class TransportInterface

Declaration

class TransportInterface { /* full declaration omitted */ };

Declared at: robot_comm/include/robot_comm/transport/TransportInterface.h:27

Member Variables

protected mc_rtc::Configuration config_

Method Overview

• public TransportInterface(const mc_rtc::Configuration & config)
• public virtual void declareLiveliness(const std::string &)
• public virtual bool hasSubscriber(const std::string & topic) const
• public virtual 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 virtual void registerQueryable(const std::string & key_expr, robot_comm::QueryHandler handler)
• public virtual void start()
• public virtual void stop()
• public virtual void subscribe(const std::string & topic, robot_comm::ReceiveCallback callback)
• public virtual void watchLiveliness(const std::string &, robot_comm::LivelinessCallback)
• public virtual ~TransportInterface()

Methods

¶TransportInterface(
    const mc_rtc::Configuration& config)

Declared at: robot_comm/include/robot_comm/transport/TransportInterface.h:30

Parameters

const mc_rtc::Configuration& config

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

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/transport/TransportInterface.h:54

Parameters

const std::string&

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

Declared at: robot_comm/include/robot_comm/transport/TransportInterface.h:42

Parameters

const std::string& topic

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

Declared at: robot_comm/include/robot_comm/transport/TransportInterface.h:38

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/transport/TransportInterface.h:48

Parameters

const std::string& key_expr

const robot_comm::ByteBuffer& payload

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

¶virtual 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/transport/TransportInterface.h:45

Parameters

const std::string& key_expr

robot_comm::QueryHandler handler

¶virtual void start()

Declared at: robot_comm/include/robot_comm/transport/TransportInterface.h:34

¶virtual void stop()

Declared at: robot_comm/include/robot_comm/transport/TransportInterface.h:36

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

Declared at: robot_comm/include/robot_comm/transport/TransportInterface.h:40

Parameters

const std::string& topic

robot_comm::ReceiveCallback callback

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

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/transport/TransportInterface.h:58

Parameters

const std::string&

robot_comm::LivelinessCallback

¶virtual ~TransportInterface()

Declared at: robot_comm/include/robot_comm/transport/TransportInterface.h:32