RMW desert 1.0
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Namespaces | Functions
Discovery.h File Reference

Namespace used to provide discovery functionalities. More...

#include <thread>
#include <chrono>
#include "CBorStream.h"
#include "rmw/types.h"
#include "rmw/error_handling.h"
#include "rmw_context_impl_s.h"
#include "demangle.h"
Include dependency graph for Discovery.h:
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Go to the source code of this file.

Namespaces

namespace  Discovery
 Namespace containing discovery functions.
 

Functions

void Discovery::discovery_thread (rmw_context_impl_t *impl)
 Thread handling discovery beacons.
 
rmw_ret_t Discovery::discovery_thread_start (rmw_context_impl_t *impl)
 Initialize the discovery thread.
 
rmw_ret_t Discovery::discovery_thread_stop (rmw_context_impl_t *impl)
 Stop the discovery thread.
 
void Discovery::send_discovery_beacon (cbor::TxStream stream, std::string node_name, std::string node_namespace, int entity_type, rmw_gid_t entity_gid, std::string topic_name, std::string type_name, bool disconnect)
 Send a discovery beacon.
 
void Discovery::send_discovery_request (cbor::TxStream stream)
 Send a discovery request.
 

Detailed Description

Namespace used to provide discovery functionalities.

The middleware layer of a ROS stack must implement functionalities used to inform each node of the network structure of the other nodes connected, with their names and topics. Since this operation is quite resource-consuming and the underwater channel has a limited bandwidth, it is possible to disable it.

Author
Prof. Davide Costa