Node::Publisher Class Reference

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...

#include <Node.hh>

Public Member Functions
	Publisher ()
	Default constructor. More...
	Publisher (const MessagePublisher &_publisher)
	Constructor. More...
virtual	~Publisher ()
	Destructor. More...
bool	HasConnections () const
	Return true if this publisher has subscribers. More...
	operator bool ()
	Allows this class to be evaluated as a boolean. More...
	operator bool () const
	Allows this class to be evaluated as a boolean (const). More...
bool	Publish (const ProtoMsg &_msg)
	Publish a message. This function will copy the message when publishing to interprocess subscribers. This copy is necessary to facilitate asynchronous publication. More...
bool	PublishRaw (const std::string &_msgData, const std::string &_msgType)
	Publish a raw pre-serialized message. More...
bool	ThrottledUpdateReady () const
	Check if message publication is throttled. If so, verify whether the next message should be published or not. More...
bool	Valid () const
	Return true if valid information, such as a non-empty topic name, is present. More...

Detailed Description

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.

Pseudo code example

auto pub = myNode.Advertise<MsgType>("topic_name"); if (pub) { MsgType msg;

// Note that this version of Publish will copy the message // when publishing to interprocess subscribers. pub.Publish(msg); }

Constructor & Destructor Documentation

Publisher() [1/2]

Publisher

(

)

Default constructor.

Publisher() [2/2]

Publisher ( const MessagePublisher &  _publisher )

explicit

Constructor.

Parameters

[in]

_publisher

A message publisher.

~Publisher()

virtual ~Publisher ( )

virtual

Destructor.

Member Function Documentation

HasConnections()

bool HasConnections

(

)

const

Return true if this publisher has subscribers.

Returns

True if subscribers have connected to this publisher.

operator bool() [1/2]

operator bool

(

)

Allows this class to be evaluated as a boolean.

Returns

True if valid

See also

Valid

operator bool() [2/2]

operator bool

(

)

const

Allows this class to be evaluated as a boolean (const).

Returns

True if valid

See also

Valid

Publish()

bool Publish

(

const ProtoMsg &

_msg

)

Publish a message. This function will copy the message when publishing to interprocess subscribers. This copy is necessary to facilitate asynchronous publication.

Parameters

[in]

_msg

A google::protobuf message.

Returns

true when success.

PublishRaw()

bool PublishRaw	(	const std::string &	_msgData,
		const std::string &	_msgType
	)

Publish a raw pre-serialized message.

Warning

This function is only intended for advanced users. The standard publishing function, Publish(const ProtoMsg &_msg), will ensure that your message is correctly serialized. It is strongly recommended that you use the standard publishing function unless there is a specific reason for using this one (e.g. you are forwarding or playing back data instead of serializing/deserializing it). We currently only support the serialization scheme of protobuf.

This function will copy the message data when publishing to remote subscribers (interprocess communication).

Note

This function will deserialize the message when sending it to local (intraprocess) subscribers.

Parameters

[in]	_msgData	A std::string that represents a serialized google::protobuf message.
[in]	_msgType	A std::string that contains the message type name.

Returns

true when success.

ThrottledUpdateReady()

bool ThrottledUpdateReady

(

)

const

Check if message publication is throttled. If so, verify whether the next message should be published or not.

This may be used to skip resource or time-intensive operations in the case that the message won't be published.

Returns

true if the message should be published or false otherwise. Additionally always returns true if the topic is not throttled.

Valid()

bool Valid

(

)

const

Return true if valid information, such as a non-empty topic name, is present.

Returns

True if this object can be used in Publish() calls.

---

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

• Node.hh