Template Class PublisherImpl

Inheritance Relationships

public iox::popo::BasePublisher<> (Template Class BasePublisher)
private iox::popo::PublisherInterface< T, mepoo::NoUserHeader > (Template Class PublisherInterface)

template<typename T, typename H = mepoo::NoUserHeader, typename BasePublisherType = BasePublisher<>> class PublisherImpl : public iox::popo::BasePublisher<>, private iox::popo::PublisherInterface<T, mepoo::NoUserHeader>

The PublisherImpl class implements the typed publisher API.

Note

Not intended for public usage! Use the Publisher instead!

Public Functions

explicit PublisherImpl(const capro::ServiceDescription &service, const PublisherOptions &publisherOptions = PublisherOptions())

template<typename ...Args> cxx::expected<Sample<T, H>, AllocationError> loan(Args&&... args) noexcept

loan Get a sample from loaned shared memory and consctruct the data with the given arguments.

The loaned sample is automatically released when it goes out of scope.

Parameters:: args – Arguments used to construct the data.
Returns:: An instance of the sample that resides in shared memory or an error if unable ot allocate memory to loan.

void publish(Sample<T, H> &&sample) noexcept override

publish Publishes the given sample and then releases its loan.

cxx::expected<AllocationError> publishCopyOf(const T &val) noexcept

publishCopyOf Copy the provided value into a loaned shared memory chunk and publish it.

template<typename Callable, typename ...ArgTypes> cxx::expected<AllocationError> publishResultOf(Callable c, ArgTypes... args) noexcept

publishResultOf Loan a sample from memory, execute the provided callable to write to it, then publish it.

Parameters:

c – Callable with the signature void(T*, ArgTypes…) that write’s it’s result to T*.
args – The arguments of the callable.

Returns:

Error if unable to allocate memory to loan.