Reader subscribes a channel, it has two main functions: More...

#include <reader.h>

Inheritance diagram for apollo::cyber::Reader< MessageT >:

Collaboration diagram for apollo::cyber::Reader< MessageT >:

Public Types
using	BlockerPtr = std::unique_ptr< blocker::Blocker< MessageT > >

using	ReceiverPtr = std::shared_ptr< transport::Receiver< MessageT > >

using	ChangeConnection = typename service_discovery::Manager::ChangeConnection

using	Iterator = typename std::list< std::shared_ptr< MessageT > >::const_iterator

Public Member Functions
	Reader (const proto::RoleAttributes &role_attr, const CallbackFunc< MessageT > &reader_func=nullptr, uint32_t pending_queue_size=DEFAULT_PENDING_QUEUE_SIZE)

virtual	~Reader ()

bool	Init () override
	Init Reader. More...

void	Shutdown () override
	Shutdown Reader. More...

void	Observe () override
	Get All data that `Blocker` stores. More...

void	ClearData () override
	Clear `Blocker`'s data. More...

bool	HasReceived () const override
	Query whether we have received data since last clear. More...

bool	Empty () const override
	Query whether the Reader has data to be handled. More...

double	GetDelaySec () const override
	Get time interval of since last receive message. More...

uint32_t	PendingQueueSize () const override
	Get pending_queue_size configuration. More...

virtual void	Enqueue (const std::shared_ptr< MessageT > &msg)
	Push `msg` to Blocker's `PublishQueue` More...

virtual void	SetHistoryDepth (const uint32_t &depth)
	Set Blocker's `PublishQueue`'s capacity to `depth` More...

virtual uint32_t	GetHistoryDepth () const
	Get Blocker's `PublishQueue`'s capacity. More...

virtual std::shared_ptr< MessageT >	GetLatestObserved () const
	Get the latest message we `Observe` More...

virtual std::shared_ptr< MessageT >	GetOldestObserved () const
	Get the oldest message we `Observe` More...

virtual Iterator	Begin () const
	Get the begin iterator of `ObserveQueue`, used to traverse. More...

virtual Iterator	End () const
	Get the end iterator of `ObserveQueue`, used to traverse. More...

bool	HasWriter () override
	Is there is at least one writer publish the channel that we subscribes? More...

void	GetWriters (std::vector< proto::RoleAttributes > *writers) override
	Get all writers pushlish the channel we subscribes. More...

Public Member Functions inherited from apollo::cyber::ReaderBase
	ReaderBase (const proto::RoleAttributes &role_attr)

virtual	~ReaderBase ()

const std::string &	GetChannelName () const
	Get Reader's Channel name. More...

uint64_t	ChannelId () const
	Get Reader's Channel id. More...

const proto::QosProfile &	QosProfile () const
	Get qos profile. You can see qos description. More...

bool	IsInit () const
	Query whether the Reader is initialized. More...

Protected Attributes
double	latest_recv_time_sec_ = -1.0

double	second_to_lastest_recv_time_sec_ = -1.0

uint32_t	pending_queue_size_

Protected Attributes inherited from apollo::cyber::ReaderBase
proto::RoleAttributes	role_attr_

std::atomic< bool >	init_

Detailed Description

template<typename MessageT>
class apollo::cyber::Reader< MessageT >

Reader subscribes a channel, it has two main functions:

You can pass a CallbackFunc to handle the message then it arrived
You can Observe messages that Blocker cached. Reader automatically push the message to Blocker's PublishQueue, and we can use Observe to fetch messages from PublishQueue to ObserveQueue. But, if you have set CallbackFunc, you can ignore this. One Reader uses one ChannelBuffer, the message we are handling is stored in ChannelBuffer Reader will Join the topology when init and Leave the topology when shutdown
Warning
To save resource, ChannelBuffer has limited length, it's passed through the pending_queue_size param. pending_queue_size is default set to 1, So, If you handle slower than writer sending, older messages that are not handled will be lost. You can increase pending_queue_size to resolve this problem.

Member Typedef Documentation

◆ BlockerPtr

template<typename MessageT>

using apollo::cyber::Reader< MessageT >::BlockerPtr = std::unique_ptr<blocker::Blocker<MessageT> >

◆ ChangeConnection

template<typename MessageT>

using apollo::cyber::Reader< MessageT >::ChangeConnection = typename service_discovery::Manager::ChangeConnection

◆ Iterator

template<typename MessageT>

using apollo::cyber::Reader< MessageT >::Iterator = typename std::list<std::shared_ptr<MessageT> >::const_iterator

◆ ReceiverPtr

template<typename MessageT>

using apollo::cyber::Reader< MessageT >::ReceiverPtr = std::shared_ptr<transport::Receiver<MessageT> >

Constructor & Destructor Documentation

◆ Reader()

template<typename MessageT >

apollo::cyber::Reader< MessageT >::Reader	(	const proto::RoleAttributes &	role_attr,
		const CallbackFunc< MessageT > &	reader_func = `nullptr`,
		uint32_t	pending_queue_size = `DEFAULT_PENDING_QUEUE_SIZE`
	)

explicit

Constructor a Reader object.

Parameters

role_attr	is a protobuf message RoleAttributes, which includes the channel name and other info.
reader_func	is the callback function, when the message is received.
pending_queue_size	is the max depth of message cache queue.

Warning: the received messages is enqueue a queue,the queue's depth is pending_queue_size

◆ ~Reader()

template<typename MessageT >

apollo::cyber::Reader< MessageT >::~Reader ( )

virtual

Member Function Documentation

◆ Begin()

template<typename MessageT>

virtual Iterator apollo::cyber::Reader< MessageT >::Begin ( ) const

inlinevirtual

Get the begin iterator of ObserveQueue, used to traverse.

Returns: Iterator begin iterator

Reimplemented in apollo::cyber::blocker::IntraReader< MessageT >.

◆ ClearData()

template<typename MessageT >

void apollo::cyber::Reader< MessageT >::ClearData ( )

overridevirtual

Clear Blocker's data.

Implements apollo::cyber::ReaderBase.

◆ Empty()

template<typename MessageT >

bool apollo::cyber::Reader< MessageT >::Empty ( ) const

overridevirtual

Query whether the Reader has data to be handled.

Returns: true if blocker is empty; false if blocker has data

Implements apollo::cyber::ReaderBase.

◆ End()

template<typename MessageT>

virtual Iterator apollo::cyber::Reader< MessageT >::End ( ) const

inlinevirtual

Get the end iterator of ObserveQueue, used to traverse.

Returns: Iterator begin iterator

Reimplemented in apollo::cyber::blocker::IntraReader< MessageT >.

◆ Enqueue()

template<typename MessageT >

void apollo::cyber::Reader< MessageT >::Enqueue ( const std::shared_ptr< MessageT > & msg )

virtual

Push msg to Blocker's PublishQueue

Parameters

msg	message ptr to be pushed

Reimplemented in apollo::cyber::blocker::IntraReader< MessageT >.

◆ GetDelaySec()

template<typename MessageT >

double apollo::cyber::Reader< MessageT >::GetDelaySec ( ) const

overridevirtual

Get time interval of since last receive message.

Returns: double seconds delay

Implements apollo::cyber::ReaderBase.

◆ GetHistoryDepth()

template<typename MessageT >

uint32_t apollo::cyber::Reader< MessageT >::GetHistoryDepth ( ) const

virtual

Get Blocker's PublishQueue's capacity.

Returns: uint32_t depth of the history

Reimplemented in apollo::cyber::blocker::IntraReader< MessageT >.

◆ GetLatestObserved()

template<typename MessageT >

std::shared_ptr< MessageT > apollo::cyber::Reader< MessageT >::GetLatestObserved ( ) const

virtual

Get the latest message we Observe

Returns: std::shared_ptr<MessageT> the latest message

Reimplemented in apollo::cyber::blocker::IntraReader< MessageT >.

◆ GetOldestObserved()

template<typename MessageT >

std::shared_ptr< MessageT > apollo::cyber::Reader< MessageT >::GetOldestObserved ( ) const

virtual

Get the oldest message we Observe

Returns: std::shared_ptr<MessageT> the oldest message

Reimplemented in apollo::cyber::blocker::IntraReader< MessageT >.

◆ GetWriters()

template<typename MessageT >

void apollo::cyber::Reader< MessageT >::GetWriters ( std::vector< proto::RoleAttributes > * writers )

overridevirtual

Get all writers pushlish the channel we subscribes.

Parameters

writers result vector of RoleAttributes

Reimplemented from apollo::cyber::ReaderBase.

◆ HasReceived()

template<typename MessageT >

bool apollo::cyber::Reader< MessageT >::HasReceived ( ) const

overridevirtual

Query whether we have received data since last clear.

Returns: true if the reader has received data; false if the reader has not received data

Implements apollo::cyber::ReaderBase.

◆ HasWriter()

template<typename MessageT >

bool apollo::cyber::Reader< MessageT >::HasWriter ( )

overridevirtual

Is there is at least one writer publish the channel that we subscribes?

Returns: true if the channel has writer; false if the channel has no writer

Reimplemented from apollo::cyber::ReaderBase.

◆ Init()

template<typename MessageT >

bool apollo::cyber::Reader< MessageT >::Init ( )

overridevirtual

Init Reader.

Returns: true if init successfully; false if init failed

Implements apollo::cyber::ReaderBase.

◆ Observe()

template<typename MessageT >

void apollo::cyber::Reader< MessageT >::Observe ( )

overridevirtual

Get All data that Blocker stores.

Implements apollo::cyber::ReaderBase.

◆ PendingQueueSize()

template<typename MessageT >

uint32_t apollo::cyber::Reader< MessageT >::PendingQueueSize ( ) const

overridevirtual

Get pending_queue_size configuration.

Returns: uint32_t the value of pending queue size

Implements apollo::cyber::ReaderBase.

◆ SetHistoryDepth()

template<typename MessageT >

void apollo::cyber::Reader< MessageT >::SetHistoryDepth ( const uint32_t & depth )

virtual

Set Blocker's PublishQueue's capacity to depth

Parameters

depth the value you want to set

Reimplemented in apollo::cyber::blocker::IntraReader< MessageT >.

◆ Shutdown()

template<typename MessageT >

void apollo::cyber::Reader< MessageT >::Shutdown ( )

overridevirtual

Shutdown Reader.

Implements apollo::cyber::ReaderBase.

Member Data Documentation

◆ latest_recv_time_sec_

template<typename MessageT>

double apollo::cyber::Reader< MessageT >::latest_recv_time_sec_ = -1.0

protected

◆ pending_queue_size_

template<typename MessageT>

uint32_t apollo::cyber::Reader< MessageT >::pending_queue_size_

protected

◆ second_to_lastest_recv_time_sec_

template<typename MessageT>

double apollo::cyber::Reader< MessageT >::second_to_lastest_recv_time_sec_ = -1.0

protected

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

cyber/node/reader.h

Public Types

Public Member Functions

Protected Attributes

Detailed Description

template<typename MessageT> class apollo::cyber::Reader< MessageT >

Member Typedef Documentation

◆ BlockerPtr

◆ ChangeConnection

◆ Iterator

◆ ReceiverPtr

Constructor & Destructor Documentation

◆ Reader()

◆ ~Reader()

Member Function Documentation

◆ Begin()

◆ ClearData()

◆ Empty()

◆ End()

◆ Enqueue()

◆ GetDelaySec()

◆ GetHistoryDepth()

◆ GetLatestObserved()

◆ GetOldestObserved()

◆ GetWriters()

◆ HasReceived()

◆ HasWriter()

◆ Init()

◆ Observe()

◆ PendingQueueSize()

◆ SetHistoryDepth()

◆ Shutdown()

Member Data Documentation

◆ latest_recv_time_sec_

◆ pending_queue_size_

◆ second_to_lastest_recv_time_sec_

template<typename MessageT>
class apollo::cyber::Reader< MessageT >