DrakeLcmBase Class Reference

Detailed Description

A concrete subclass of DrakeInterface that throws for all functions except the constructor and destructor.

This is useful for subclasses that only wish to implement a subset of the DrakeLcmInterface features.

#include <drake/lcm/drake_lcm_base.h>

Public Member Functions
	~DrakeLcmBase () override
std::string	get_lcm_url () const override
	Returns a URL describing the transport of this LCM interface.
void	Publish (const std::string &channel, const void *data, int data_size, std::optional< double > time_sec) override
	Most users should use the drake::lcm::Publish() free function, instead of this interface method.
std::shared_ptr< DrakeSubscriptionInterface >	Subscribe (const std::string &channel, HandlerFunction) override
	Most users should use the drake::lcm::Subscribe() free function or the drake::lcm::Subscriber wrapper class, instead of this interface method.
std::shared_ptr< DrakeSubscriptionInterface >	SubscribeMultichannel (std::string_view regex, MultichannelHandlerFunction) override
	Subscribes to all channels whose name matches the given regular expression.
std::shared_ptr< DrakeSubscriptionInterface >	SubscribeAllChannels (MultichannelHandlerFunction) override
	Subscribe to all channels; this is useful for logging and redirecting LCM traffic without regard to its content.
int	HandleSubscriptions (int timeout_millis) override
	Invokes the HandlerFunction callbacks for all subscriptions' pending messages.
Does not allow copy, move, or assignment
	DrakeLcmBase (const DrakeLcmBase &)=delete
DrakeLcmBase &	operator= (const DrakeLcmBase &)=delete
	DrakeLcmBase (DrakeLcmBase &&)=delete
DrakeLcmBase &	operator= (DrakeLcmBase &&)=delete
Public Member Functions inherited from DrakeLcmInterface
virtual	~DrakeLcmInterface ()
	DrakeLcmInterface (const DrakeLcmInterface &)=delete
DrakeLcmInterface &	operator= (const DrakeLcmInterface &)=delete
	DrakeLcmInterface (DrakeLcmInterface &&)=delete
DrakeLcmInterface &	operator= (DrakeLcmInterface &&)=delete

Protected Member Functions
	DrakeLcmBase ()
Protected Member Functions inherited from DrakeLcmInterface
	DrakeLcmInterface ()

Additional Inherited Members
Public Types inherited from DrakeLcmInterface
using	HandlerFunction = std::function<void(const void*, int)>
	A callback used by DrakeLcmInterface::Subscribe(), with arguments:
using	MultichannelHandlerFunction
	A callback used by DrakeLcmInterface::SubscribeMultipleChannels (which therefore needs the receiving channel passed in).

Constructor & Destructor Documentation

DrakeLcmBase() [1/3]

DrakeLcmBase ( const DrakeLcmBase & )

delete

DrakeLcmBase() [2/3]

DrakeLcmBase ( DrakeLcmBase && )

delete

~DrakeLcmBase()

~DrakeLcmBase ( )

override

DrakeLcmBase() [3/3]

DrakeLcmBase ( )

protected

Member Function Documentation

get_lcm_url()

std::string get_lcm_url ( ) const

overridevirtual

Returns a URL describing the transport of this LCM interface.

When the URL refers to a transport offered by LCM itself (e.g., memq or udpm), then this function must return the conventional URL spelling. If the implementation of DrakeLcmInterface is using a non-standard back end, the result implementation-defined.

In either case, it is always formatted using URI syntax rules per the RFC(s).

Implements DrakeLcmInterface.

HandleSubscriptions()

int HandleSubscriptions ( int timeout_millis )

overridevirtual

Invokes the HandlerFunction callbacks for all subscriptions' pending messages.

If timeout_millis is >0, blocks for up to that long until at least one message is handled.

Returns

the number of messages handled, or 0 on timeout.

Exceptions

std::exception

when a subscribed handler throws.

Implements DrakeLcmInterface.

operator=() [1/2]

DrakeLcmBase & operator= ( const DrakeLcmBase & )

delete

operator=() [2/2]

DrakeLcmBase & operator= ( DrakeLcmBase && )

delete

Publish()

void Publish ( const std::string & channel, const void * data, int data_size, std::optional< double > time_sec )

overridevirtual

Most users should use the drake::lcm::Publish() free function, instead of this interface method.

Publishes an LCM message on channel channel.

Parameters

channel	The channel on which to publish the message. Must not be the empty string.
data	A buffer containing the serialized bytes of the message to publish.
data_size	The length of @data in bytes.
time_sec	Time in seconds when the publish event occurred. If unknown, use nullopt or a default-constructed optional.

Implements DrakeLcmInterface.

Subscribe()

std::shared_ptr< DrakeSubscriptionInterface > Subscribe ( const std::string & channel, HandlerFunction  )

overridevirtual

Most users should use the drake::lcm::Subscribe() free function or the drake::lcm::Subscriber wrapper class, instead of this interface method.

Subscribes to an LCM channel without automatic message decoding. The handler will be invoked when a message arrives on channel channel.

The handler should never throw an exception, because it is indirectly called from C functions.

Parameters

channel

The channel to subscribe to. Must not be the empty string. To use a regex, see SubscribeMultichannel().

Returns

the object used to manage the subscription if that is supported, or else nullptr if not supported. The unsubscribe-on-delete default is false. Refer to the DrakeSubscriptionInterface class overview for details.

Implements DrakeLcmInterface.

SubscribeAllChannels()

std::shared_ptr< DrakeSubscriptionInterface > SubscribeAllChannels ( MultichannelHandlerFunction )

overridevirtual

Subscribe to all channels; this is useful for logging and redirecting LCM traffic without regard to its content.

Implements DrakeLcmInterface.

SubscribeMultichannel()

std::shared_ptr< DrakeSubscriptionInterface > SubscribeMultichannel ( std::string_view regex, MultichannelHandlerFunction  )

overridevirtual

Subscribes to all channels whose name matches the given regular expression.

The regex is treated as an anchored "match" not a "search", i.e., it must match the entire channel name. The specific regular expression grammar is left unspecified, so it's best to use only patterns that have identical semantics in all grammars, e.g., ".*".

Implements DrakeLcmInterface.

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

• drake/lcm/drake_lcm_base.h