#include <Client.h>
Inheritance diagram for mvsim::Client:
Collaboration diagram for mvsim::Client:
Classes | |
| struct | InfoPerNode |
| struct | InfoPerTopic |
Public Member Functions | |
| Client (const std::string &nodeName) | |
| const mrpt::system::CTimeLogger & | profiler () const |
| void | enable_profiler (bool enable) |
Friends | |
| struct | internal::InfoPerService |
| struct | internal::InfoPerSubscribedTopic |
Main mvsim client communication API | |
| using | topic_callback_t = std::function< void(const zmq::message_t &)> |
| void | setName (const std::string &nodeName) |
| const std::string & | serverHostAddress () const |
| void | serverHostAddress (const std::string &serverIpOrAddressName) |
| void | connect () |
| bool | connected () const |
| void | shutdown () noexcept |
| template<typename T > | |
| void | advertiseTopic (const std::string &topicName) |
| void | publishTopic (const std::string &topicName, const google::protobuf::Message &msg) |
| template<typename MSG_T > | |
| void | subscribeTopic (const std::string &topicName, const std::function< void(const MSG_T &)> &callback) |
| template<typename INPUT_MSG_T , typename OUTPUT_MSG_T > | |
| void | advertiseService (const std::string &serviceName, const std::function< OUTPUT_MSG_T(const INPUT_MSG_T &)> &callback) |
| template<typename INPUT_MSG_T , typename OUTPUT_MSG_T > | |
| void | callService (const std::string &serviceName, const INPUT_MSG_T &input, OUTPUT_MSG_T &output) |
| std::string | callService (const std::string &serviceName, const std::string &inputSerializedMsg) |
| Overload for python wrapper. | |
| void | subscribeTopic (const std::string &topicName, const std::function< void(const std::string &, const std::vector< uint8_t > &)> &callback) |
| Overload for python wrapper (callback accepts bytes-string) | |
| std::vector< InfoPerNode > | requestListOfNodes () |
| std::vector< InfoPerTopic > | requestListOfTopics () |
| void | subscribe_topic_raw (const std::string &topicName, const topic_callback_t &callback) |
Detailed Description
This is the connection of any user program with the MVSIM server, so it can advertise and subscribe to topics and use remote services.
Users should instance a class mvsim::Client (C++) or mvsim.Client (Python) to communicate with the simulation running in mvsim::World or any other module.
Usage:
- Instantiate a Client object.
- Call connect(). It will return immediately.
- The client will be working on the background as long as the object is not destroyed.
Messages and topics are described as Protobuf messages, and communications are done via ZMQ sockets.
Member Function Documentation
◆ connect()
| void mvsim::Client::connect | ( | ) |
Connects to the server in a parallel thread. Default server address is localhost, can be changed with serverHostAddress().
◆ connected()
| bool mvsim::Client::connected | ( | ) | const |
Whether the client is correctly connected to the server.
◆ shutdown()
|
noexcept |
Shutdowns the communication thread. Blocks until the thread is stopped. There is no need to manually call this method, it is called upon destruction.
The documentation for this class was generated from the following file:
- /home/docs/checkouts/readthedocs.org/user_builds/mvsimulator/checkouts/stable/modules/comms/include/mvsim/Comms/Client.h
