A port specialized for publishing data of a constant type on a topic. More...

#include <yarp/os/Publisher.h>

Inheritance diagram for yarp::os::Publisher< T >:

Public Member Functions
	Publisher (const std::string &name="")
	Constructor. More...

virtual	~Publisher ()
	Destructor. More...

bool	topic (const std::string &name)
	Set topic to publish to. More...

bool	open (const std::string &name) override
	Start port operation, with a specific name, with automatically-chosen network parameters. More...

bool	open (const Contact &contact, bool registerName=true) override
	Start port operation with user-chosen network parameters. More...

void	close () override
	Stop port activity. More...

void	interrupt () override
	Interrupt any current reads or writes attached to the port. More...

void	resume () override
	Put the port back in an operative state after interrupt() has been called. More...

void	setReader (PortReader &reader) override
	Set an external reader for port data. More...

T &	prepare ()
	Access the object which will be transmitted by the next call to yarp::os::Publisher::write. More...

bool	unprepare ()
	Give the last prepared object back to YARP without writing it. More...

void	write (bool forceStrict=false)
	Write the current object being returned by Publisher::prepare. More...

void	waitForWrite ()
	Wait for any pending writes to complete. More...

virtual int	getPendingReads ()

Port &	asPort () override
	Get the concrete Port being used for communication. More...

const Port &	asPort () const override
	Get the concrete Port being used for communication, const version. More...

bool	write (const PortWriter &writer, const PortWriter *callback=nullptr) const override

bool	write (const PortWriter &writer, PortReader &reader, const PortWriter *callback=nullptr) const override

Public Member Functions inherited from yarp::os::AbstractContactable
bool	addOutput (const std::string &name) override
	Add an output connection to the specified port. More...

bool	addOutput (const std::string &name, const std::string &carrier) override
	Add an output connection to the specified port, using a specified carrier. More...

bool	addOutput (const Contact &contact) override
	Add an output connection to the specified port, using specified network parameters. More...

Contact	where () const override
	Returns information about how this port can be reached. More...

std::string	getName () const override
	Get name of port. More...

bool	setEnvelope (PortWriter &envelope) override
	Set an envelope (e.g., a timestamp) to the next message which will be sent. More...

bool	getEnvelope (PortReader &envelope) override
	Get the envelope information (e.g., a timestamp) from the last message received on the port. More...

int	getInputCount () override
	Determine how many connections are arriving into this port. More...

int	getOutputCount () override
	Determine how many output connections this port has. More...

void	getReport (PortReport &reporter) override
	Get information on the state of the port - connections etc. More...

void	setReporter (PortReport &reporter) override
	Set a callback to be called upon any future connections and disconnections to/from the port. More...

void	resetReporter () override
	Remove the callback which is called upon any future connections and disconnections to/from the port. More...

bool	isWriting () override
	Report whether the port is currently writing data. More...

void	setAdminReader (PortReader &reader) override
	Set an external reader for unrecognized administrative port messages. More...

void	setInputMode (bool expectInput) override
	Configure the port to allow or forbid inputs. More...

void	setOutputMode (bool expectOutput) override
	Configure the port to allow or forbid outputs. More...

void	setRpcMode (bool expectRpc) override
	Configure the port to be RPC only. More...

Type	getType () override
	Get the type of data the port has committed to send/receive. More...

void	promiseType (const Type &typ) override
	Commit the port to a particular type of data. More...

Property *	acquireProperties (bool readOnly) override
	Access unstructured port properties. More...

void	releaseProperties (Property *prop) override
	End access unstructured port properties. More...

bool	write (const PortWriter &writer, const PortWriter *callback=nullptr) const override
	Write an object to the port. More...

bool	write (const PortWriter &writer, PortReader &reader, const PortWriter *callback=nullptr) const override
	Write an object to the port, then expect one back. More...

bool	read (PortReader &reader, bool willReply=false) override
	Read an object from the port. More...

bool	reply (PortWriter &writer) override
	Send an object as a reply to an object read from the port. More...

bool	replyAndDrop (PortWriter &writer) override
	Same as reply(), but closes connection after reply. More...

void	includeNodeInName (bool flag) override
	Choose whether to prepend a node name (if one is available) to the port's name. More...

bool	setCallbackLock (yarp::os::Mutex *mutex) override
	Add a lock to use when invoking callbacks. More...

bool	setCallbackLock (std::mutex *mutex=nullptr) override
	Add a lock to use when invoking callbacks. More...

bool	removeCallbackLock () override
	Remove a lock on callbacks added with setCallbackLock() More...

bool	lockCallback () override
	Lock callbacks until unlockCallback() is called. More...

bool	tryLockCallback () override
	Try to lock callbacks until unlockCallback() is called. More...

void	unlockCallback () override
	Unlock callbacks. More...

Public Member Functions inherited from yarp::os::Contactable
virtual	~Contactable ()
	Destructor. More...

void	setReadOnly ()
	Shorthand for setInputMode(true), setOutputMode(false), setRpcMode(false) More...

void	setWriteOnly ()
	Shorthand for setInputMode(false), setOutputMode(true), setRpcMode(false) More...

void	setRpcServer ()
	Shorthand for setInputMode(true), setOutputMode(false), setRpcMode(true) More...

void	setRpcClient ()
	Shorthand for setInputMode(false), setOutputMode(true), setRpcMode(true) More...

Detailed Description

template<class T>
class yarp::os::Publisher< T >

A port specialized for publishing data of a constant type on a topic.

See also: yarp::os::Subscriber

Definition at line 25 of file Publisher.h.

Constructor & Destructor Documentation

◆ Publisher()

template<class T >

yarp::os::Publisher< T >::Publisher ( const std::string & name = "" )

inline

Constructor.

Parameters

name	optional topic name to publish to.

Definition at line 37 of file Publisher.h.

◆ ~Publisher()

template<class T >

virtual yarp::os::Publisher< T >::~Publisher ( )

inlinevirtual

Destructor.

Definition at line 55 of file Publisher.h.

Member Function Documentation

◆ asPort() [1/2]

template<class T >

const Port& yarp::os::Publisher< T >::asPort ( ) const

inlineoverridevirtual

Get the concrete Port being used for communication, const version.

Implements yarp::os::AbstractContactable.

Definition at line 177 of file Publisher.h.

◆ asPort() [2/2]

template<class T >

Port& yarp::os::Publisher< T >::asPort ( )

inlineoverridevirtual

Get the concrete Port being used for communication.

Implements yarp::os::AbstractContactable.

Definition at line 172 of file Publisher.h.

◆ close()

template<class T >

void yarp::os::Publisher< T >::close ( )

inlineoverridevirtual

Stop port activity.

Reimplemented from yarp::os::AbstractContactable.

Definition at line 88 of file Publisher.h.

◆ getPendingReads()

template<class T >

virtual int yarp::os::Publisher< T >::getPendingReads ( )

inlinevirtual

Definition at line 165 of file Publisher.h.

◆ interrupt()

template<class T >

void yarp::os::Publisher< T >::interrupt ( )

inlineoverridevirtual

Interrupt any current reads or writes attached to the port.

This is useful prior to calling close(), if there are multiple threads operating on the port. Any reads or writes after the call to interrupt() will fail - unless resume() is called.

Reimplemented from yarp::os::AbstractContactable.

Definition at line 94 of file Publisher.h.

◆ open() [1/2]

template<class T >

bool yarp::os::Publisher< T >::open	(	const Contact &	contact,
		bool	registerName = `true`
	)

inlineoverridevirtual

Start port operation with user-chosen network parameters.

Contact information is supplied by the user rather than the name server. If the Contact information is incomplete, the name server is used to complete it (set registerName to false if you don't want name server help).

Returns: true iff the port started operation successfully and is now visible on the YARP network

Reimplemented from yarp::os::AbstractContactable.

Definition at line 81 of file Publisher.h.

◆ open() [2/2]

template<class T >

bool yarp::os::Publisher< T >::open ( const std::string & name )

inlineoverridevirtual

Start port operation, with a specific name, with automatically-chosen network parameters.

The port is registered with the given name, and allocated network resources, by communicating with the YARP name server.

Returns: true iff the port started operation successfully and is now visible on the YARP network

Reimplemented from yarp::os::AbstractContactable.

Definition at line 74 of file Publisher.h.

◆ prepare()

template<class T >

T& yarp::os::Publisher< T >::prepare ( )

inline

Access the object which will be transmitted by the next call to yarp::os::Publisher::write.

The object can safely be modified by the user of this class, to prepare it. Extra objects will be created or reused as necessary depending on the state of communication with the output(s) of the port. Be careful! If prepare() gives you a reused object, it is up to the user to clear the object if that is appropriate. If you are sending yarp::os::Bottle objects, you may want to call yarp::os::Bottle::clear(), for example. YARP doesn't clear objects for you, since there are many cases in which overwriting old data is suffient and reallocation of memory would be unnecessary and inefficient.

Returns: the next object that will be written

Definition at line 127 of file Publisher.h.

◆ resume()

template<class T >

void yarp::os::Publisher< T >::resume ( )

inlineoverridevirtual

Put the port back in an operative state after interrupt() has been called.

Reimplemented from yarp::os::AbstractContactable.

Definition at line 100 of file Publisher.h.

◆ setReader()

template<class T >

void yarp::os::Publisher< T >::setReader ( PortReader & reader )

inlineoverridevirtual

Set an external reader for port data.

Parameters

reader the external reader to use

Reimplemented from yarp::os::AbstractContactable.

Definition at line 106 of file Publisher.h.

◆ topic()

template<class T >

bool yarp::os::Publisher< T >::topic ( const std::string & name )

inline

Set topic to publish to.

Parameters

name	topic name

Returns: true on success

Definition at line 67 of file Publisher.h.

◆ unprepare()

template<class T >

bool yarp::os::Publisher< T >::unprepare ( )

inline

Give the last prepared object back to YARP without writing it.

Returns: true if there was a prepared object to return.

Definition at line 137 of file Publisher.h.

◆ waitForWrite()

template<class T >

void yarp::os::Publisher< T >::waitForWrite ( )

inline

Wait for any pending writes to complete.

Definition at line 160 of file Publisher.h.

◆ write() [1/3]

template<class T >

void yarp::os::Publisher< T >::write ( bool forceStrict = false )

inline

Write the current object being returned by Publisher::prepare.

That object should no longer be touched by the user of this class – it is now owned by the communications system. The BufferedPort::prepare method should be called again to get a fresh (or reused) object guaranteed to be not in use by the communications system.

Parameters

forceStrict If this is true, wait until any previous sends are complete. If false, the current object will not be sent on connections that are currently busy.

Definition at line 152 of file Publisher.h.

◆ write() [2/3]

template<class T >

bool yarp::os::AbstractContactable::write

override

Definition at line 123 of file AbstractContactable.cpp.

◆ write() [3/3]

template<class T >

bool yarp::os::AbstractContactable::write

override

Definition at line 127 of file AbstractContactable.cpp.

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

src/libYARP_os/src/yarp/os/Publisher.h

Public Member Functions

Detailed Description

template<class T> class yarp::os::Publisher< T >

Constructor & Destructor Documentation

◆ Publisher()

◆ ~Publisher()

Member Function Documentation

◆ asPort() [1/2]

◆ asPort() [2/2]

◆ close()

◆ getPendingReads()

◆ interrupt()

◆ open() [1/2]

◆ open() [2/2]

◆ prepare()

◆ resume()

◆ setReader()

◆ topic()

◆ unprepare()

◆ waitForWrite()

◆ write() [1/3]

◆ write() [2/3]

◆ write() [3/3]

template<class T>
class yarp::os::Publisher< T >