How to offer and subscribe to a topic

Topics provide a convenient way of realize a publish-subscribe mechanism. This is useful if the number of recievers may vary. There might be 0, 1 or multiple components that implement an interface and hence retrieve the published data.

• Publish data
  A component (or ManagedIceObject) can register itself in order to publish data. To offer the topic cal the following method in the onInitComponent part of your component:
  

  armarx::ManagedIceObject::offeringTopic("TopicName")

  Once the component is connected the proxy can be retrieved in the onConnectComponent with
  

  listenerPrx = armarx::ManagedIceObject::getTopic<MyTopicPrx>("TopicName")

• Retrieve data
  The component which should receive the data must implement the corresponding interface. To register the method, call the following method within the onInitComponent section of your component:
  

  armarx::ManagedIceObject::usingTopic("TopicName")

Further details can be found in Distributed Processing.