ignition::transport::NodeShared Class Reference

Private data for the Node class. More...

#include <ignition/transport/NodeShared.hh>

Public Member Functions
void	OnNewConnection (const MessagePublisher &_pub)
	Callback executed when the discovery detects new topics. More...
void	OnNewDisconnection (const MessagePublisher &_pub)
	Callback executed when the discovery detects disconnections. More...
void	OnNewSrvConnection (const ServicePublisher &_pub)
	Callback executed when the discovery detects a new service call. More...
void	OnNewSrvDisconnection (const ServicePublisher &_pub)
	Callback executed when a service call is no longer available. More...
bool	Publish (const std::string &_topic, const std::string &_data, const std::string &_msgType)
	Publish data. More...
void	RecvControlUpdate ()
	Method in charge of receiving the control updates (when a new remote subscriber notifies its presence for example). More...
void	RecvMsgUpdate ()
	Method in charge of receiving the topic updates. More...
void	RecvSrvRequest ()
	Method in charge of receiving the service call requests. More...
void	RecvSrvResponse ()
	Method in charge of receiving the service call responses. More...
void	RunReceptionTask ()
	Receive data and control messages. More...
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. More...

Static Public Member Functions
static NodeShared *	Instance ()
	NodeShared is a singleton. More...

Public Attributes
std::unique_ptr< zmq::context_t >	context
	0MQ context. More...
std::unique_ptr< zmq::socket_t >	control
	ZMQ socket to receive control updates (new connections, ...). More...
bool	exit
	When true, the reception thread will finish. More...
std::string	hostAddr
	IP address of this host. More...
HandlerStorage< ISubscriptionHandler >	localSubscriptions
	Subscriptions. More...
std::unique_ptr< MsgDiscovery >	msgDiscovery
	Discovery service (messages). More...
std::recursive_mutex	mutex
	Mutex to guarantee exclusive access between all threads. More...
std::string	myAddress
	My pub/sub address. More...
std::string	myControlAddress
	My pub/sub control address. More...
std::string	myReplierAddress
	My replier service call address. More...
std::string	myRequesterAddress
	My requester service call address. More...
std::unique_ptr< zmq::socket_t >	publisher
	ZMQ socket to send topic updates. More...
std::string	pUuid
	Process UUID. More...
TopicStorage< MessagePublisher >	remoteSubscribers
	Remote subscribers. More...
std::unique_ptr< zmq::socket_t >	replier
	ZMQ socket to receive service call requests. More...
Uuid	replierId
	Replier socket identity. More...
HandlerStorage< IRepHandler >	repliers
	Service call repliers. More...
std::unique_ptr< zmq::socket_t >	requester
	ZMQ socket for sending service call requests. More...
HandlerStorage< IReqHandler >	requests
	Pending service call requests. More...
std::unique_ptr< zmq::socket_t >	responseReceiver
	ZMQ socket for receiving service call responses. More...
Uuid	responseReceiverId
	Response receiver socket identity. More...
std::unique_ptr< SrvDiscovery >	srvDiscovery
	Discovery service (services). More...
std::unique_ptr< zmq::socket_t >	subscriber
	ZMQ socket to receive topic updates. More...
std::thread	threadReception
	thread in charge of receiving and handling incoming messages. More...
int	timeout
	Timeout used for receiving requests. More...
int	verbose
	Print activity to stdout. More...

Static Public Attributes
static const int	Timeout = 250
	Timeout used for receiving messages (ms.). More...

Protected Member Functions
	NodeShared ()
	Constructor. More...
virtual	~NodeShared ()
	Destructor. More...

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()

ignition::transport::NodeShared::NodeShared ( )

protected

Constructor.

~NodeShared()

virtual ignition::transport::NodeShared::~NodeShared ( )

protectedvirtual

Destructor.

Member Function Documentation

Instance()

static NodeShared* ignition::transport::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.

OnNewConnection()

void ignition::transport::NodeShared::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 ignition::transport::NodeShared::OnNewDisconnection

(

const MessagePublisher &

_pub

)

Callback executed when the discovery detects disconnections.

Parameters

[in]

_pub

Information of the publisher in charge of the topic.

OnNewSrvConnection()

void ignition::transport::NodeShared::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 ignition::transport::NodeShared::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.

Publish()

bool ignition::transport::NodeShared::Publish	(	const std::string &	_topic,
		const std::string &	_data,
		const std::string &	_msgType
	)

Publish data.

Parameters

[in]	_topic	Topic to be published.
[in]	_data	Data to publish.
[in]	_msgType	Message type in string format.

Returns

true when success or false otherwise.

RecvControlUpdate()

void ignition::transport::NodeShared::RecvControlUpdate

(

)

Method in charge of receiving the control updates (when a new remote subscriber notifies its presence for example).

RecvMsgUpdate()

void ignition::transport::NodeShared::RecvMsgUpdate

(

)

Method in charge of receiving the topic updates.

RecvSrvRequest()

void ignition::transport::NodeShared::RecvSrvRequest

(

)

Method in charge of receiving the service call requests.

RecvSrvResponse()

void ignition::transport::NodeShared::RecvSrvResponse

(

)

Method in charge of receiving the service call responses.

RunReceptionTask()

void ignition::transport::NodeShared::RunReceptionTask

(

)

Receive data and control messages.

SendPendingRemoteReqs()

void ignition::transport::NodeShared::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.

Member Data Documentation

context

std::unique_ptr<zmq::context_t> ignition::transport::NodeShared::context

0MQ context.

Always declare this object before any ZMQ socket to make sure that the context is destroyed after all sockets.

control

std::unique_ptr<zmq::socket_t> ignition::transport::NodeShared::control

ZMQ socket to receive control updates (new connections, ...).

exit

bool ignition::transport::NodeShared::exit

When true, the reception thread will finish.

hostAddr

std::string ignition::transport::NodeShared::hostAddr

IP address of this host.

localSubscriptions

HandlerStorage<ISubscriptionHandler> ignition::transport::NodeShared::localSubscriptions

Subscriptions.

msgDiscovery

std::unique_ptr<MsgDiscovery> ignition::transport::NodeShared::msgDiscovery

Discovery service (messages).

mutex

std::recursive_mutex ignition::transport::NodeShared::mutex

Mutex to guarantee exclusive access between all threads.

myAddress

std::string ignition::transport::NodeShared::myAddress

My pub/sub address.

myControlAddress

std::string ignition::transport::NodeShared::myControlAddress

My pub/sub control address.

myReplierAddress

std::string ignition::transport::NodeShared::myReplierAddress

My replier service call address.

myRequesterAddress

std::string ignition::transport::NodeShared::myRequesterAddress

My requester service call address.

publisher

std::unique_ptr<zmq::socket_t> ignition::transport::NodeShared::publisher

ZMQ socket to send topic updates.

pUuid

std::string ignition::transport::NodeShared::pUuid

Process UUID.

remoteSubscribers

TopicStorage<MessagePublisher> ignition::transport::NodeShared::remoteSubscribers

Remote subscribers.

replier

std::unique_ptr<zmq::socket_t> ignition::transport::NodeShared::replier

ZMQ socket to receive service call requests.

replierId

Uuid ignition::transport::NodeShared::replierId

Replier socket identity.

repliers

HandlerStorage<IRepHandler> ignition::transport::NodeShared::repliers

Service call repliers.

requester

std::unique_ptr<zmq::socket_t> ignition::transport::NodeShared::requester

ZMQ socket for sending service call requests.

requests

HandlerStorage<IReqHandler> ignition::transport::NodeShared::requests

Pending service call requests.

responseReceiver

std::unique_ptr<zmq::socket_t> ignition::transport::NodeShared::responseReceiver

ZMQ socket for receiving service call responses.

responseReceiverId

Uuid ignition::transport::NodeShared::responseReceiverId

Response receiver socket identity.

srvDiscovery

std::unique_ptr<SrvDiscovery> ignition::transport::NodeShared::srvDiscovery

Discovery service (services).

subscriber

std::unique_ptr<zmq::socket_t> ignition::transport::NodeShared::subscriber

ZMQ socket to receive topic updates.

threadReception

std::thread ignition::transport::NodeShared::threadReception

thread in charge of receiving and handling incoming messages.

Timeout

const int ignition::transport::NodeShared::Timeout = 250

static

Timeout used for receiving messages (ms.).

timeout

int ignition::transport::NodeShared::timeout

Timeout used for receiving requests.

verbose

int ignition::transport::NodeShared::verbose

Print activity to stdout.

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

• NodeShared.hh