YARP  2.3.68+272-20170522.1+git50f0ae7
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 >:

Public Member Functions

 Subscriber (const ConstString &name="")
 Constructor. More...
 
virtual ~Subscriber ()
 Destructor. More...
 
bool topic (const ConstString &name)
 Set topic to subscribe to. More...
 
virtual bool open (const ConstString &name)
 Start port operation, with a specific name, with automatically-chosen network parameters. More...
 
virtual bool open (const Contact &contact, bool registerName=true)
 Start port operation with user-chosen network parameters. More...
 
virtual void close ()
 Stop port activity. More...
 
virtual void interrupt ()
 Interrupt any current reads or writes attached to the port. More...
 
virtual void resume ()
 Put the port back in an operative state after interrupt() has been called. More...
 
void setReader (PortReader &reader)
 Set an external reader for port data. More...
 
T * read (bool shouldWait=true)
 Read a message from the port. More...
 
virtual PortasPort ()
 get the concrete Port being used for communication More...
 
virtual const PortasPort () const
 get the concrete Port being used for communication, constant version More...
 
- Public Member Functions inherited from yarp::os::AbstractContactable
virtual bool addOutput (const ConstString &name)
 Add an output connection to the specified port. More...
 
virtual bool addOutput (const ConstString &name, const ConstString &carrier)
 Add an output connection to the specified port, using a specified carrier. More...
 
virtual bool addOutput (const Contact &contact)
 Add an output connection to the specified port, using specified network parameters. More...
 
virtual Contact where () const
 Returns information about how this port can be reached. More...
 
virtual ConstString getName () const
 Get name of port. More...
 
virtual bool setEnvelope (PortWriter &envelope)
 Set an envelope (e.g., a timestamp) to the next message which will be sent. More...
 
virtual bool getEnvelope (PortReader &envelope)
 Get the envelope information (e.g., a timestamp) from the last message received on the port. More...
 
virtual int getInputCount ()
 Determine how many connections are arriving into this port. More...
 
virtual int getOutputCount ()
 Determine how many output connections this port has. More...
 
virtual void getReport (PortReport &reporter)
 Get information on the state of the port - connections etc. More...
 
virtual void setReporter (PortReport &reporter)
 Set a callback to be called upon any future connections and disconnections to/from the port. More...
 
virtual void resetReporter ()
 Remove the callback which is called upon any future connections and disconnections to/from the port. More...
 
virtual bool isWriting ()
 Report whether the port is currently writing data. More...
 
virtual void setAdminReader (PortReader &reader)
 Set an external reader for unrecognized administrative port messages. More...
 
virtual void setInputMode (bool expectInput)
 Configure the port to allow or forbid inputs. More...
 
virtual void setOutputMode (bool expectOutput)
 Configure the port to allow or forbid outputs. More...
 
virtual void setRpcMode (bool expectRpc)
 Configure the port to be RPC only. More...
 
virtual Type getType ()
 Get the type of data the port has committed to send/receive. More...
 
virtual void promiseType (const Type &typ)
 Commit the port to a particular type of data. More...
 
virtual PropertyacquireProperties (bool readOnly)
 Access unstructured port properties. More...
 
virtual void releaseProperties (Property *prop)
 End access unstructured port properties. More...
 
virtual bool write (PortWriter &writer, PortWriter *callback=YARP_NULLPTR) const
 Write an object to the port. More...
 
virtual bool write (PortWriter &writer, PortReader &reader, PortWriter *callback=YARP_NULLPTR) const
 Write an object to the port, then expect one back. More...
 
virtual bool read (PortReader &reader, bool willReply=false)
 Read an object from the port. More...
 
virtual bool reply (PortWriter &writer)
 Send an object as a reply to an object read from the port. More...
 
virtual bool replyAndDrop (PortWriter &writer)
 Same as reply(), but closes connection after reply. More...
 
virtual void includeNodeInName (bool flag)
 Choose whether to prepend a node name (if one is available) to the port's name. More...
 
virtual bool setCallbackLock (yarp::os::Mutex *mutex=YARP_NULLPTR)
 Add a lock to use when invoking callbacks. More...
 
virtual bool removeCallbackLock ()
 Remove a lock on callbacks added with setCallbackLock() More...
 
virtual bool lockCallback ()
 Lock callbacks until unlockCallback() is called. More...
 
virtual bool tryLockCallback ()
 Try to lock callbacks until unlockCallback() is called. More...
 
virtual void unlockCallback ()
 Unlock callbacks. More...
 
- Public Member Functions inherited from yarp::os::Contactable
virtual ~Contactable ()
 Destructor. More...
 
bool open ()
 Start port operation, with automatically-chosen network parameters. 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...
 

Private Member Functions

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

Private Attributes

Port port
 
BufferedPort< T > * buffered_port
 

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 16 of file Subscriber.h.

Constructor & Destructor Documentation

◆ Subscriber()

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

Constructor.

Parameters
nameoptional topic name to publish to.

Definition at line 40 of file Subscriber.h.

◆ ~Subscriber()

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

Destructor.

Definition at line 57 of file Subscriber.h.

Member Function Documentation

◆ active()

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

Definition at line 132 of file Subscriber.h.

◆ asPort() [1/2]

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

get the concrete Port being used for communication

Implements yarp::os::AbstractContactable.

Definition at line 120 of file Subscriber.h.

◆ asPort() [2/2]

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

get the concrete Port being used for communication, constant version

Implements yarp::os::AbstractContactable.

Definition at line 124 of file Subscriber.h.

◆ buffer()

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

Definition at line 137 of file Subscriber.h.

◆ clear()

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

Definition at line 145 of file Subscriber.h.

◆ close()

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

Stop port activity.

Reimplemented from yarp::os::AbstractContactable.

Definition at line 88 of file Subscriber.h.

◆ interrupt()

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

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 93 of file Subscriber.h.

◆ open() [1/2]

template<class T>
virtual bool yarp::os::Subscriber< T >::open ( const ConstString name)
inlinevirtual

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 76 of file Subscriber.h.

◆ open() [2/2]

template<class T>
virtual bool yarp::os::Subscriber< T >::open ( const Contact contact,
bool  registerName = true 
)
inlinevirtual

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 82 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 YARP_NULLPTR if the port status has changed.

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

Definition at line 116 of file Subscriber.h.

◆ resume()

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

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

Reimplemented from yarp::os::AbstractContactable.

Definition at line 98 of file Subscriber.h.

◆ setReader()

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

Set an external reader for port data.

Parameters
readerthe external reader to use

Reimplemented from yarp::os::AbstractContactable.

Definition at line 103 of file Subscriber.h.

◆ topic()

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

Set topic to subscribe to.

Parameters
nametopic name
Returns
true on success

Definition at line 70 of file Subscriber.h.

Member Data Documentation

◆ buffered_port

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

Definition at line 130 of file Subscriber.h.

◆ port

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

Definition at line 129 of file Subscriber.h.


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