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rmw_dds_common
master
Define a common interface between DDS implementations of ROS middleware.
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Graph cache data structure. More...
#include <graph_cache.hpp>
Public Types | |
| using | DemangleFunctionT = std::function< std::string(const std::string &)> |
| Callable used to demangle a name. | |
| using | NodeEntitiesInfoSeq = decltype(std::declval< rmw_dds_common::msg::ParticipantEntitiesInfo >().node_entities_info_seq) |
| using | EntityGidToInfo = std::map< rmw_gid_t, EntityInfo, Compare_rmw_gid_t > |
| using | ParticipantToNodesMap = std::map< rmw_gid_t, ParticipantInfo, Compare_rmw_gid_t > |
| using | GidSeq = decltype(std::declval< rmw_dds_common::msg::NodeEntitiesInfo >().writer_gid_seq) |
Public Member Functions | |
| template<typename CallbackT > | |
| void | set_on_change_callback (CallbackT &&callback) |
| Set a callback that will be called when the state of the object changes. More... | |
| void | clear_on_change_callback () |
| Clear previously registered "on change" callback. | |
| bool | add_writer (const rmw_gid_t &writer_gid, const std::string &topic_name, const std::string &type_name, const rmw_gid_t &participant_gid, const rmw_qos_profile_t &qos) |
| Add a data writer based on discovery. More... | |
| bool | add_reader (const rmw_gid_t &reader_gid, const std::string &topic_name, const std::string &type_name, const rmw_gid_t &participant_gid, const rmw_qos_profile_t &qos) |
| Add a data reader based on discovery. More... | |
| bool | add_entity (const rmw_gid_t &gid, const std::string &topic_name, const std::string &type_name, const rmw_gid_t &participant_gid, const rmw_qos_profile_t &qos, bool is_reader) |
| Add a data reader based on discovery. More... | |
| bool | remove_writer (const rmw_gid_t &gid) |
| Remove a data writer based on discovery. More... | |
| bool | remove_reader (const rmw_gid_t &gid) |
| Remove a data reader based on discovery. More... | |
| bool | remove_entity (const rmw_gid_t &gid, bool is_reader) |
| Remove a data reader or writer based based on discovery. More... | |
| void | add_participant (const rmw_gid_t &participant_gid, const std::string &enclave) |
| Add a discovered participant to the cache. More... | |
| bool | remove_participant (const rmw_gid_t &participant_gid) |
| Remove a participant based on discovery. More... | |
| void | update_participant_entities (const rmw_dds_common::msg::ParticipantEntitiesInfo &msg) |
Update participant info based on a received ParticipantEntitiesInfo message. More... | |
| rmw_dds_common::msg::ParticipantEntitiesInfo | add_node (const rmw_gid_t &participant_gid, const std::string &node_name, const std::string &node_namespace) |
| Add a node to the graph, and get the message to be sent. More... | |
| rmw_dds_common::msg::ParticipantEntitiesInfo | remove_node (const rmw_gid_t &participant_gid, const std::string &node_name, const std::string &node_namespace) |
| Remove a node to the graph, and get the message to be sent. More... | |
| rmw_dds_common::msg::ParticipantEntitiesInfo | associate_writer (const rmw_gid_t &writer_gid, const rmw_gid_t &participant_gid, const std::string &node_name, const std::string &node_namespace) |
| Remove a node to the graph, and get the message to be sent. More... | |
| rmw_dds_common::msg::ParticipantEntitiesInfo | dissociate_writer (const rmw_gid_t &writer_gid, const rmw_gid_t &participant_gid, const std::string &node_name, const std::string &node_namespace) |
| Dissociate a writer from a node, and get an update message to be sent. More... | |
| rmw_dds_common::msg::ParticipantEntitiesInfo | associate_reader (const rmw_gid_t &reader_gid, const rmw_gid_t &participant_gid, const std::string &node_name, const std::string &node_namespace) |
| Associate a reader with a node, and get an update message to be sent. More... | |
| rmw_dds_common::msg::ParticipantEntitiesInfo | dissociate_reader (const rmw_gid_t &reader_gid, const rmw_gid_t &participant_gid, const std::string &node_name, const std::string &node_namespace) |
| Dissociate a reader from a node, and get an update message to be sent. More... | |
| rmw_ret_t | get_writer_count (const std::string &topic_name, size_t *count) const |
| Get the number of publishers of a topic. More... | |
| rmw_ret_t | get_reader_count (const std::string &topic_name, size_t *count) const |
| Get the number of subscriptions of a topic. More... | |
| rmw_ret_t | get_writers_info_by_topic (const std::string &topic_name, DemangleFunctionT demangle_type, rcutils_allocator_t *allocator, rmw_topic_endpoint_info_array_t *endpoints_info) const |
| Get an array with information about the writers in a topic. More... | |
| rmw_ret_t | get_readers_info_by_topic (const std::string &topic_name, DemangleFunctionT demangle_type, rcutils_allocator_t *allocator, rmw_topic_endpoint_info_array_t *endpoints_info) const |
| Get an array with information about the readers in a topic. More... | |
| rmw_ret_t | get_names_and_types (DemangleFunctionT demangle_topic, DemangleFunctionT demangle_type, rcutils_allocator_t *allocator, rmw_names_and_types_t *topic_names_and_types) const |
| Get all the topic names and types. More... | |
| rmw_ret_t | get_writer_names_and_types_by_node (const std::string &node_name, const std::string &namespace_, DemangleFunctionT demangle_topic, DemangleFunctionT demangle_type, rcutils_allocator_t *allocator, rmw_names_and_types_t *topic_names_and_types) const |
| Get the topic names and types that a node is publishing. More... | |
| rmw_ret_t | get_reader_names_and_types_by_node (const std::string &node_name, const std::string &namespace_, DemangleFunctionT demangle_topic, DemangleFunctionT demangle_type, rcutils_allocator_t *allocator, rmw_names_and_types_t *topic_names_and_types) const |
| Get the topic names and types that a node is subscribing. More... | |
| size_t | get_number_of_nodes () const |
| Get the number of nodes that have been discovered. More... | |
| rmw_ret_t | get_node_names (rcutils_string_array_t *node_names, rcutils_string_array_t *node_namespaces, rcutils_string_array_t *enclaves, rcutils_allocator_t *allocator) const |
| Copy the names and namespaces of the discovered nodes. More... | |
Friends | |
| std::ostream & | operator<< (std::ostream &ostream, const GraphCache &topic_cache) |
Graph cache data structure.
Manages relationships between participants, nodes and topics.
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inline |
Set a callback that will be called when the state of the object changes.
| callback | callback to be called. |
1.8.17