#include <errno.h>
#include <string.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <netdb.h>
#include <arpa/inet.h>
#include <unistd.h>
#include <netinet/in.h>
#include <gz/msgs/discovery.pb.h>
#include <algorithm>
#include <condition_variable>
#include <limits>
#include <map>
#include <memory>
#include <mutex>
#include <string>
#include <thread>
#include <vector>
#include <gz/msgs/Utility.hh>
#include "gz/transport/config.hh"
#include "gz/transport/Export.hh"
#include "gz/transport/Helpers.hh"
#include "gz/transport/NetUtils.hh"
#include "gz/transport/Publisher.hh"
#include "gz/transport/TopicStorage.hh"
#include "gz/transport/TransportTypes.hh"
Go to the source code of this file.
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class | Discovery< Pub > |
| 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...
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