class ZenohTransport

Declaration

class ZenohTransport : public TransportInterface { /* full declaration omitted */ };

Declared at: robot_comm/include/robot_comm/zenoh/ZenohTransport.h:16

Inherits from: TransportInterface

Member Variables

private int session_

private int publishers_

private int subscribers_

private int queryables_

private int liveliness_tokens_

private int liveliness_subscribers_

Inherited from TransportInterface:

protected config_

Method Overview

• public ZenohTransport(const mc_rtc::Configuration & config)
• private zenoh::Config configureTransport(const mc_rtc::Configuration & config)
• public void declareLiveliness(const std::string & key_expr)
• public bool hasSubscriber(const std::string & topic) const
• public bool publish(const std::string & topic, const robot_comm::ByteBuffer & payload)
• public int query(const std::string & key_expr, const robot_comm::ByteBuffer & payload, std::chrono::milliseconds timeout = <null expr>)
• public void registerQueryable(const std::string & key_expr, robot_comm::QueryHandler handler)
• public void start()
• public void stop()
• public void subscribe(const std::string & topic, robot_comm::ReceiveCallback callback)
• public void watchLiveliness(const std::string & key_expr, robot_comm::LivelinessCallback callback)
• public ~ZenohTransport()

Inherited from TransportInterface:

• public declareLiveliness
• public hasSubscriber
• public publish
• public query
• public registerQueryable
• public start
• public stop
• public subscribe
• public watchLiveliness

Methods

¶ZenohTransport(
    const mc_rtc::Configuration& config)

Declared at: robot_comm/include/robot_comm/zenoh/ZenohTransport.h:19

Parameters

const mc_rtc::Configuration& config

¶zenoh::Config configureTransport(
    const mc_rtc::Configuration& config)

Declared at: robot_comm/include/robot_comm/zenoh/ZenohTransport.h:44

Parameters

const mc_rtc::Configuration& config

¶void declareLiveliness(
    const std::string& key_expr)

Description

Announce that this endpoint is alive under `key_expr` until the transport stops. Transports without liveliness support ignore it.

Declared at: robot_comm/include/robot_comm/zenoh/ZenohTransport.h:39

Parameters

const std::string& key_expr

¶bool hasSubscriber(const std::string& topic) const

Declared at: robot_comm/include/robot_comm/zenoh/ZenohTransport.h:31

Parameters

const std::string& topic

¶bool publish(
    const std::string& topic,
    const robot_comm::ByteBuffer& payload)

Declared at: robot_comm/include/robot_comm/zenoh/ZenohTransport.h:27

Parameters

const std::string& topic

const robot_comm::ByteBuffer& payload

¶int query(const std::string& key_expr,
          const robot_comm::ByteBuffer& payload,
          std::chrono::milliseconds timeout =
              <null expr>)

Declared at: robot_comm/include/robot_comm/zenoh/ZenohTransport.h:35

Parameters

const std::string& key_expr

const robot_comm::ByteBuffer& payload

std::chrono::milliseconds timeout = <null expr>

¶void registerQueryable(
    const std::string& key_expr,
    robot_comm::QueryHandler handler)

Description

Answer incoming queries on `key_expr` with `handler`.

Declared at: robot_comm/include/robot_comm/zenoh/ZenohTransport.h:33

Parameters

const std::string& key_expr

robot_comm::QueryHandler handler

¶void start()

Declared at: robot_comm/include/robot_comm/zenoh/ZenohTransport.h:23

¶void stop()

Declared at: robot_comm/include/robot_comm/zenoh/ZenohTransport.h:25

¶void subscribe(
    const std::string& topic,
    robot_comm::ReceiveCallback callback)

Declared at: robot_comm/include/robot_comm/zenoh/ZenohTransport.h:29

Parameters

const std::string& topic

robot_comm::ReceiveCallback callback

¶void watchLiveliness(
    const std::string& key_expr,
    robot_comm::LivelinessCallback callback)

Description

Call `callback` when a liveliness token matching `key_expr` appears or is lost. Transports without liveliness support never call it.

Declared at: robot_comm/include/robot_comm/zenoh/ZenohTransport.h:41

Parameters

const std::string& key_expr

robot_comm::LivelinessCallback callback

¶~ZenohTransport()

Declared at: robot_comm/include/robot_comm/zenoh/ZenohTransport.h:21