gz::transport Namespace Reference

Namespaces
	log
	parameters

Classes
class	AdvertiseMessageOptions
	A class for customizing the publication options for a topic advertised. E.g.: Set the rate of messages per second published. More...
class	AdvertiseOptions
	A class for customizing the publication options for a topic or service advertised. E.g.: Set the scope of a topic/service. More...
class	AdvertiseServiceOptions
	A class for customizing the publication options for a service advertised. More...
class	Clock
	A Clock interface for time tracking. More...
class	Discovery
	A discovery class that implements a distributed topic discovery protocol. It uses UDP multicast for sending/receiving messages and stores updated topic information. The discovery clients can request the discovery of a topic or the advertisement of a local topic. The discovery uses heartbeats to track the state of other peers in the network. The discovery clients can register callbacks to detect when new topics are discovered or topics are no longer available. More...
class	HandlerStorage
	Class to store and manage service call handlers. More...
class	IRepHandler
	Interface class used to manage a replier handler. More...
class	IReqHandler
	Interface class used to manage a request handler. More...
class	ISubscriptionHandler
	Interface class used to manage generic protobuf messages. More...
class	MessageInfo
	A class that provides information about the message received. More...
class	MessagePublisher
	This class stores all the information about a message publisher. More...
class	NetworkClock
	A Clock interface implementation that uses gz::msgs::Clock messages distributed across the network. More...
class	Node
	A class that allows a client to communicate with other peers. There are two main communication modes: pub/sub messages and service calls. More...
class	NodeOptions
	A class for customizing the behavior of the Node. E.g.: Set a custom namespace or a partition name. More...
class	NodeShared
	Private data for the Node class. This class should not be directly used. You should use the Node class. More...
class	Publisher
	This class stores all the information about a publisher. It stores the topic name that publishes, addresses, UUIDs, scope, etc. More...
class	RawSubscriptionHandler
class	RepHandler
	with the service response. More...
class	ReqHandler
	It creates a reply handler for the specific protobuf messages used. 'Req' is a protobuf message type containing the input parameters of the service request. 'Rep' is a protobuf message type that will be filled with the service response. More...
class	ReqHandler< google::protobuf::Message, google::protobuf::Message >
class	ServicePublisher
	This class stores all the information about a service publisher. More...
class	Statistics
	Computes the rolling average, min, max, and standard deviation for a set of samples. More...
class	SubscribeOptions
	A class to provide different options for a subscription. More...
class	SubscriptionHandler
	It creates a subscription handler for a specific protobuf message. 'T' is the Protobuf message type that will be used for this particular handler. More...
class	SubscriptionHandler< ProtoMsg >
	Specialized template when the user prefers a callbacks that accepts a generic google::protobuf::message instead of a specific type. More...
class	SubscriptionHandlerBase
	SubscriptionHandlerBase contains functions and data which are common to all SubscriptionHandler types. More...
class	TopicStatistics
	Encapsulates statistics for a single topic. The set of statistics include: More...
class	TopicStorage
	Store address information about topics and provide convenient methods for adding new topics, removing them, etc. More...
class	TopicUtils
	This class provides different utilities related with topics. More...
class	Uuid
	A portable class for representing a Universally Unique Identifier. More...
class	WallClock
	A Clock implementation that leverages host OS time APIs. More...

Typedefs
template<typename T >
using	Addresses_M = std::map< std::string, std::vector< T > >
using	DeallocFunc = void(void *_data, void *_hint)
template<typename T >
using	DiscoveryCallback = std::function< void(const T &_publisher)>
using	IRepHandlerPtr = std::shared_ptr< IRepHandler >
using	IReqHandler_M = std::map< std::string, std::map< std::string, IReqHandlerPtr > >
using	IReqHandlerPtr = std::shared_ptr< IReqHandler >
using	ISubscriptionHandler_M = std::map< std::string, ISubscriptionHandlerPtr >
using	ISubscriptionHandlerPtr = std::shared_ptr< ISubscriptionHandler >
using	MsgAddresses_M = Addresses_M< MessagePublisher >
template<typename T >
using	MsgCallback = std::function< void(const T &_msg, const MessageInfo &_info)>
using	MsgDiscovery = Discovery< MessagePublisher >
using	MsgDiscoveryCallback = std::function< void(const MessagePublisher &_publisher)>
using	ProtoMsg = google::protobuf::Message
using	ProtoMsgPtr = std::shared_ptr< ProtoMsg >
using	RawCallback = std::function< void(const char *_msgData, const size_t _size, const MessageInfo &_info)>
using	RawSubscriptionHandler_M = std::map< std::string, RawSubscriptionHandlerPtr >
using	RawSubscriptionHandlerPtr = std::shared_ptr< RawSubscriptionHandler >
using	SrvAddresses_M = Addresses_M< ServicePublisher >
using	SrvDiscovery = Discovery< ServicePublisher >
using	SrvDiscoveryCallback = std::function< void(const ServicePublisher &_publisher)>
using	Timestamp = std::chrono::steady_clock::time_point

Enumerations
enum	DestinationType { UNICAST, MULTICAST, ALL }
	Options for sending discovery messages. More...
enum	Scope_t { PROCESS, HOST, ALL }
	This strongly typed enum defines the different options for the scope of a topic/service. More...

Functions
std::string	determineHost ()
	Determine IP or hostname. Reference: https://github.com/ros/ros_comm/blob/hydro-devel/clients/ roscpp/src/libros/network.cpp. More...
std::vector< std::string >	determineInterfaces ()
	Determine the list of network interfaces for this machine. Reference: https://github.com/ros/ros_comm/blob/hydro-devel/clients/ roscpp/src/libros/network.cpp. More...
bool	env (const std::string &_name, std::string &_value)
	Find the environment variable '_name' and return its value. More...
unsigned int	getProcessId ()
	Portable function to get the id of the current process. More...
std::string	hostname ()
	Determine the computer's hostname. More...
int	hostnameToIp (char *_hostname, std::string &_ip)
	Determine if an IP is private. More...
bool	isPrivateIP (const char *_ip)
	Determine if an IP is private. Reference: https://github.com/ros/ros_comm/blob/hydro-devel/clients/ roscpp/src/libros/network.cpp. More...
bool	pollSockets (const std::vector< int > &_sockets, const int _timeout)
int	rcvHwm ()
	Get the capacity of the buffer (High Water Mark) that stores incoming Gazebo Transport messages. Note that this is a global queue shared by all subscribers within the same process. More...
int	sndHwm ()
	Get the capacity of the buffer (High Water Mark) that stores outgoing Gazebo Transport messages. Note that this is a global queue shared by all publishers within the same process. More...
std::vector< std::string >	split (const std::string &_orig, char _delim)
	split at a one character delimiter to get a vector of something More...
std::string	username ()
	Determine your login name. More...
void	waitForShutdown ()
	Block the current thread until a SIGINT or SIGTERM is received. Note that this function registers a signal handler. Do not use this function if you want to manage yourself SIGINT/SIGTERM. More...

Variables
static const uint8_t	AdvType = 1
static const uint8_t	ByeType = 5
static const uint8_t	EndConnection = 7
static const uint16_t	FlagNoRelay = 0b000000000000'0010
static const uint16_t	FlagRelay = 0b000000000000'0001
static const uint8_t	HeartbeatType = 4
const int	kDefaultRcvHwm = 1000
	The high water mark of the recieve message buffer. More...
const int	kDefaultSndHwm = 1000
	The high water mark of the send message buffer. More...
const std::string	kGenericMessageType = "google.protobuf.Message"
	The string type used for generic messages. More...
static const uint64_t	kUnthrottled = std::numeric_limits<uint64_t>::max()
	Constant used when not interested in throttling. More...
static const std::vector< std::string >	MsgTypesStr
	Used for debugging the message type received/send. More...
static const uint8_t	NewConnection = 6
static const uint8_t	SubType = 2
static const uint8_t	UnadvType = 3
static const uint8_t	Uninitialized = 0

Typedef Documentation

Addresses_M

using Addresses_M = std::map<std::string, std::vector<T> >

DeallocFunc

using DeallocFunc = void(void *_data, void *_hint)

DiscoveryCallback

using DiscoveryCallback = std::function<void(const T &_publisher)>

IRepHandlerPtr

using IRepHandlerPtr = std::shared_ptr<IRepHandler>

IReqHandler_M

using IReqHandler_M = std::map<std::string, std::map<std::string, IReqHandlerPtr> >

IReqHandlerPtr

using IReqHandlerPtr = std::shared_ptr<IReqHandler>

ISubscriptionHandler_M

using ISubscriptionHandler_M = std::map<std::string, ISubscriptionHandlerPtr>

ISubscriptionHandlerPtr

using ISubscriptionHandlerPtr = std::shared_ptr<ISubscriptionHandler>

MsgAddresses_M

using MsgAddresses_M = Addresses_M<MessagePublisher>

MsgCallback

using MsgCallback = std::function<void(const T &_msg, const MessageInfo &_info)>

MsgDiscovery

using MsgDiscovery = Discovery<MessagePublisher>

MsgDiscoveryCallback

using MsgDiscoveryCallback = std::function<void(const MessagePublisher &_publisher)>

ProtoMsg

using ProtoMsg = google::protobuf::Message

ProtoMsgPtr

using ProtoMsgPtr = std::shared_ptr<ProtoMsg>

RawCallback

using RawCallback = std::function<void(const char *_msgData, const size_t _size, const MessageInfo &_info)>

RawSubscriptionHandler_M

using RawSubscriptionHandler_M = std::map<std::string, RawSubscriptionHandlerPtr>

RawSubscriptionHandlerPtr

using RawSubscriptionHandlerPtr = std::shared_ptr<RawSubscriptionHandler>

SrvAddresses_M

using SrvAddresses_M = Addresses_M<ServicePublisher>

SrvDiscovery

using SrvDiscovery = Discovery<ServicePublisher>

SrvDiscoveryCallback

using SrvDiscoveryCallback = std::function<void(const ServicePublisher &_publisher)>

Timestamp

using Timestamp = std::chrono::steady_clock::time_point

Enumeration Type Documentation

DestinationType

enum DestinationType

strong

Options for sending discovery messages.

Enumerator
UNICAST	Send data via unicast only.
MULTICAST	Send data via multicast only.
ALL	Send data via unicast and multicast.

Scope_t

enum Scope_t

strong

This strongly typed enum defines the different options for the scope of a topic/service.

Enumerator
PROCESS	Topic/service only available to subscribers in the same process as the publisher.
HOST	Topic/service only available to subscribers in the same machine as the publisher.
ALL	Topic/service available to any subscriber (default scope).

Function Documentation

determineHost()

std::string gz::transport::determineHost

(

)

Determine IP or hostname. Reference: https://github.com/ros/ros_comm/blob/hydro-devel/clients/ roscpp/src/libros/network.cpp.

Returns

The IP or hostname of this host.

determineInterfaces()

std::vector<std::string> gz::transport::determineInterfaces

(

)

Determine the list of network interfaces for this machine. Reference: https://github.com/ros/ros_comm/blob/hydro-devel/clients/ roscpp/src/libros/network.cpp.

Returns

The list of network interfaces.

Referenced by Discovery< Pub >::Discovery().

env()

bool gz::transport::env	(	const std::string &	_name,
		std::string &	_value
	)

Find the environment variable '_name' and return its value.

Parameters

[in]	_name	Name of the environment variable.
[out]	_value	Value if the variable was found.

Returns

True if the variable was found or false otherwise.

Referenced by Discovery< Pub >::Discovery().

getProcessId()

unsigned int gz::transport::getProcessId

(

)

Portable function to get the id of the current process.

Returns

id of current process

hostname()

std::string gz::transport::hostname

(

)

Determine the computer's hostname.

Returns

The computer's hostname.

hostnameToIp()

int gz::transport::hostnameToIp	(	char *	_hostname,
		std::string &	_ip
	)

Determine if an IP is private.

Parameters

[in]	_hostname	Hostname
[out]	_ip	IP associated to the input hostname.

Returns

0 when success.

isPrivateIP()

bool gz::transport::isPrivateIP

(

const char *

_ip

)

Determine if an IP is private. Reference: https://github.com/ros/ros_comm/blob/hydro-devel/clients/ roscpp/src/libros/network.cpp.

Parameters

[in]

_ip

Input IP address.

Returns

true if the IP address is private.

pollSockets()

bool gz::transport::pollSockets	(	const std::vector< int > &	_sockets,
		const int	_timeout
	)

rcvHwm()

int gz::transport::rcvHwm

(

)

Get the capacity of the buffer (High Water Mark) that stores incoming Gazebo Transport messages. Note that this is a global queue shared by all subscribers within the same process.

Returns

The capacity of the buffer storing incoming messages (units are messages). A value of 0 indicates an unlimited buffer and -1 that the socket cannot be queried. The default buffer size is contained in the kDefaultRcvHwm variable. If the buffer is set to unlimited, then your buffer will grow until you run out of memory (and probably crash). If your buffer reaches the maximum capacity data will be dropped.

sndHwm()

int gz::transport::sndHwm

(

)

Get the capacity of the buffer (High Water Mark) that stores outgoing Gazebo Transport messages. Note that this is a global queue shared by all publishers within the same process.

Returns

The capacity of the buffer storing outgoing messages (units are messages). A value of 0 indicates an unlimited buffer and -1 that the socket cannot be queried. The default buffer size is contained in the kDefaultSndHwm variable. If the buffer is set to unlimited, then your buffer will grow until you run out of memory (and probably crash). If your buffer reaches the maximum capacity data will be dropped.

split()

std::vector<std::string> gz::transport::split	(	const std::string &	_orig,
		char	_delim
	)

split at a one character delimiter to get a vector of something

Parameters

[in]	_orig	The string to split
[in]	_delim	a character to split the string at

Returns

vector of split pieces of the string excluding the delimiter

Referenced by Discovery< Pub >::Discovery().

username()

std::string gz::transport::username

(

)

Determine your login name.

Returns

Name used to gain access to the computer. On linux and Mac only, if determination of your login name failes then a string of the form "error-UUID" is returned where UUID is a universally unique identifier.

waitForShutdown()

void gz::transport::waitForShutdown

(

)

Block the current thread until a SIGINT or SIGTERM is received. Note that this function registers a signal handler. Do not use this function if you want to manage yourself SIGINT/SIGTERM.

Variable Documentation

AdvType

const uint8_t AdvType = 1

static

ByeType

const uint8_t ByeType = 5

static

EndConnection

const uint8_t EndConnection = 7

static

FlagNoRelay

const uint16_t FlagNoRelay = 0b000000000000'0010

static

FlagRelay

const uint16_t FlagRelay = 0b000000000000'0001

static

HeartbeatType

const uint8_t HeartbeatType = 4

static

kDefaultRcvHwm

const int kDefaultRcvHwm = 1000

The high water mark of the recieve message buffer.

See also

NodeShared::RcvHwm

kDefaultSndHwm

const int kDefaultSndHwm = 1000

The high water mark of the send message buffer.

See also

NodeShared::SndHwm

kGenericMessageType

const std::string kGenericMessageType = "google.protobuf.Message"

The string type used for generic messages.

Referenced by HandlerStorage< gz::transport::IRepHandler >::FirstHandler(), and SubscriptionHandler< ProtoMsg >::TypeName().

kUnthrottled

const uint64_t kUnthrottled = std::numeric_limits<uint64_t>::max()

static

Constant used when not interested in throttling.

MsgTypesStr

const std::vector<std::string> MsgTypesStr

static

Initial value:

=
    {
      "UNINITIALIZED", "ADVERTISE", "SUBSCRIBE", "UNADVERTISE", "HEARTBEAT",
      "BYE", "NEW_CONNECTION", "END_CONNECTION"
    }

Used for debugging the message type received/send.

NewConnection

const uint8_t NewConnection = 6

static

SubType

const uint8_t SubType = 2

static

UnadvType

const uint8_t UnadvType = 3

static

Uninitialized

const uint8_t Uninitialized = 0

static