module_lntopics

This robotkernel-5 module publishes and subscribes process data via links_and_nodes.

Configuration

This is an example config.

  name: my_topics
  so_file: libmodule_lntopics.so
  config: !include my_topics.rkc
  power_up:true

Config can either be left empty (enters introspection mode) or it should look like this example. You have to add a list entry for every publisher/subscriber you need.

  # Configuration file for module_lntopics.
  #
  # vi: set ft=yaml nowrap:

  #########################################################
  # logging settings
  
  # Standard robotkernel module local loglevel.
  #loglevel: verbose

  #########################################################
  # special mode settings
  
  # Disable introspection mode if no publishers or 
  # subscribers are specified
  #no_introspection: false
  
  #########################################################
  # topic settings
  publisher: 
  - # Process data device name (must not be empty).
    pd_device: ha.ha.inputs.pd
    
    # Message definition name to override generated md-name
    #md_name: my_md_name
    
    # Topic name to be used instead of generated one.
    #topic_name: topics.publisher.ha.ha.inputs.pd
    
    # Consume process data.
    #consume: false
    
    # Number of LN Buffers to use for publisher.
    #n_buffers: 1
    
    # Raw process data description mode. Only publishes bytes 
    # instead of generated MD from process data description.
    #raw_mode: false
  subscriber:
  - # Process data device name (must not be empty).
    pd_device: ha.ha.outputs.pd
    
    # Message definition name to override generated md-name
    #md_name: my_md_name
    
    # Topic name to be used instead of generated one.
    #topic_name: topics.publisher.ha.ha.inputs.pd
    
    # Raw process data description mode. Only publishes bytes 
    # instead of generated MD from process data description.
    #raw_mode: false    

publisher

All process data devices which should be published are specified here.

subscriber

All process data devices which should be subscribed are be specified here.

If there are any publishers and/or subscribers specified, then only there process data devices and topics are taken into account. The publishers set itself as process data consumer and the subscribers as process data provider.

If no config is supplied, the module enters the introspection mode. In this mode all process data devices registered to the robotkernel are published but not consumed.

[[Category:Robotkernel-5|LNtopics]]