Per-object device instance. More...

#include <uORBDeviceNode.hpp>

Inheritance diagram for uORB::DeviceNode:

Collaboration diagram for uORB::DeviceNode:

Classes
struct	SubscriberData

struct	UpdateIntervalData

Public Member Functions
	DeviceNode (const struct orb_metadata meta, const uint8_t instance, const char path, uint8_t priority, uint8_t queue_size=1)

virtual	~DeviceNode ()

	DeviceNode (const DeviceNode &)=delete

DeviceNode &	operator= (const DeviceNode &)=delete

	DeviceNode (DeviceNode &&)=delete

DeviceNode &	operator= (DeviceNode &&)=delete

int	open (cdev::file_t *filp) override
	Method to create a subscriber instance and return the struct pointing to the subscriber as a file pointer. More...

int	close (cdev::file_t *filp) override
	Method to close a subscriber for this topic. More...

ssize_t	read (cdev::file_t filp, char buffer, size_t buflen) override
	reads data from a subscriber node to the buffer provided. More...

ssize_t	write (cdev::file_t filp, const char buffer, size_t buflen) override
	writes the published data to the internal buffer to be read by subscribers later. More...

int	ioctl (cdev::file_t *filp, int cmd, unsigned long arg) override
	IOCTL control for the subscriber. More...

void	add_internal_subscriber ()
	Add the subscriber to the node's list of subscriber. More...

void	remove_internal_subscriber ()
	Removes the subscriber from the list. More...

bool	is_advertised () const
	Return true if this topic has been advertised. More...

void	mark_as_advertised ()

int	update_queue_size (unsigned int queue_size)
	Try to change the size of the queue. More...

bool	print_statistics (bool reset)
	Print statistics (nr of lost messages) More...

uint8_t	get_queue_size () const

int8_t	subscriber_count () const

uint32_t	lost_message_count () const

unsigned	published_message_count () const

const orb_metadata *	get_meta () const

const char *	get_name () const

uint8_t	get_instance () const

int	get_priority () const

void	set_priority (uint8_t priority)

bool	copy (void *dst, unsigned &generation)
	Copies data and the corresponding generation from a node to the buffer provided. More...

uint64_t	copy_and_get_timestamp (void *dst, unsigned &generation)
	Copies data and the corresponding generation from a node to the buffer provided. More...

bool	register_callback (SubscriptionCallback *callback_sub)

void	unregister_callback (SubscriptionCallback *callback_sub)

Public Member Functions inherited from cdev::CDev
	CDev (const char *devname)
	Constructor. More...

	CDev (const CDev &)=delete

CDev &	operator= (const CDev &)=delete

	CDev (CDev &&)=delete

CDev &	operator= (CDev &&)=delete

virtual	~CDev ()

virtual int	init ()

virtual off_t	seek (file_t *filep, off_t offset, int whence)
	Perform a logical seek operation on the device. More...

virtual int	poll (file_t filep, px4_pollfd_struct_t fds, bool setup)
	Perform a poll setup/teardown operation. More...

const char *	get_devname () const
	Get the device name. More...

Public Member Functions inherited from ListNode< uORB::DeviceNode *>
void	setSibling (uORB::DeviceNode * sibling)

const uORB::DeviceNode *	getSibling () const

Static Public Member Functions
static ssize_t	publish (const orb_metadata meta, orb_advert_t handle, const void data)
	Method to publish a data to this node. More...

static int	unadvertise (orb_advert_t handle)

Protected Member Functions
pollevent_t	poll_state (cdev::file_t *filp) override
	Check the current state of the device for poll events from the perspective of the file. More...

void	poll_notify_one (px4_pollfd_struct_t *fds, pollevent_t events) override
	Internal implementation of poll_notify. More...

Protected Member Functions inherited from cdev::CDev
virtual void	poll_notify (pollevent_t events)
	Report new poll events. More...

virtual int	open_first (file_t *filep)
	Notification of the first open. More...

virtual int	close_last (file_t *filep)
	Notification of the last close. More...

virtual int	register_class_devname (const char *class_devname)
	Register a class device name, automatically adding device class instance suffix if need be. More...

virtual int	unregister_class_devname (const char *class_devname, unsigned class_instance)
	Register a class device name, automatically adding device class instance suffix if need be. More...

void	lock ()
	Take the driver lock. More...

void	unlock ()
	Release the driver lock. More...

int	unregister_driver_and_memory ()
	First, unregisters the driver. More...

Private Member Functions
bool	copy_locked (void *dst, unsigned &generation)
	Copies data and the corresponding generation from a node to the buffer provided. More...

bool	appears_updated (SubscriberData *sd)
	Check whether a topic appears updated to a subscriber. More...

Static Private Member Functions
static SubscriberData *	filp_to_sd (cdev::file_t *filp)

Private Attributes
const orb_metadata *	_meta
	object metadata information More...

const uint8_t	_instance
	orb multi instance identifier More...

uint8_t *	_data {nullptr}
	allocated object buffer More...

hrt_abstime	_last_update {0}
	time the object was last updated More...

px4::atomic< unsigned >	_generation {0}
	object generation count More...

List< uORB::SubscriptionCallback * >	_callbacks

uint8_t	_priority
	priority of the topic More...

bool	_advertised {false}
	has ever been advertised (not necessarily published data yet) More...

uint8_t	_queue_size
	maximum number of elements in the queue More...

int8_t	_subscriber_count {0}

uint32_t	_lost_messages = 0
	nr of lost messages for all subscribers. More...

Additional Inherited Members
Protected Attributes inherited from cdev::CDev
px4_sem_t	_lock
	lock to protect access to all class members (also for derived classes) More...

Protected Attributes inherited from ListNode< uORB::DeviceNode *>
uORB::DeviceNode *	_list_node_sibling

Static Protected Attributes inherited from cdev::CDev
static const px4_file_operations_t	fops = {}
	Pointer to the default cdev file operations table; useful for registering clone devices etc. More...

Detailed Description

Per-object device instance.

Definition at line 55 of file uORBDeviceNode.hpp.

Constructor & Destructor Documentation

◆ DeviceNode() [1/3]

uORB::DeviceNode::DeviceNode	(	const struct orb_metadata *	meta,
		const uint8_t	instance,
		const char *	path,
		uint8_t	priority,
		uint8_t	queue_size = `1`
	)

Definition at line 57 of file uORBDeviceNode.cpp.

◆ ~DeviceNode()

uORB::DeviceNode::~DeviceNode ( )

virtual

Definition at line 67 of file uORBDeviceNode.cpp.

References _data.

◆ DeviceNode() [2/3]

uORB::DeviceNode::DeviceNode ( const DeviceNode & )

delete

◆ DeviceNode() [3/3]

uORB::DeviceNode::DeviceNode ( DeviceNode && )

delete

Member Function Documentation

◆ add_internal_subscriber()

void uORB::DeviceNode::add_internal_subscriber ( )

Add the subscriber to the node's list of subscriber.

If there is remote proxy to which this subscription needs to be sent, it will done via uORBCommunicator::IChannel interface.

Parameters

sd	the subscriber to be added.

Definition at line 551 of file uORBDeviceNode.cpp.

References _meta, _subscriber_count, uORBCommunicator::IChannel::add_subscription(), uORB::Manager::get_instance(), cdev::CDev::lock(), orb_metadata::o_name, and cdev::CDev::unlock().

Referenced by open(), and uORB::Subscription::subscribe().

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◆ appears_updated()

bool uORB::DeviceNode::appears_updated ( SubscriberData * sd )

private

Check whether a topic appears updated to a subscriber.

Lock must already be held when calling this.

Parameters

sd	The subscriber for whom to check.

Returns: True if the topic should appear updated to the subscriber

Definition at line 512 of file uORBDeviceNode.cpp.

References _data, uORB::DeviceNode::SubscriberData::generation, hrt_elapsed_time(), uORB::DeviceNode::UpdateIntervalData::interval, uORB::DeviceNode::UpdateIntervalData::last_update, published_message_count(), and uORB::DeviceNode::SubscriberData::update_interval.

Referenced by ioctl(), poll_notify_one(), and poll_state().

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◆ close()

int uORB::DeviceNode::close ( cdev::file_t * filp )

overridevirtual

Method to close a subscriber for this topic.

Reimplemented from cdev::CDev.

Definition at line 125 of file uORBDeviceNode.cpp.

References cdev::file_t::f_oflags, filp_to_sd(), and remove_internal_subscriber().

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◆ copy()

bool uORB::DeviceNode::copy	(	void *	dst,
		unsigned &	generation
	)

Copies data and the corresponding generation from a node to the buffer provided.

Parameters

dst	The buffer into which the data is copied.
generation	The generation that was copied.

Returns: bool Returns true if the data was copied.

Definition at line 175 of file uORBDeviceNode.cpp.

References ATOMIC_ENTER, ATOMIC_LEAVE, and copy_locked().

Referenced by uORB::Subscription::copy(), and set_priority().

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◆ copy_and_get_timestamp()

uint64_t uORB::DeviceNode::copy_and_get_timestamp	(	void *	dst,
		unsigned &	generation
	)

Copies data and the corresponding generation from a node to the buffer provided.

Parameters

dst	The buffer into which the data is copied. If topic was not updated since last check it will return false but still copy the data.
generation	The generation that was copied.

Returns: uint64_t Returns the timestamp of the copied data.

Definition at line 187 of file uORBDeviceNode.cpp.

References _last_update, ATOMIC_ENTER, ATOMIC_LEAVE, copy_locked(), and hrt_abstime.

Referenced by set_priority(), and uORB::Subscription::update().

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◆ copy_locked()

bool uORB::DeviceNode::copy_locked	(	void *	dst,
		unsigned &	generation
	)

private

Copies data and the corresponding generation from a node to the buffer provided.

Caller handles locking.

Parameters

dst	The buffer into which the data is copied.
generation	The generation that was copied.

Returns: bool Returns true if the data was copied.

Definition at line 142 of file uORBDeviceNode.cpp.

References _data, _generation, _lost_messages, _meta, _queue_size, and orb_metadata::o_size.

Referenced by copy(), copy_and_get_timestamp(), read(), and set_priority().

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◆ filp_to_sd()

uORB::DeviceNode::SubscriberData * uORB::DeviceNode::filp_to_sd ( cdev::file_t * filp )

inlinestaticprivate

Definition at line 45 of file uORBDeviceNode.cpp.

References cdev::file_t::f_priv.

Referenced by close(), ioctl(), poll_notify_one(), poll_state(), and read().

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◆ get_instance()

uint8_t uORB::DeviceNode::get_instance ( ) const

inline

Definition at line 197 of file uORBDeviceNode.hpp.

References _instance.

Referenced by uORB::DeviceMaster::showTop().

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◆ get_meta()

const orb_metadata* uORB::DeviceNode::get_meta ( ) const

inline

Definition at line 193 of file uORBDeviceNode.hpp.

References _meta.

Referenced by uORB::DeviceMaster::addNewDeviceNodes(), and uORB::DeviceMaster::showTop().

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◆ get_name()

const char* uORB::DeviceNode::get_name ( ) const

inline

Definition at line 195 of file uORBDeviceNode.hpp.

References _meta, and orb_metadata::o_name.

◆ get_priority()

int uORB::DeviceNode::get_priority ( ) const

inline

Definition at line 199 of file uORBDeviceNode.hpp.

References _priority.

Referenced by ioctl().

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◆ get_queue_size()

uint8_t uORB::DeviceNode::get_queue_size ( ) const

inline

Definition at line 185 of file uORBDeviceNode.hpp.

References _queue_size.

Referenced by uORB::DeviceMaster::showTop(), and uORB::Subscription::subscribe().

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◆ ioctl()

int uORB::DeviceNode::ioctl	(	cdev::file_t *	filp,
		int	cmd,
		unsigned long	arg
	)

overridevirtual

IOCTL control for the subscriber.

Reimplemented from cdev::CDev.

Definition at line 300 of file uORBDeviceNode.cpp.

References _advertised, _last_update, appears_updated(), ATOMIC_ENTER, ATOMIC_LEAVE, filp_to_sd(), get_priority(), hrt_abstime, uORB::DeviceNode::UpdateIntervalData::interval, cdev::CDev::lock(), OK, ORBIOCGADVERTISER, ORBIOCGETINTERVAL, ORBIOCGPRIORITY, ORBIOCISADVERTISED, ORBIOCLASTUPDATE, ORBIOCSETINTERVAL, ORBIOCSETQUEUESIZE, ORBIOCUPDATED, cdev::CDev::unlock(), uORB::DeviceNode::SubscriberData::update_interval, and update_queue_size().

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◆ is_advertised()

bool uORB::DeviceNode::is_advertised ( ) const

inline

Return true if this topic has been advertised.

This is used in the case of multi_pub/sub to check if it's valid to advertise and publish to this node or if another node should be tried.

Definition at line 165 of file uORBDeviceNode.hpp.

References _advertised.

Referenced by uORB::DeviceMaster::advertise(), uORB::Subscription::advertised(), and uORB::Manager::orb_exists().

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◆ lost_message_count()

uint32_t uORB::DeviceNode::lost_message_count ( ) const

inline

Definition at line 189 of file uORBDeviceNode.hpp.

References _lost_messages.

Referenced by uORB::DeviceMaster::addNewDeviceNodes(), and uORB::DeviceMaster::showTop().

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◆ mark_as_advertised()

void uORB::DeviceNode::mark_as_advertised ( )

inline

Definition at line 167 of file uORBDeviceNode.hpp.

References _advertised, print_statistics(), lps22hb::reset(), and update_queue_size().

Referenced by uORB::DeviceMaster::advertise(), and open().

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◆ open()

int uORB::DeviceNode::open ( cdev::file_t * filp )

overridevirtual

Method to create a subscriber instance and return the struct pointing to the subscriber as a file pointer.

Reimplemented from cdev::CDev.

Definition at line 75 of file uORBDeviceNode.cpp.

References _queue_size, add_internal_subscriber(), cdev::file_t::f_oflags, cdev::file_t::f_priv, uORB::DeviceNode::SubscriberData::generation, cdev::CDev::lock(), mark_as_advertised(), published_message_count(), and cdev::CDev::unlock().

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◆ operator=() [1/2]

DeviceNode& uORB::DeviceNode::operator= ( const DeviceNode & )

delete

◆ operator=() [2/2]

DeviceNode& uORB::DeviceNode::operator= ( DeviceNode && )

delete

◆ poll_notify_one()

void uORB::DeviceNode::poll_notify_one	(	px4_pollfd_struct_t *	fds,
		pollevent_t	events
	)

overrideprotectedvirtual

Internal implementation of poll_notify.

Parameters

fds	A poll waiter to notify.
events	The event(s) to send to the waiter.

Reimplemented from cdev::CDev.

Definition at line 499 of file uORBDeviceNode.cpp.

References appears_updated(), and filp_to_sd().

Referenced by set_priority().

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◆ poll_state()

pollevent_t uORB::DeviceNode::poll_state ( cdev::file_t * filep )

overrideprotectedvirtual

Check the current state of the device for poll events from the perspective of the file.

This function is called by the default poll() implementation when a poll is set up to determine whether the poll should return immediately.

The default implementation returns no events.

Parameters

filep The file that's interested.

Returns: The current set of poll events.

Reimplemented from cdev::CDev.

Definition at line 484 of file uORBDeviceNode.cpp.

References appears_updated(), and filp_to_sd().

Referenced by set_priority().

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◆ print_statistics()

bool uORB::DeviceNode::print_statistics ( bool reset )

Print statistics (nr of lost messages)

Parameters

reset if true, reset statistics afterwards

Returns: true if printed something, false otherwise (if no lost messages)

Definition at line 531 of file uORBDeviceNode.cpp.

References _lost_messages, _meta, cdev::CDev::lock(), orb_metadata::o_name, and cdev::CDev::unlock().

Referenced by mark_as_advertised(), and uORB::DeviceMaster::printStatistics().

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◆ publish()

ssize_t uORB::DeviceNode::publish	(	const orb_metadata *	meta,
		orb_advert_t	handle,
		const void *	data
	)

static

Method to publish a data to this node.

Definition at line 386 of file uORBDeviceNode.cpp.

References _meta, uORB::Manager::get_instance(), orb_metadata::o_name, orb_metadata::o_size, uORBCommunicator::IChannel::send_message(), and write().

Referenced by uORB::Manager::orb_publish().

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◆ published_message_count()

unsigned uORB::DeviceNode::published_message_count ( ) const

inline

Definition at line 191 of file uORBDeviceNode.hpp.

References _generation.

Referenced by uORB::DeviceMaster::addNewDeviceNodes(), appears_updated(), open(), uORB::DeviceMaster::showTop(), uORB::Subscription::subscribe(), and uORB::Subscription::updated().

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◆ read()

ssize_t uORB::DeviceNode::read	(	cdev::file_t *	filp,
		char *	buffer,
		size_t	buflen
	)

overridevirtual

reads data from a subscriber node to the buffer provided.

Parameters

filp	The subscriber from which the data needs to be read from.
buffer	The buffer into which the data is read into.
buflen	the length of the buffer

Returns: ssize_t the number of bytes read.

Reimplemented from cdev::CDev.

Definition at line 200 of file uORBDeviceNode.cpp.

References _data, _last_update, _meta, ATOMIC_ENTER, ATOMIC_LEAVE, copy_locked(), filp_to_sd(), uORB::DeviceNode::SubscriberData::generation, uORB::DeviceNode::UpdateIntervalData::last_update, orb_metadata::o_size, and uORB::DeviceNode::SubscriberData::update_interval.

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◆ register_callback()

bool uORB::DeviceNode::register_callback ( uORB::SubscriptionCallback * callback_sub )

Definition at line 651 of file uORBDeviceNode.cpp.

References _callbacks, ATOMIC_ENTER, and ATOMIC_LEAVE.

Referenced by uORB::SubscriptionCallback::registerCallback(), and set_priority().

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◆ remove_internal_subscriber()

void uORB::DeviceNode::remove_internal_subscriber ( )

Removes the subscriber from the list.

Also notifies the remote if there a uORBCommunicator::IChannel instance.

Parameters

sd	the Subscriber to be removed.

Definition at line 571 of file uORBDeviceNode.cpp.

References _data, _meta, _subscriber_count, data, uORB::Manager::get_instance(), cdev::CDev::lock(), orb_metadata::o_name, orb_metadata::o_size, uORBCommunicator::IChannel::remove_subscription(), uORBCommunicator::IChannel::send_message(), cdev::CDev::unlock(), and write().

Referenced by close(), and uORB::Subscription::unsubscribe().

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◆ set_priority()

void uORB::DeviceNode::set_priority ( uint8_t priority )

inline

Definition at line 200 of file uORBDeviceNode.hpp.

References _priority, copy(), copy_and_get_timestamp(), copy_locked(), poll_notify_one(), poll_state(), register_callback(), and unregister_callback().

Referenced by uORB::DeviceMaster::advertise().

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◆ subscriber_count()

int8_t uORB::DeviceNode::subscriber_count ( ) const

inline

Definition at line 187 of file uORBDeviceNode.hpp.

References _subscriber_count.

Referenced by uORB::DeviceMaster::showTop().

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◆ unadvertise()

int uORB::DeviceNode::unadvertise ( orb_advert_t handle )

static

Definition at line 434 of file uORBDeviceNode.cpp.

References _advertised, uORB::Manager::get_instance(), orb_metadata::o_name, and uORBCommunicator::IChannel::topic_advertised().

Referenced by uORB::Manager::orb_unadvertise().

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◆ unregister_callback()

void uORB::DeviceNode::unregister_callback ( uORB::SubscriptionCallback * callback_sub )

Definition at line 673 of file uORBDeviceNode.cpp.

References _callbacks, ATOMIC_ENTER, and ATOMIC_LEAVE.

Referenced by set_priority(), and uORB::SubscriptionCallback::unregisterCallback().

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◆ update_queue_size()

int uORB::DeviceNode::update_queue_size ( unsigned int queue_size )

Try to change the size of the queue.

This can only be done as long as nobody published yet. This is the case, for example when orb_subscribe was called before an orb_advertise. The queue size can only be increased.

Parameters

queue_size new size of the queue

Returns: PX4_OK if queue size successfully set

Definition at line 635 of file uORBDeviceNode.cpp.

References _data, and _queue_size.

Referenced by ioctl(), and mark_as_advertised().

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◆ write()

ssize_t uORB::DeviceNode::write	(	cdev::file_t *	filp,
		const char *	buffer,
		size_t	buflen
	)

overridevirtual

writes the published data to the internal buffer to be read by subscribers later.

Parameters

filp	the subscriber; this is not used.
buffer	The buffer for the input data
buflen	the length of the buffer.

Returns: ssize_t The number of bytes that are written

Reimplemented from cdev::CDev.

Definition at line 232 of file uORBDeviceNode.cpp.

References _callbacks, _data, _generation, _last_update, _meta, _queue_size, ATOMIC_ENTER, ATOMIC_LEAVE, hrt_absolute_time(), cdev::CDev::lock(), orb_metadata::o_size, cdev::CDev::poll_notify(), and cdev::CDev::unlock().

Referenced by publish(), and remove_internal_subscriber().

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Member Data Documentation

◆ _advertised

bool uORB::DeviceNode::_advertised {false}

private

has ever been advertised (not necessarily published data yet)

Definition at line 276 of file uORBDeviceNode.hpp.

Referenced by ioctl(), is_advertised(), mark_as_advertised(), and unadvertise().

◆ _callbacks

List<uORB::SubscriptionCallback *> uORB::DeviceNode::_callbacks

private

Definition at line 274 of file uORBDeviceNode.hpp.

Referenced by register_callback(), unregister_callback(), and write().

◆ _data

uint8_t* uORB::DeviceNode::_data {nullptr}

private

allocated object buffer

Definition at line 271 of file uORBDeviceNode.hpp.

Referenced by appears_updated(), copy_locked(), read(), remove_internal_subscriber(), update_queue_size(), write(), and ~DeviceNode().

◆ _generation

px4::atomic<unsigned> uORB::DeviceNode::_generation {0}

private

object generation count

Definition at line 273 of file uORBDeviceNode.hpp.

Referenced by copy_locked(), published_message_count(), and write().

◆ _instance

const uint8_t uORB::DeviceNode::_instance

private

orb multi instance identifier

Definition at line 270 of file uORBDeviceNode.hpp.

Referenced by get_instance().

◆ _last_update

hrt_abstime uORB::DeviceNode::_last_update {0}

private

time the object was last updated

Definition at line 272 of file uORBDeviceNode.hpp.

Referenced by copy_and_get_timestamp(), ioctl(), read(), and write().

◆ _lost_messages

uint32_t uORB::DeviceNode::_lost_messages = 0

private

nr of lost messages for all subscribers.

If two subscribers lose the same message, it is counted as two.

Definition at line 281 of file uORBDeviceNode.hpp.

Referenced by copy_locked(), lost_message_count(), and print_statistics().

◆ _meta

const orb_metadata* uORB::DeviceNode::_meta

private

object metadata information

Definition at line 269 of file uORBDeviceNode.hpp.

Referenced by add_internal_subscriber(), copy_locked(), get_meta(), get_name(), print_statistics(), publish(), read(), remove_internal_subscriber(), and write().

◆ _priority

uint8_t uORB::DeviceNode::_priority

private

priority of the topic

Definition at line 275 of file uORBDeviceNode.hpp.

Referenced by get_priority(), and set_priority().

◆ _queue_size

uint8_t uORB::DeviceNode::_queue_size

private

maximum number of elements in the queue

Definition at line 277 of file uORBDeviceNode.hpp.

Referenced by copy_locked(), get_queue_size(), open(), update_queue_size(), and write().

◆ _subscriber_count

int8_t uORB::DeviceNode::_subscriber_count {0}

private

Definition at line 278 of file uORBDeviceNode.hpp.

Referenced by add_internal_subscriber(), remove_internal_subscriber(), and subscriber_count().

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

src/modules/uORB/uORBDeviceNode.hpp
src/modules/uORB/uORBDeviceNode.cpp

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DeviceNode() [1/3]

◆ ~DeviceNode()

◆ DeviceNode() [2/3]

◆ DeviceNode() [3/3]

Member Function Documentation

◆ add_internal_subscriber()

◆ appears_updated()

◆ close()

◆ copy()

◆ copy_and_get_timestamp()

◆ copy_locked()

◆ filp_to_sd()

◆ get_instance()

◆ get_meta()

◆ get_name()

◆ get_priority()

◆ get_queue_size()

◆ ioctl()

◆ is_advertised()

◆ lost_message_count()

◆ mark_as_advertised()

◆ open()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ poll_notify_one()

◆ poll_state()

◆ print_statistics()

◆ publish()

◆ published_message_count()

◆ read()

◆ register_callback()

◆ remove_internal_subscriber()

◆ set_priority()

◆ subscriber_count()

◆ unadvertise()

◆ unregister_callback()

◆ update_queue_size()

◆ write()

Member Data Documentation

◆ _advertised

◆ _callbacks

◆ _data

◆ _generation

◆ _instance

◆ _last_update

◆ _lost_messages

◆ _meta

◆ _priority

◆ _queue_size

◆ _subscriber_count