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 std::string &name="")
	Constructor.

virtual	~Subscriber ()
	Destructor.

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

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

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

void	close () override
	Stop port activity.

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

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

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

T *	read (bool shouldWait=true)
	Read a message from the port.

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

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

void	onRead (T &datum) override
	Callback method.

void	useCallback (TypedReaderCallback< T > &callback)

void	useCallback ()

void	disableCallback ()

void	setStrict (bool strict=true)

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

void	unlockCallback () override
	Unlock callbacks.

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

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

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

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

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

Public Member Functions inherited from yarp::os::TypedReaderCallback< T >
virtual	~TypedReaderCallback ()
	Destructor.

virtual void	onRead (T &datum, const yarp::os::TypedReader< T > &reader)
	Callback method.

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 21 of file Subscriber.h.

Constructor & Destructor Documentation

◆ Subscriber()

template<class T >

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

inline

Constructor.

Parameters

name	optional topic name to publish to.

Definition at line 31 of file Subscriber.h.

◆ ~Subscriber()

template<class T >

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

inlinevirtual

Destructor.

Definition at line 50 of file Subscriber.h.

Member Function Documentation

◆ asPort() [1/2]

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 123 of file Subscriber.h.

◆ asPort() [2/2]

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 118 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 83 of file Subscriber.h.

◆ disableCallback()

template<class T >

void yarp::os::Subscriber< T >::disableCallback ( )

inline

Definition at line 145 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 89 of file Subscriber.h.

◆ onRead()

template<class T >

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

inlineoverridevirtual

Callback method.

Parameters

datum data read from a port

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

Definition at line 129 of file Subscriber.h.

◆ open() [1/2]

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 76 of file Subscriber.h.

◆ open() [2/2]

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 69 of file Subscriber.h.

◆ read() [1/2]

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

shouldWait false if the call should return immediately if no message is available

Returns: a message, or nullptr

Definition at line 113 of file Subscriber.h.

◆ read() [2/2]

template<class T >

bool yarp::os::AbstractContactable::read	(	PortReader &	reader,
		bool	willReply = `false`
	)

overridevirtual

Read an object from the port.

Parameters

reader	any object that knows how to read itself from a network connection - see for example Bottle
willReply	you must set this to true if you intend to call reply()

Returns: true iff the object is successfully read

Reimplemented from yarp::os::AbstractContactable.

Definition at line 128 of file AbstractContactable.cpp.

◆ 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 95 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

reader the external reader to use

Reimplemented from yarp::os::AbstractContactable.

Definition at line 101 of file Subscriber.h.

◆ setStrict()

template<class T >

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

inline

Definition at line 150 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

name	topic name

Returns: true on success

Definition at line 62 of file Subscriber.h.

◆ useCallback() [1/2]

template<class T >

void yarp::os::Subscriber< T >::useCallback ( )

inline

Definition at line 140 of file Subscriber.h.

◆ useCallback() [2/2]

template<class T >

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

inline

Definition at line 135 of file Subscriber.h.

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

src/libYARP_os/src/yarp/os/Subscriber.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Subscriber()

◆ ~Subscriber()

Member Function Documentation

◆ asPort() [1/2]

◆ asPort() [2/2]

◆ close()

◆ disableCallback()

◆ interrupt()

◆ onRead()

◆ open() [1/2]

◆ open() [2/2]

◆ read() [1/2]

◆ read() [2/2]

◆ resume()

◆ setReader()

◆ setStrict()

◆ topic()

◆ useCallback() [1/2]

◆ useCallback() [2/2]