RobotRaconteur::WireSubscription< T > Class Template Reference

Subscription for wire members that aggregates the values from client wire connections. More...

#include <Subscription.h>

Inheritance diagram for RobotRaconteur::WireSubscription< T >:

Public Member Functions
T	GetInValue (TimeSpec *time=NULL, typename boost::shared_ptr< WireConnection< T > > *connection=NULL)
	Get the current InValue and metadata.
bool	TryGetInValue (T &val, TimeSpec *time=NULL, typename boost::shared_ptr< WireConnection< T > > *connection=NULL)
	Try getting the current InValue and metadata.
void	SetOutValueAll (const T &val)
	Set the OutValue for all active wire connections.
event_connection	AddWireValueChangedListener (boost::function< void(const boost::shared_ptr< WireSubscription< T > > &, const T &, const TimeSpec &)> f)
	Adds a wire value changed event listener function.
bool	WaitInValueValid (int32_t timeout=RR_TIMEOUT_INFINITE)
	Wait for a valid InValue to be received from a client.
size_t	GetActiveWireConnectionCount ()
	Get the number of wire connections currently connected.
bool	GetIgnoreInValue ()
	Get if InValue is currently being ignored.
void	SetIgnoreInValue (bool ignore)
	Set if InValue should be ignored.
int32_t	GetInValueLifespan ()
	Get the InValue lifespan in milliseconds.
void	SetInValueLifespan (int32_t millis)
	Set the InValue lifespan in milliseconds.
void	Close ()
	Closes the wire subscription.

Detailed Description

template<typename T>
class RobotRaconteur::WireSubscription< T >

Subscription for wire members that aggregates the values from client wire connections.

Wire subscriptions are created using the ServiceSubscription::SubscribeWire() function. This function takes the type of the wire value, the name of the wire member, and an optional service path of the service object that owns the wire member.

Wire subscriptions aggregate the InValue from all active wire connections. When a client connects, the wire subscriptions will automatically create wire connections to the wire member specified when the WireSubscription was created using ServiceSubscription::SubscribeWire(). The InValue of all the active wire connections are collected, and the most recent one is used as the current InValue of the wire subscription. The current value, the timespec, and the wire connection can be accessed using GetInValue() or TryGetInValue().

The lifespan of the InValue can be configured using SetInValueLifespan(). It is recommended that the lifespan be configured, so that the value will expire if the subscription stops receiving fresh in values.

The wire subscription can also be used to set the OutValue of all active wire connections. This behaves similar to a "reverse broadcaster", sending the same value to all connected services.

Template Parameters

T	The value type used by the wire

Member Function Documentation

AddWireValueChangedListener()

template<typename T>

event_connection RobotRaconteur::WireSubscription< T >::AddWireValueChangedListener ( boost::function< void(const boost::shared_ptr< WireSubscription< T > > &, const T &, const TimeSpec &)> f )

inline

Adds a wire value changed event listener function.

Add a listener function that is called when the InValue changes. The callback should have the signature:

void cb(WireSubscriptionPtr<T> wire_connection, const T& val, const TimeSpec& ts)

Parameters

f	The callback function

Returns

event_connection The Boost.Signals2 connection

Close()

void RobotRaconteur::WireSubscriptionBase::Close ( )

inherited

Closes the wire subscription.

Wire subscriptions are automatically closed when the parent ServiceSubscription is closed or when the node is shut down.

GetActiveWireConnectionCount()

size_t RobotRaconteur::WireSubscriptionBase::GetActiveWireConnectionCount ( )

inherited

Get the number of wire connections currently connected.

Returns

size_t The number of active connections

GetIgnoreInValue()

bool RobotRaconteur::WireSubscriptionBase::GetIgnoreInValue ( )

inherited

Get if InValue is currently being ignored.

Returns

true InValue is being ignored

false InValue is not being ignored

GetInValue()

template<typename T>

T RobotRaconteur::WireSubscription< T >::GetInValue ( TimeSpec * time = NULL, typename boost::shared_ptr< WireConnection< T > > * connection = NULL )

inline

Get the current InValue and metadata.

Throws ValueNotSetException if no valid value is available

Parameters

time	[out] the LastValueReceivedTime of the InValue
connection	[out] the wire connection that received the InValue

Returns

T the current InValue

GetInValueLifespan()

int32_t RobotRaconteur::WireSubscriptionBase::GetInValueLifespan ( )

inherited

Get the InValue lifespan in milliseconds.

Get the lifespan of InValue in milliseconds. The value will expire after the specified lifespan, becoming invalid. Use -1 for infinite lifespan.

Returns

int32_t The lifespan in milliseconds. -1 for infinite

SetIgnoreInValue()

void RobotRaconteur::WireSubscriptionBase::SetIgnoreInValue ( bool ignore )

inherited

Set if InValue should be ignored.

See WireConnection::SetIgnoreInValue()

If true, InValue will be ignored for all wire connections.

Parameters

ignore

SetInValueLifespan()

void RobotRaconteur::WireSubscriptionBase::SetInValueLifespan ( int32_t millis )

inherited

Set the InValue lifespan in milliseconds.

Set the lifespan of InValue in milliseconds. The value will expire after the specified lifespan, becoming invalid. Use -1 for infinite lifespan.

See also WireConnection::SetInValueLifespan()

Parameters

millis

The lifespan in milliseconds. -1 for infinite

SetOutValueAll()

template<typename T>

void RobotRaconteur::WireSubscription< T >::SetOutValueAll ( const T & val )

inline

Set the OutValue for all active wire connections.

Behaves like a "reverse broadcaster". Calls WireConnection::SetOutValue() for all connected wire connections.

Template Parameters

T	The type of the value

Parameters

val	The new OutValue

TryGetInValue()

template<typename T>

bool RobotRaconteur::WireSubscription< T >::TryGetInValue ( T & val, TimeSpec * time = NULL, typename boost::shared_ptr< WireConnection< T > > * connection = NULL )

inline

Try getting the current InValue and metadata.

Same as GetInValue(), but returns a bool for success or failure instead of throwing an exception.

Parameters

val	[out] the current InValue
time	[out] the LastValueReceivedTime of the InValue
connection	[out] the wire connection that received the InValue

Returns

true Getting the InValue was successful

false There is no valid InValue

WaitInValueValid()

bool RobotRaconteur::WireSubscriptionBase::WaitInValueValid ( int32_t timeout = RR_TIMEOUT_INFINITE )

inherited

Wait for a valid InValue to be received from a client.

Blocks the current thread until value is received or timeout

Parameters

timeout

The timeout in milliseconds

Returns

true A value was received

false The wait timed out, or RR_TIMEOUT_INFINITE for no timeout

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

• /builddir/build/BUILD/robotraconteur-1.2.8-build/RobotRaconteur-1.2.8-Source/RobotRaconteurCore/include/RobotRaconteur/Subscription.h