Template Class CMsgPublisher

• Defined in File publisher.h

Inheritance Relationships

Base Type

• public eCAL::CPublisher (Class CPublisher)

Class Documentation

template<typename T>
class CMsgPublisher : public eCAL::CPublisher

eCAL abstract message publisher class.

Abstract publisher template class for messages. For details see documentation of CPublisher class.

Public Functions

inline CMsgPublisher()

Default Constructor. Using this constructor, the object is not actually in a usable state. Before being able to send data, one has to call the Create() function, first.

inline CMsgPublisher(const std::string &topic_name_, const std::string &topic_type_, const std::string &topic_desc_ = "")

Constructor, that automatically intializes the Publisher.

Deprecated:

Please use the constructor CMsgPublisher(const std::string& topic_name_, const SDataTypeInformation& topic_info_) instead. This function will be removed in future eCAL versions.

Parameters:

• topic_name_ – Unique topic name.

• topic_type_ – Type name.

• topic_desc_ – Type description (optional for description checking).

inline CMsgPublisher(const std::string &topic_name_, const SDataTypeInformation &topic_info_)

Constructor, that automatically intializes the Publisher. This should be the preferred constructor.

Parameters:

• topic_name_ – Unique topic name.

• topic_info_ – Struct that contains information of the datatype (name, encoding, description) of the topic.

inline CMsgPublisher(const std::string &topic_name_)

Constructor, that automatically intializes the Publisher. If no datatype information about the topic is available, this constructor can be used.

Parameters:

topic_name_ – Unique topic name.

CMsgPublisher(const CMsgPublisher&) = delete

Copy Constructor is not available.

CMsgPublisher &operator=(const CMsgPublisher&) = delete

Copy Constructor is not available.

CMsgPublisher(CMsgPublisher&&) = default

Move Constructor.

CMsgPublisher &operator=(CMsgPublisher&&) = default

Move assignment.

virtual ~CMsgPublisher() = default

inline bool Create(const std::string &topic_name_, const std::string &topic_type_ = "", const std::string &topic_desc_ = "")

Creates this object.

Deprecated:

Please use the method Create(const std::string& topic_name_, const SDataTypeInformation& topic_info_) instead. This function will be removed in future eCAL versions.

Parameters:

• topic_name_ – Unique topic name.

• topic_type_ – Type name (optional for type checking).

• topic_desc_ – Type description (optional for description checking).

Returns:

True if it succeeds, false if it fails.

inline bool Create(const std::string &topic_name_, const SDataTypeInformation &topic_info_)

Creates this object.

Parameters:

• topic_name_ – Unique topic name.

• topic_info_ – Associated datatype description.

Returns:

True if it succeeds, false if it fails.

inline bool Destroy()

Destroys this object.

Returns:

True if it succeeds, false if it fails.

inline size_t Send(const T &msg_, long long time_ = eCAL::CPublisher::DEFAULT_TIME_ARGUMENT)

Send serialized message.

Parameters:

• msg_ – The message object.

• time_ – Optional time stamp.

Returns:

Number of bytes sent.

inline size_t Send(const T &msg_, long long time_, long long acknowledge_timeout_ms_)

Send a serialized message to all subscribers synchronized with acknowledge timeout (see also ShmSetAcknowledgeTimeout).

This synchronized mode is currently implemented for local interprocess communication (shm-ecal layer) only.

Parameters:

• msg_ – The message object.

• time_ – Time stamp.

• acknowledge_timeout_ms_ – Maximum time to wait for all subscribers acknowledge feedback in ms (buffer received and processed).

Returns:

Number of bytes sent.