goby::pb::Application Class Reference

Base class provided for users to generate applications that participate in the Goby publish/subscribe architecture. More...

#include <goby/pb/application.h>

Inheritance diagram for goby::pb::Application:

Protected Types
typedef goby::common::Colors	Colors

Protected Member Functions
template<typename ProtoBufMessage >
void	subscribe (boost::function< void(const ProtoBufMessage &)> handler=boost::function< void(const ProtoBufMessage &)>(), const std::string &group="")
	Subscribe to a message (of any type derived from google::protobuf::Message) More...
template<typename ProtoBufMessage , class C >
void	subscribe (void(C::*mem_func)(const ProtoBufMessage &), C *obj, const std::string &group="")
	Subscribe for a type using a class member function as the handler. More...
common::ZeroMQService &	zeromq_service ()
	Fetchs the newest received message of this type. More...
boost::shared_ptr< StaticProtobufPubSubNodeWrapper >	pubsub_node ()
Constructors / Destructor
	Application (google::protobuf::Message *cfg=0)
virtual	~Application ()
Publish / Subscribe
void	publish (const google::protobuf::Message &msg, const std::string &group="")
Protected Member Functions inherited from goby::common::ZeroMQApplicationBase
	ZeroMQApplicationBase (ZeroMQService *service, google::protobuf::Message *cfg=0)
virtual void	loop ()=0
void	set_loop_period (boost::posix_time::time_duration p)
	set the interval (with a boost::posix_time::time_duration) between calls to loop. Alternative to set_loop_freq(). More...
void	set_loop_period (long milliseconds)
	set the interval in milliseconds between calls to loop. Alternative to set_loop_freq(). More...
void	set_loop_freq (double hertz)
	set the frequency with which loop() is called. Alternative to set_loop_period(). More...
boost::posix_time::time_duration	loop_period ()
	interval between calls to loop()
long	loop_freq ()
	frequency of calls to loop() in Hertz
boost::posix_time::ptime	t_start ()

Additional Inherited Members
Public Member Functions inherited from goby::common::ApplicationBase
	ApplicationBase (google::protobuf::Message *cfg=0)
void	quit ()
	Requests a clean (return 0) exit.
std::string	application_name ()
	name of this application (from AppBaseConfig::app_name). E.g. "garmin_gps_g"
std::string	platform_name ()
	name of this platform (from AppBaseConfig::platform_name). E.g. "AUV-23" or "unicorn"
template<typename App , typename Config >
friend	int::goby::run (int argc, char *argv[], Config *cfg)
const AppBaseConfig &	base_cfg ()

Detailed Description

Base class provided for users to generate applications that participate in the Goby publish/subscribe architecture.

Definition at line 49 of file application.h.

Constructor & Destructor Documentation

goby::pb::Application::Application ( google::protobuf::Message *  cfg = 0 )

protected

Parameters

cfg

pointer to object derived from google::protobuf::Message that defines the configuration for this Application. This constructor will use the Description of cfg to read the command line parameters and configuration file (if given) and use these values to populate cfg. cfg must be a static member of the subclass or global object since member objects will be constructed after the Application constructor is called.

Definition at line 37 of file application.cpp.

Member Function Documentation

template<typename ProtoBufMessage >

void goby::pb::Application::subscribe ( boost::function< void(const ProtoBufMessage &)>  handler = boost::function<void(const ProtoBufMessage&)>(), const std::string &  group = ""  )

inlineprotected

Subscribe to a message (of any type derived from google::protobuf::Message)

Parameters

handler

Function object to be called as soon as possible upon receipt of a message of this type. The signature of handler must match: void handler(const ProtoBufMessage& msg). if handler is omitted, no handler is called and only the newest message buffer is updated upon message receipt (for calls to newest<ProtoBufMessage>())

Definition at line 73 of file application.h.

template<typename ProtoBufMessage , class C >

void goby::pb::Application::subscribe ( void(C::*)(const ProtoBufMessage &)  mem_func, C *  obj, const std::string &  group = ""  )

inlineprotected

Subscribe for a type using a class member function as the handler.

Parameters

mem_func	Member function (method) of class C with a signature of void C::mem_func(const ProtoBufMessage& msg)
obj	pointer to the object whose member function (mem_func) to call

Definition at line 86 of file application.h.

common::ZeroMQService& goby::pb::Application::zeromq_service ( )

inlineprotected

Fetchs the newest received message of this type.

You must subscribe() for this type before using this method

Definition at line 109 of file application.h.

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

• goby/pb/application.h
• src/pb/application.cpp