Template Class CMsgPublisher

Template Class CMsgPublisher#

Inheritance Relationships#

Base Type#

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.

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