Private data for the Node class. This class should not be directly used. You should use the Node class. More...

#include <gz/transport/NodeShared.hh>

Classes
struct	HandlerInfo
	HandlerInfo contains information about callback handlers which is useful for local publishers and message receivers. You should only retrieve a HandlerInfo by calling CheckHandlerInfo(const std::string &_topic) const. More...

struct	HandlerWrapper
	This struct wraps up the two different types of subscription handlers: normal (deserialized) and raw (serialized). This wrapper keeps the two sets of subscription handlers coordinated while allowing them to act independently when necessary. More...

struct	SubscriberInfo
	This struct provides information about the Subscribers of a Publisher. It should only be retrieved using CheckSubscriberInfo(const std::string&, const std::string&) const. The relevant subscriber info is a superset of the relevant HandlerInfo so we extend that struct. More...

Public Member Functions
void	AddGlobalRelay (const std::string &_relayAddress)
	Adds a unicast relay IP. All nodes in this process will send UDP unicast traffic to the address to connect networks when UDP multicast traffic is not forwarded. It's also possible to use the environment variable GZ_RELAY to add relays.

bool	AdvertisePublisher (const ServicePublisher &_publisher)
	Pass through to bool Advertise(const Pub &_publisher)

HandlerInfo	CheckHandlerInfo (const std::string &_topic) const
	Get information about the local and raw subscribers that are attached to this NodeShared.

SubscriberInfo	CheckSubscriberInfo (const std::string &_topic, const std::string &_msgType) const
	Get information about the nodes that are subscribed to the publishers of this NodeShared.

bool	DiscoverService (const std::string &_topic) const
	Pass through to bool Discovery::Discover(const std::string &_topic) const.

void	EnableStats (const std::string &_topic, bool _enable, std::function< void(const TopicStatistics &_stats)> _cb)
	Turn topic statistics on or off.

std::vector< std::string >	GlobalRelays () const
	Gets the relay addresses configured for all nodes in this process.

void	OnEndRegistration (const MessagePublisher &_pub)
	Callback executed when a remote subscriber unregisters.

void	OnNewConnection (const MessagePublisher &_pub)
	Callback executed when the discovery detects new topics.

void	OnNewDisconnection (const MessagePublisher &_pub)
	Callback executed when the discovery detects disconnections.

void	OnNewRegistration (const MessagePublisher &_pub)
	Callback executed when a remote subscriber connects.

void	OnNewSrvConnection (const ServicePublisher &_pub)
	Callback executed when the discovery detects a new service call.

void	OnNewSrvDisconnection (const ServicePublisher &_pub)
	Callback executed when a service call is no longer available.

void	OnSubscribers ()
	Callback executed when a SUBSCRIBERS request is received.

bool	Publish (const std::string &_topic, char _data, const size_t _dataSize, DeallocFunc _ffn, const std::string &_msgType)
	Publish data.

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.

void	RecvMsgUpdate ()
	Method in charge of receiving the topic updates.

void	RecvSrvRequest ()
	Method in charge of receiving the service call requests.

void	RecvSrvResponse ()
	Method in charge of receiving the service call responses.

void	RunReceptionTask ()
	Receive data and control messages.

void	SendPendingRemoteReqs (const std::string &_topic, const std::string &_reqType, const std::string &_repType)
	Try to send all the requests for a given service call and a pair of request/response types.

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.

bool	TopicPublishers (const std::string &_topic, SrvAddresses_M &_publishers) const
	Pass through to bool Publishers(const std::string &_topic, Addresses_M<Pub> &_publishers) const.

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.

void	TriggerCallbacks (const MessageInfo &_info, const std::string &_msgData, const HandlerInfo &_handlerInfo)
	Call the SubscriptionHandler callbacks (local and raw) for this NodeShared.

Static Public Member Functions
static NodeShared *	Instance ()
	NodeShared is a singleton. This method gets the NodeShared instance shared between all the nodes.

Public Attributes
std::string	discoveryIP = "239.255.0.7"
	Default IP address used by the message discovery layer.

std::string	hostAddr
	IP address of this host.

HandlerWrapper	localSubscribers

int	msgDiscPort = kDefaultMsgDiscPort
	Port used by the message discovery layer.

std::recursive_mutex	mutex
	Mutex to guarantee exclusive access between all threads.

std::string	myAddress
	My pub/sub address.

std::string	myControlAddress
	My pub/sub control address.

std::string	myReplierAddress
	My replier service call address.

std::string	myRequesterAddress
	My requester service call address.

std::string	pUuid
	Process UUID.

TopicStorage< MessagePublisher >	remoteSubscribers
	Remote subscribers.

Uuid	replierId
	Replier socket identity.

HandlerStorage< IRepHandler >	repliers
	Service call repliers.

HandlerStorage< IReqHandler >	requests
	Pending service call requests.

Uuid	responseReceiverId
	Response receiver socket identity.

int	srvDiscPort = kDefaultSrvDiscPort
	Port used by the service discovery layer.

std::thread	threadReception
	thread in charge of receiving and handling incoming messages.

int	verbose
	Print activity to stdout.

Static Public Attributes
static const int	kDefaultMsgDiscPort = 10317
	Default port used by the message discovery layer.

static const int	kDefaultSrvDiscPort = 10318
	Default port used by the service discovery layer.

Protected Member Functions
	NodeShared ()
	Constructor.

virtual	~NodeShared ()
	Destructor.

Detailed Description

Private data for the Node class. This class should not be directly used. You should use the Node class.

Constructor & Destructor Documentation

◆ NodeShared()

NodeShared ( )

protected

Constructor.

◆ ~NodeShared()

virtual ~NodeShared ( )

protectedvirtual

Destructor.

Member Function Documentation

◆ AddGlobalRelay()

void AddGlobalRelay ( const std::string & _relayAddress )

Adds a unicast relay IP. All nodes in this process will send UDP unicast traffic to the address to connect networks when UDP multicast traffic is not forwarded. It's also possible to use the environment variable GZ_RELAY to add relays.

Parameters

[in] _relayAddress IPv4 address of the relay to add.

◆ AdvertisePublisher()

bool AdvertisePublisher ( const ServicePublisher & _publisher )

Pass through to bool Advertise(const Pub &_publisher)

Parameters

[in] _publisher Publisher's information to advertise.

Returns: True if the method succeed or false otherwise (e.g. if the discovery has not been started).

See also: Pass through to bool Advertise(const Pub &_publisher)

◆ CheckHandlerInfo()

HandlerInfo CheckHandlerInfo ( const std::string & _topic ) const

Get information about the local and raw subscribers that are attached to this NodeShared.

Parameters

[in] _topic Information will only be returned for handlers that are subscribed to the given topic name.

Returns: Information about local subscription handlers that are held by this NodeShared.

◆ CheckSubscriberInfo()

SubscriberInfo CheckSubscriberInfo	(	const std::string &	_topic,
		const std::string &	_msgType
	)		const

Get information about the nodes that are subscribed to the publishers of this NodeShared.

Parameters

[in]	_topic	Only information about subscribers to this topic will be returned.
[in]	_msgType	If there are no remote subscribers listening for this message type, then SubscriberInfo::haveRemote will be false in the return value of this function.

Returns: Information about subscribers.

◆ DiscoverService()

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

Pass through to bool Discovery::Discover(const std::string &_topic) const.

Parameters

[in] _topic Service name.

Returns: True if the method succeeded or false otherwise (e.g. if the discovery has not been started).

See also: bool Discovery::Discover(const std::string &_topic) const

◆ EnableStats()

void EnableStats	(	const std::string &	_topic,
		bool	_enable,
		std::function< void(const TopicStatistics &_stats)>	_cb
	)

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]	_cb	Callback that is triggered whenever statistics are updated.

◆ GlobalRelays()

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

Gets the relay addresses configured for all nodes in this process.

Returns: The relay addresses.

◆ Instance()

static NodeShared * Instance ( )

static

NodeShared is a singleton. This method gets the NodeShared instance shared between all the nodes.

Returns: Pointer to the current NodeShared instance.

◆ OnEndRegistration()

void OnEndRegistration ( const MessagePublisher & _pub )

Callback executed when a remote subscriber unregisters.

Parameters

[in] _pub Information of the remote subscriber.

◆ OnNewConnection()

void OnNewConnection ( const MessagePublisher & _pub )

Callback executed when the discovery detects new topics.

Parameters

[in] _pub Information of the publisher in charge of the topic.

◆ OnNewDisconnection()

void OnNewDisconnection ( const MessagePublisher & _pub )

Callback executed when the discovery detects disconnections.

Parameters

[in] _pub Information of the publisher in charge of the topic.

◆ OnNewRegistration()

void OnNewRegistration ( const MessagePublisher & _pub )

Callback executed when a remote subscriber connects.

Parameters

[in] _pub Information of the remote subscriber.

◆ OnNewSrvConnection()

void OnNewSrvConnection ( const ServicePublisher & _pub )

Callback executed when the discovery detects a new service call.

Parameters

[in] _pub Information of the publisher in charge of the service.

◆ OnNewSrvDisconnection()

void OnNewSrvDisconnection ( const ServicePublisher & _pub )

Callback executed when a service call is no longer available.

Parameters

[in] _pub Information of the publisher in charge of the service.

◆ OnSubscribers()

void OnSubscribers ( )

Callback executed when a SUBSCRIBERS request is received.

◆ Publish()

bool Publish	(	const std::string &	_topic,
		char *	_data,
		const size_t	_dataSize,
		DeallocFunc *	_ffn,
		const std::string &	_msgType
	)

Publish data.

Parameters

[in]	_topic	Topic to be published.
[in,out]	_data	Serialized data. Note that this buffer will be automatically deallocated by ZMQ when all data has been published.
[in]	_dataSize	Data size (bytes).
[in,out]	_ffn	Deallocation function. This function is executed by ZeroMQ when the data is published. This function deallocates the buffer containing the published data.

See also: http://zeromq.org/blog:zero-copy

Parameters

[in] _msgType Message type in string format.

Returns: true when success or false otherwise.

◆ RcvHwm()

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.

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.

◆ RecvMsgUpdate()

void RecvMsgUpdate ( )

Method in charge of receiving the topic updates.

◆ RecvSrvRequest()

void RecvSrvRequest ( )

Method in charge of receiving the service call requests.

◆ RecvSrvResponse()

void RecvSrvResponse ( )

Method in charge of receiving the service call responses.

◆ RunReceptionTask()

void RunReceptionTask ( )

Receive data and control messages.

◆ SendPendingRemoteReqs()

void SendPendingRemoteReqs	(	const std::string &	_topic,
		const std::string &	_reqType,
		const std::string &	_repType
	)

Try to send all the requests for a given service call and a pair of request/response types.

Parameters

[in]	_topic	Topic name.
[in]	_reqType	Type of the request in string format.
[in]	_repType	Type of the response in string format.

◆ SndHwm()

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.

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.

◆ TopicPublishers()

bool TopicPublishers	(	const std::string &	_topic,
		SrvAddresses_M &	_publishers
	)		const

Pass through to bool Publishers(const std::string &_topic, Addresses_M<Pub> &_publishers) const.

Parameters

[in]	_topic	Service name.
[out]	_publishers	Collection of service publishers.

Returns: True if the service is found and

See also: bool Publishers(const std::string &_topic, Addresses_M<Pub> &_publishers) const

◆ 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.

Returns: A TopicStatistics class, or std::nullopt if statistics were not enabled.

◆ TriggerCallbacks()

void TriggerCallbacks	(	const MessageInfo &	_info,
		const std::string &	_msgData,
		const HandlerInfo &	_handlerInfo
	)

Call the SubscriptionHandler callbacks (local and raw) for this NodeShared.

Parameters

[in]	_info	Message information.
[in]	_msgData	The raw serialized data for the message
[in]	_handlerInfo	Information for the handlers of this node, as generated by CheckHandlerInfo(const std::string&) const

Member Data Documentation

◆ discoveryIP

std::string discoveryIP = "239.255.0.7"

Default IP address used by the message discovery layer.

◆ hostAddr

std::string hostAddr

IP address of this host.

◆ kDefaultMsgDiscPort

const int kDefaultMsgDiscPort = 10317

static

Default port used by the message discovery layer.

◆ kDefaultSrvDiscPort

const int kDefaultSrvDiscPort = 10318

static

Default port used by the service discovery layer.

◆ localSubscribers

HandlerWrapper localSubscribers

◆ msgDiscPort

int msgDiscPort = kDefaultMsgDiscPort

Port used by the message discovery layer.

◆ mutex

std::recursive_mutex mutex

mutable

Mutex to guarantee exclusive access between all threads.

◆ myAddress

std::string myAddress

My pub/sub address.

◆ myControlAddress

std::string myControlAddress

My pub/sub control address.

◆ myReplierAddress

std::string myReplierAddress

My replier service call address.

◆ myRequesterAddress

std::string myRequesterAddress

My requester service call address.

◆ pUuid

std::string pUuid

Process UUID.

◆ remoteSubscribers

TopicStorage<MessagePublisher> remoteSubscribers

Remote subscribers.

◆ replierId

Uuid replierId

Replier socket identity.

◆ repliers

HandlerStorage<IRepHandler> repliers

Service call repliers.

◆ requests

HandlerStorage<IReqHandler> requests

Pending service call requests.

◆ responseReceiverId

Uuid responseReceiverId

Response receiver socket identity.

◆ srvDiscPort

int srvDiscPort = kDefaultSrvDiscPort

Port used by the service discovery layer.

◆ threadReception

std::thread threadReception

thread in charge of receiving and handling incoming messages.

◆ verbose

int verbose

Print activity to stdout.

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

NodeShared.hh

Classes

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ NodeShared()

◆ ~NodeShared()

Member Function Documentation

◆ AddGlobalRelay()

◆ AdvertisePublisher()

◆ CheckHandlerInfo()

◆ CheckSubscriberInfo()

◆ DiscoverService()

◆ EnableStats()

◆ GlobalRelays()

◆ Instance()

◆ OnEndRegistration()

◆ OnNewConnection()

◆ OnNewDisconnection()

◆ OnNewRegistration()

◆ OnNewSrvConnection()

◆ OnNewSrvDisconnection()

◆ OnSubscribers()

◆ Publish()

◆ RcvHwm()

◆ RecvMsgUpdate()

◆ RecvSrvRequest()

◆ RecvSrvResponse()

◆ RunReceptionTask()

◆ SendPendingRemoteReqs()

◆ SndHwm()

◆ TopicPublishers()

◆ TopicStats()

◆ TriggerCallbacks()

Member Data Documentation

◆ discoveryIP

◆ hostAddr

◆ kDefaultMsgDiscPort

◆ kDefaultSrvDiscPort

◆ localSubscribers

◆ msgDiscPort

◆ mutex

◆ myAddress

◆ myControlAddress

◆ myReplierAddress

◆ myRequesterAddress

◆ pUuid

◆ remoteSubscribers

◆ replierId

◆ repliers

◆ requests

◆ responseReceiverId

◆ srvDiscPort

◆ threadReception

◆ verbose