YARP
Yet Another Robot Platform
yarp::os::Subscriber< T > Class Template Reference

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

#include <yarp/os/Subscriber.h>

+ Inheritance diagram for yarp::os::Subscriber< T >:

Detailed Description

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

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

See also
yarp::os::Publisher

Definition at line 27 of file Subscriber.h.

Public Member Functions

 Subscriber (const std::string &name="")
 Constructor. More...
 
virtual ~Subscriber ()
 Destructor. More...
 
bool topic (const std::string &name)
 Set topic to subscribe 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 * read (bool shouldWait=true)
 Read a message from the port. More...
 
PortasPort () override
 Get the concrete Port being used for communication. More...
 
const PortasPort () const override
 Get the concrete Port being used for communication, const version. More...
 
void onRead (T &datum) override
 Callback method. More...
 
void useCallback (TypedReaderCallback< T > &callback)
 
void useCallback ()
 
void disableCallback ()
 
void setStrict (bool strict=true)
 
- 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...
 
PropertyacquireProperties (bool readOnly) override
 Access unstructured port properties. More...
 
void releaseProperties (Property *prop) override
 End access unstructured port properties. More...
 
virtual bool write (const PortWriter &writer, const PortWriter *callback=nullptr) const override
 Write an object to the port. More...
 
virtual 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=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...
 
- Public Member Functions inherited from yarp::os::TypedReaderCallback< T >
virtual ~TypedReaderCallback ()
 Destructor. More...
 
virtual void onRead (T &datum, const yarp::os::TypedReader< T > &reader)
 Callback method. More...
 

Private Member Functions

Contactableactive ()
 
BufferedPort< T > & buffer ()
 
void clear ()
 

Private Attributes

bool isStrict
 
Port port
 
BufferedPort< T > * buffered_port
 

Constructor & Destructor Documentation

◆ Subscriber()

template<class T>
yarp::os::Subscriber< T >::Subscriber ( const std::string &  name = "")
inline

Constructor.

Parameters
nameoptional topic name to publish to.

Definition at line 39 of file Subscriber.h.

◆ ~Subscriber()

template<class T>
virtual yarp::os::Subscriber< T >::~Subscriber ( )
inlinevirtual

Destructor.

Definition at line 58 of file Subscriber.h.

Member Function Documentation

◆ active()

template<class T>
Contactable& yarp::os::Subscriber< T >::active ( )
inlineprivate

Definition at line 174 of file Subscriber.h.

◆ asPort() [1/2]

template<class T>
Port& yarp::os::Subscriber< T >::asPort ( )
inlineoverridevirtual

Get the concrete Port being used for communication.

Implements yarp::os::AbstractContactable.

Definition at line 130 of file Subscriber.h.

◆ asPort() [2/2]

template<class T>
const Port& yarp::os::Subscriber< T >::asPort ( ) const
inlineoverridevirtual

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

Implements yarp::os::AbstractContactable.

Definition at line 135 of file Subscriber.h.

◆ buffer()

template<class T>
BufferedPort<T>& yarp::os::Subscriber< T >::buffer ( )
inlineprivate

Definition at line 181 of file Subscriber.h.

◆ clear()

template<class T>
void yarp::os::Subscriber< T >::clear ( )
inlineprivate

Definition at line 193 of file Subscriber.h.

◆ close()

template<class T>
void yarp::os::Subscriber< T >::close ( )
inlineoverridevirtual

Stop port activity.

Reimplemented from yarp::os::AbstractContactable.

Definition at line 93 of file Subscriber.h.

◆ disableCallback()

template<class T>
void yarp::os::Subscriber< T >::disableCallback ( )
inline

Definition at line 157 of file Subscriber.h.

◆ interrupt()

template<class T>
void yarp::os::Subscriber< 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 99 of file Subscriber.h.

◆ onRead()

template<class T>
void yarp::os::Subscriber< T >::onRead ( T &  datum)
inlineoverridevirtual

Callback method.

Parameters
datumdata read from a port

Reimplemented from yarp::os::TypedReaderCallback< T >.

Definition at line 141 of file Subscriber.h.

◆ open() [1/2]

template<class T>
bool yarp::os::Subscriber< 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 79 of file Subscriber.h.

◆ open() [2/2]

template<class T>
bool yarp::os::Subscriber< 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 86 of file Subscriber.h.

◆ read()

template<class T>
T* yarp::os::Subscriber< T >::read ( bool  shouldWait = true)
inline

Read a message from the port.

Waits by default. May return nullptr if the port status has changed.

Parameters
shouldWaitfalse if the call should return immediately if no message is available
Returns
a message, or nullptr

Definition at line 125 of file Subscriber.h.

◆ resume()

template<class T>
void yarp::os::Subscriber< T >::resume ( )
inlineoverridevirtual

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

Reimplemented from yarp::os::AbstractContactable.

Definition at line 105 of file Subscriber.h.

◆ setReader()

template<class T>
void yarp::os::Subscriber< T >::setReader ( PortReader reader)
inlineoverridevirtual

Set an external reader for port data.

Parameters
readerthe external reader to use

Reimplemented from yarp::os::AbstractContactable.

Definition at line 111 of file Subscriber.h.

◆ setStrict()

template<class T>
void yarp::os::Subscriber< T >::setStrict ( bool  strict = true)
inline

Definition at line 162 of file Subscriber.h.

◆ topic()

template<class T>
bool yarp::os::Subscriber< T >::topic ( const std::string &  name)
inline

Set topic to subscribe to.

Parameters
nametopic name
Returns
true on success

Definition at line 72 of file Subscriber.h.

◆ useCallback() [1/2]

template<class T>
void yarp::os::Subscriber< T >::useCallback ( TypedReaderCallback< T > &  callback)
inline

Definition at line 147 of file Subscriber.h.

◆ useCallback() [2/2]

template<class T>
void yarp::os::Subscriber< T >::useCallback ( )
inline

Definition at line 152 of file Subscriber.h.

Member Data Documentation

◆ buffered_port

template<class T>
BufferedPort<T>* yarp::os::Subscriber< T >::buffered_port
private

Definition at line 172 of file Subscriber.h.

◆ isStrict

template<class T>
bool yarp::os::Subscriber< T >::isStrict
private

Definition at line 170 of file Subscriber.h.

◆ port

template<class T>
Port yarp::os::Subscriber< T >::port
private

Definition at line 171 of file Subscriber.h.


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