Class to store and manage service call handlers. More...

#include <HandlerStorage.hh>

Public Member Functions
	HandlerStorage ()=default
	Constructor.

virtual	~HandlerStorage ()=default
	Destructor.

void	AddHandler (const std::string &_topic, const std::string &_nUuid, const std::shared_ptr< T > &_handler)
	Add a request handler to a topic. A request handler stores the callback and types associated to a service call request.

TopicServiceCalls_M &	AllHandlers ()
	Get a reference to all the handlers.

bool	FirstHandler (const std::string &_topic, const std::string &_msgTypeName, std::shared_ptr< T > &_handler) const
	Get the first handler for a topic that matches a specific message type.

bool	FirstHandler (const std::string &_topic, const std::string &_reqTypeName, const std::string &_repTypeName, std::shared_ptr< T > &_handler) const
	Get the first handler for a topic that matches a specific pair of request/response types.

bool	Handler (const std::string &_topic, const std::string &_nUuid, const std::string &_hUuid, std::shared_ptr< T > &_handler) const
	Get a specific handler.

bool	Handlers (const std::string &_topic, std::map< std::string, std::map< std::string, std::shared_ptr< T > > > &_handlers) const
	Get the data handlers for a topic. A request handler stores the callback and types associated to a service call request.

bool	HasHandlersForNode (const std::string &_topic, const std::string &_nUuid) const
	Check if a node has at least one handler.

bool	HasHandlersForTopic (const std::string &_topic) const
	Return true if we have stored at least one request for the topic.

bool	RemoveHandler (const std::string &_topic, const std::string &_nUuid, const std::string &_reqUuid)
	Remove a request handler. The node's uuid is used as a key to remove the appropriate request handler.

bool	RemoveHandlersForNode (const std::string &_topic, const std::string &_nUuid)
	Remove all the handlers from a given node.

Detailed Description

template<typename T>
class gz::transport::HandlerStorage< T >

Class to store and manage service call handlers.

gz/transport/HandlerStorage.hh

Constructor & Destructor Documentation

◆ HandlerStorage()

template<typename T >

HandlerStorage ( )

default

Constructor.

◆ ~HandlerStorage()

template<typename T >

virtual ~HandlerStorage ( )

virtualdefault

Destructor.

Member Function Documentation

◆ AddHandler()

template<typename T >

void AddHandler	(	const std::string &	_topic,
		const std::string &	_nUuid,
		const std::shared_ptr< T > &	_handler
	)

inline

Add a request handler to a topic. A request handler stores the callback and types associated to a service call request.

Parameters

[in]	_topic	Topic name.
[in]	_nUuid	Node's unique identifier.
[in]	_handler	Request handler.

References map< K, T >::end(), map< K, T >::find(), map< K, T >::insert(), and std::make_pair().

◆ AllHandlers()

template<typename T >

TopicServiceCalls_M & AllHandlers ( )

inline

Get a reference to all the handlers.

Returns: All the handlers.

◆ FirstHandler() [1/2]

template<typename T >

bool FirstHandler	(	const std::string &	_topic,
		const std::string &	_msgTypeName,
		std::shared_ptr< T > &	_handler
	)		const

inline

Get the first handler for a topic that matches a specific message type.

Parameters

[in]	_topic	Topic name.
[in]	_msgTypeName	Type of the msg in string format.
[out]	_handler	handler.

Returns: true if a handler was found.

References map< K, T >::at(), map< K, T >::end(), map< K, T >::find(), and gz::transport::kGenericMessageType.

◆ FirstHandler() [2/2]

template<typename T >

bool FirstHandler	(	const std::string &	_topic,
		const std::string &	_reqTypeName,
		const std::string &	_repTypeName,
		std::shared_ptr< T > &	_handler
	)		const

inline

Get the first handler for a topic that matches a specific pair of request/response types.

Parameters

[in]	_topic	Topic name.
[in]	_reqTypeName	Type of the service request.
[in]	_repTypeName	Type of the service response.
[out]	_handler	handler.

Returns: true if a handler was found.

References map< K, T >::at(), map< K, T >::end(), and map< K, T >::find().

◆ Handler()

template<typename T >

bool Handler	(	const std::string &	_topic,
		const std::string &	_nUuid,
		const std::string &	_hUuid,
		std::shared_ptr< T > &	_handler
	)		const

inline

Get a specific handler.

Parameters

[in]	_topic	Topic name.
[in]	_nUuid	Node UUID of the handler.
[in]	_hUuid	Handler UUID.
[out]	_handler	Handler requested.

Returns: true if the handler was found.

References map< K, T >::at(), map< K, T >::end(), and map< K, T >::find().

◆ Handlers()

template<typename T >

bool Handlers	(	const std::string &	_topic,
		std::map< std::string, std::map< std::string, std::shared_ptr< T > > > &	_handlers
	)		const

inline

Get the data handlers for a topic. A request handler stores the callback and types associated to a service call request.

Parameters

[in]	_topic	Topic name.
[out]	_handlers	Request handlers. The key of _handlers is the topic name. The value is another map, where the key is the node UUID and the value is a smart pointer to the handler.

Returns: true if the topic contains at least one request.

References map< K, T >::at(), map< K, T >::end(), and map< K, T >::find().

◆ HasHandlersForNode()

template<typename T >

bool HasHandlersForNode	(	const std::string &	_topic,
		const std::string &	_nUuid
	)		const

inline

Check if a node has at least one handler.

Parameters

[in]	_topic	Topic name.
[in]	_nUuid	Node's unique identifier.

Returns: true if the node has at least one handler registered.

References map< K, T >::at(), map< K, T >::end(), and map< K, T >::find().

◆ HasHandlersForTopic()

template<typename T >

bool HasHandlersForTopic ( const std::string & _topic ) const

inline

Return true if we have stored at least one request for the topic.

Parameters

[in] _topic Topic name.

Returns: true if we have stored at least one request for the topic.

References map< K, T >::at(), map< K, T >::empty(), map< K, T >::end(), and map< K, T >::find().

◆ RemoveHandler()

template<typename T >

bool RemoveHandler	(	const std::string &	_topic,
		const std::string &	_nUuid,
		const std::string &	_reqUuid
	)

inline

Remove a request handler. The node's uuid is used as a key to remove the appropriate request handler.

Parameters

[in]	_topic	Topic name.
[in]	_nUuid	Node's unique identifier.
[in]	_reqUuid	Request's UUID to remove.

Returns: True when the handler is removed or false otherwise.

References map< K, T >::end(), map< K, T >::erase(), and map< K, T >::find().

◆ RemoveHandlersForNode()

template<typename T >

bool RemoveHandlersForNode	(	const std::string &	_topic,
		const std::string &	_nUuid
	)

inline

Remove all the handlers from a given node.

Parameters

[in]	_topic	Topic name.
[in]	_nUuid	Node's unique identifier.

Returns: True when at least one handler was removed or false otherwise.

References map< K, T >::end(), map< K, T >::erase(), and map< K, T >::find().

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

HandlerStorage.hh

Gazebo Transport

API Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ HandlerStorage()

◆ ~HandlerStorage()

Member Function Documentation

◆ AddHandler()

◆ AllHandlers()

◆ FirstHandler() [1/2]

◆ FirstHandler() [2/2]

◆ Handler()

◆ Handlers()

◆ HasHandlersForNode()

◆ HasHandlersForTopic()

◆ RemoveHandler()

◆ RemoveHandlersForNode()