `SubscribeOptions()`
	)

Subscribe to a topic registering a callback. Note that this callback includes message information. In this version the callback is a lamda function.

Parameters

[in]	_topic	Topic to be subscribed.
[in]	_callback	Lambda function with the following parameters: _msg Protobuf message containing a new topic update. _info Message information (e.g.: topic name).
[in]	_opts	Subscription options.

Returns: true when successfully subscribed or false otherwise.

◆ Subscribe() [3/6]

bool Subscribe	(	const std::string &	_topic,
		void(*)(const MessageT &_msg)	_callback,
		const SubscribeOptions &	_opts = `SubscribeOptions()`
	)

Subscribe to a topic registering a callback. Note that this callback does not include any message information. In this version the callback is a free function.

Parameters

[in]	_topic	Topic to be subscribed.
[in]	_callback	Pointer to the callback function with the following parameters: _msg Protobuf message containing a new topic update.
[in]	_opts	Subscription options.

Returns: true when successfully subscribed or false otherwise.

◆ Subscribe() [4/6]

bool Subscribe	(	const std::string &	_topic,
		void(*)(const MessageT &_msg, const MessageInfo &_info)	_callback,
		const SubscribeOptions &	_opts = `SubscribeOptions()`
	)

Subscribe to a topic registering a callback. Note that this callback includes message information. In this version the callback is a free function.

Parameters

[in]	_topic	Topic to be subscribed.
[in]	_callback	Pointer to the callback function with the following parameters: _msg Protobuf message containing a new topic update. _info Message information (e.g.: topic name).
[in]	_opts	Subscription options.

Returns: true when successfully subscribed or false otherwise.

◆ Subscribe() [5/6]

bool Subscribe	(	const std::string &	_topic,
		void(ClassT::*)(const MessageT &_msg)	_callback,
		ClassT *	_obj,
		const SubscribeOptions &	_opts = `SubscribeOptions()`
	)

Subscribe to a topic registering a callback. Note that this callback does not include any message information. In this version the callback is a member function.

Parameters

[in]	_topic	Topic to be subscribed.
[in]	_callback	Pointer to the callback function with the following parameters: _msg Protobuf message containing a new topic update.
[in]	_obj	Instance containing the member function.
[in]	_opts	Subscription options.

Returns: true when successfully subscribed or false otherwise.

◆ Subscribe() [6/6]

bool Subscribe	(	const std::string &	_topic,
		void(ClassT::*)(const MessageT &_msg, const MessageInfo &_info)	_callback,
		ClassT *	_obj,
		const SubscribeOptions &	_opts = `SubscribeOptions()`
	)

Subscribe to a topic registering a callback. Note that this callback includes message information. In this version the callback is a member function.

Parameters

[in]	_topic	Topic to be subscribed.
[in]	_callback	Pointer to the callback function with the following parameters: _msg Protobuf message containing a new topic update. _info Message information (e.g.: topic name).
[in]	_obj	Instance containing the member function.
[in]	_opts	Subscription options.

Returns: true when successfully subscribed or false otherwise.

◆ SubscribedTopics()

std::vector<std::string> SubscribedTopics ( ) const

Get the list of topics subscribed by this node. Note that we might be interested in one topic but we still don't know the address of a publisher.

Returns: A vector containing the subscribed topics (even if we do not have an address for a particular topic yet).

◆ SubscribeRaw()

bool SubscribeRaw	(	const std::string &	_topic,
		const RawCallback &	_callback,
		const std::string &	_msgType = `kGenericMessageType`,
		const SubscribeOptions &	_opts = `SubscribeOptions()`
	)

Subscribe to a topic registering a callback. The callback must accept a std::string to represent the message data, and a MessageInfo which provides metadata about the message.

Parameters

[in]	_topic	Name of the topic to subscribe to
[in]	_callback	A function pointer or std::function object that has a void return value and accepts two arguments: (const std::string &_msgData, const MessageInfo &_info).
[in]	_msgType	The type of message to subscribe to. Using kGenericMessageType (the default) will allow this subscriber to listen to all message types. The callback function can identify the type for each message by inspecting its const MessageInfo& input argument.
[in]	_opts	Options for subscribing.

Returns: True if subscribing was successful.

◆ TopicInfo()

bool TopicInfo	(	const std::string &	_topic,
		std::vector< MessagePublisher > &	_publishers
	)		const

Get the information about a topic.

Parameters

[in]	_topic	Name of the topic.
[out]	_publishers	List of publishers on the topic

Returns: False if unable to get topic info

◆ TopicList()

void TopicList ( std::vector< std::string > & _topics ) const

Get the list of topics currently advertised in the network. Note that this function can block for some time if the discovery is in its initialization phase. The value of the "heartbeatInterval" constant, with a default value of 1000 ms, sets the maximum blocking time period.

Parameters

[out] _topics List of advertised topics.

◆ TopicStats()

std::optional<TopicStatistics> TopicStats ( const std::string & _topic ) const

Get the current statistics for a topic. Statistics must have been enabled using the EnableStatistics function, otherwise the return value will be std::nullopt.

Parameters

[in] _topic The name of the topic to get statistics for. return A TopicStatistics class, or std::nullopt if statistics were not enabled.

◆ UnadvertiseSrv()

bool UnadvertiseSrv ( const std::string & _topic )

Unadvertise a service.

Parameters

[in] _topic Service name to be unadvertised.

Returns: true if the service was successfully unadvertised.

◆ Unsubscribe()

bool Unsubscribe ( const std::string & _topic )

Unsubscribe from a topic.

Parameters

[in] _topic Topic name to be unsubscribed.

Returns: true when successfully unsubscribed or false otherwise.

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

gz/transport/Node.hh

Classes

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Node()

◆ ~Node()

Member Function Documentation

◆ Advertise() [1/11]

◆ Advertise() [2/11]

◆ Advertise() [3/11]

◆ Advertise() [4/11]

◆ Advertise() [5/11]

◆ Advertise() [6/11]

◆ Advertise() [7/11]

◆ Advertise() [8/11]

◆ Advertise() [9/11]

◆ Advertise() [10/11]

◆ Advertise() [11/11]

◆ AdvertisedServices()

◆ AdvertisedTopics()

◆ EnableStats()

◆ Options()

◆ Request() [1/9]

◆ Request() [2/9]

◆ Request() [3/9]

◆ Request() [4/9]

◆ Request() [5/9]

◆ Request() [6/9]

◆ Request() [7/9]

◆ Request() [8/9]

◆ Request() [9/9]

◆ RequestRaw()

◆ ServiceInfo()

◆ ServiceList()

◆ Subscribe() [1/6]

◆ Subscribe() [2/6]

◆ Subscribe() [3/6]

◆ Subscribe() [4/6]

◆ Subscribe() [5/6]

◆ Subscribe() [6/6]

◆ SubscribedTopics()

◆ SubscribeRaw()

◆ TopicInfo()

◆ TopicList()

◆ TopicStats()

◆ UnadvertiseSrv()

◆ Unsubscribe()