MessageSource Class Reference

Base class for message sources in the TinyRobotics communication framework. More...

#include <MessageSource.h>

Inheritance diagram for MessageSource:

Classes
struct	MessageHandlerEntry

Public Member Functions
void	subscribe (MessageHandler &handler, MessageOrigin origin=MessageOrigin::Undefined, MessageContent content=MessageContent::Undefined)
	Subscribe a message handler to this source, with optional filtering.
void	unsubscribeAll ()
	Remove all registered message handlers.
void	sendMessage (Message< float > &msg)
	Publish a message to all registered handlers.
void	sendMessage (const Message< Coordinate< float > > &msg)
	Publish a message to all registered handlers.
void	sendMessage (const Message< GPSCoordinate > &msg)
	Publish a message to all registered handlers.
void	sendMessage (const Message< MotionState3D > &msg)
	Overload for MotionState3D messages.

Protected Attributes
std::vector< MessageHandlerEntry >	messageHandlers_

Detailed Description

Base class for message sources in the TinyRobotics communication framework.

MessageSource manages a list of MessageHandler objects and provides methods to add, clear, and forward messages to all registered handlers. This enables a flexible publish/subscribe or observer pattern for distributing messages (such as sensor data, commands, or events) to multiple consumers in a robotics system.

Typical usage:

MessageSource source;
source.subscribe(handler1);
source.subscribe(handler2);
source.sendMessage(msg); // Forwards to all handlers

Extend this class to implement custom message-producing components (e.g., sensors, controllers) that need to broadcast messages to other system parts.

Member Function Documentation

sendMessage() [1/3]

void sendMessage ( const Message< Coordinate< float > > &  msg )

inline

Publish a message to all registered handlers.

Forwards the given message to each handler in the messageHandlers_ list.

Parameters

msg	The message to publish.

sendMessage() [2/3]

void sendMessage ( const Message< GPSCoordinate > &  msg )

inline

Publish a message to all registered handlers.

Forwards the given message to each handler in the messageHandlers_ list.

Parameters

msg	The message to publish.

sendMessage() [3/3]

void sendMessage ( Message< float > &  msg )

inline

Publish a message to all registered handlers.

Forwards the given message to each handler in the messageHandlers_ list.

Parameters

msg	The message to publish.

subscribe()

void subscribe ( MessageHandler &  handler, MessageOrigin  origin = MessageOrigin::Undefined, MessageContent  content = MessageContent::Undefined  )

inline

Subscribe a message handler to this source, with optional filtering.

Registers a MessageHandler to receive messages published by this source. Optionally, you can specify a filter for message origin and content. Only messages matching the filter (or with filter set to Undefined) will be delivered to the handler.

Parameters

handler	Reference to a MessageHandler to add.
origin	(Optional) Only deliver messages with this origin. Use MessageOrigin::Undefined to accept all origins.
content	(Optional) Only deliver messages with this content type. Use MessageContent::Undefined to accept all content types.

Example:

  source.subscribe(handler); // Receives all messages
  source.subscribe(handler, MessageOrigin::RemoteControl); // Only messages
from remote control source.subscribe(handler, MessageOrigin::Undefined,
MessageContent::Throttle); // Only throttle messages

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

• src/TinyRobotics/communication/MessageSource.h