niryo_libraries.rosbridge_library.internal.publishers.MultiPublisher

class documentation

class MultiPublisher:

Constructor: MultiPublisher(topic, msg_type, latched_client_id, queue_size)

Keeps track of the clients that are using a particular publisher.

Provides an API to publish messages and register clients that are using this publisher

Method	`__init__`	Register a publisher on the specified topic.
Method	`has_clients`	Return true if there are clients to this publisher.
Method	`publish`	Publish a message using this publisher.
Method	`register_client`	Register the specified client as a client of this publisher.
Method	`unregister`	Unregisters the publisher and clears the clients
Method	`unregister_client`	Unregister the specified client from this publisher.
Method	`verify_type`	Verify that the publisher publishes messages of the specified type.
Instance Variable	`clients`	Undocumented
Instance Variable	`latched_client_id`	Undocumented
Instance Variable	`listener`	Undocumented
Instance Variable	`msg_class`	Undocumented
Instance Variable	`publisher`	Undocumented
Instance Variable	`topic`	Undocumented

def __init__(self, topic, msg_type=None, latched_client_id=None, queue_size=100): ¶

Keyword arguments: topic -- the name of the topic to register the publisher to msg_type -- (optional) the type to register the publisher as. If not provided, an attempt will be made to infer the topic type latch -- (optional) if a client requested this publisher to be latched,

provide the client_id of that client here

Throws: TopicNotEstablishedException -- if no msg_type was specified by the caller and the topic is not yet established, so a topic type cannot be inferred TypeConflictException -- if the msg_type was specified by the caller and the topic is established, and the established type is different to the user-specified msg_type

def has_clients(self): ¶

Return true if there are clients to this publisher.

def publish(self, msg): ¶

Publish a message using this publisher.

Keyword arguments: msg -- the dict (json) message to publish

Throws: Exception -- propagates exceptions from message conversion if the provided msg does not properly conform to the message type of this publisher

def register_client(self, client_id): ¶

Keyword arguments: client_id -- the ID of the client using the publisher

def unregister(self): ¶

Unregisters the publisher and clears the clients

def unregister_client(self, client_id): ¶

Unregister the specified client from this publisher.

If the specified client_id is not a client of this publisher, nothing happens.

Keyword arguments: client_id -- the ID of the client to remove

def verify_type(self, msg_type): ¶

Verify that the publisher publishes messages of the specified type.

Keyword arguments: msg_type -- the type to check this publisher against

Throws: Exception -- if ros_loader cannot load the specified msg type TypeConflictException -- if the msg_type is different than the type of this publisher

clients: dict = ¶

Undocumented

latched_client_id = ¶

Undocumented

listener = ¶

Undocumented

msg_class = ¶

Undocumented

publisher = ¶

Undocumented

topic = ¶

Undocumented