Topology Manager of Service related. More...

#include <channel_manager.h>

Inheritance diagram for apollo::cyber::service_discovery::ChannelManager:

Collaboration diagram for apollo::cyber::service_discovery::ChannelManager:

Public Types
using	RoleAttrVec = std::vector< proto::RoleAttributes >

using	WriterWarehouse = MultiValueWarehouse

using	ReaderWarehouse = MultiValueWarehouse

using	ExemptedMessageTypes = std::unordered_set< std::string >

Public Types inherited from apollo::cyber::service_discovery::Manager
using	ChangeSignal = base::Signal< const ChangeMsg & >

using	ChangeFunc = std::function< void(const ChangeMsg &)>

using	ChangeConnection = base::Connection< const ChangeMsg & >

using	RtpsParticipant = eprosima::fastrtps::Participant

using	RtpsPublisherAttr = eprosima::fastrtps::PublisherAttributes

using	RtpsSubscriberAttr = eprosima::fastrtps::SubscriberAttributes

Public Member Functions
	ChannelManager ()
	Construct a new Channel Manager object. More...

virtual	~ChannelManager ()
	Destroy the Channel Manager object. More...

void	GetChannelNames (std::vector< std::string > *channels)
	Get all channel names in the topology. More...

void	GetProtoDesc (const std::string &channel_name, std::string *proto_desc)
	Get the Protocol Desc of `channel_name` More...

void	GetMsgType (const std::string &channel_name, std::string *msg_type)
	Get the Msg Type of `channel_name` More...

bool	HasWriter (const std::string &channel_name)
	Inquire if there is at least one Writer that publishes `channel_name` More...

void	GetWriters (RoleAttrVec *writers)
	Get All Writers object. More...

void	GetWritersOfNode (const std::string &node_name, RoleAttrVec *writers)
	Get the Writers Of Node object. More...

void	GetWritersOfChannel (const std::string &channel_name, RoleAttrVec *writers)
	Get the Writers Of Channel object. More...

bool	HasReader (const std::string &channel_name)
	Inquire if there is at least one Reader that publishes `channel_name` More...

void	GetReaders (RoleAttrVec *readers)
	Get All Readers object. More...

void	GetReadersOfNode (const std::string &node_name, RoleAttrVec *readers)
	Get the Readers Of Node object. More...

void	GetReadersOfChannel (const std::string &channel_name, RoleAttrVec *readers)
	Get the Readers Of Channel object. More...

void	GetUpstreamOfNode (const std::string &node_name, RoleAttrVec *upstream_nodes)
	Get the Upstream Of Node object. If Node A has writer that publishes channel-1, and Node B has reader that subscribes channel-1 then A is B's Upstream node, and B is A's Downstream node. More...

void	GetDownstreamOfNode (const std::string &node_name, RoleAttrVec *downstream_nodes)
	Get the Downstream Of Node object. If Node A has writer that publishes channel-1, and Node B has reader that subscribes channel-1 then A is B's Upstream node, and B is A's Downstream node. More...

FlowDirection	GetFlowDirection (const std::string &lhs_node_name, const std::string &rhs_node_name)
	Get the Flow Direction from `lhs_node_node` to `rhs_node_name` You can see FlowDirection's description for more information. More...

bool	IsMessageTypeMatching (const std::string &lhs, const std::string &rhs)
	Is `lhs` and `rhs` have same MessageType. More...

Public Member Functions inherited from apollo::cyber::service_discovery::Manager
	Manager ()
	Construct a new Manager object. More...

virtual	~Manager ()
	Destroy the Manager object. More...

bool	StartDiscovery (RtpsParticipant *participant)
	Startup topology discovery. More...

void	StopDiscovery ()
	Stop topology discovery. More...

virtual void	Shutdown ()
	Shutdown module. More...

bool	Join (const RoleAttributes &attr, RoleType role, bool need_publish=true)
	Join the topology. More...

bool	Leave (const RoleAttributes &attr, RoleType role)
	Leave the topology. More...

ChangeConnection	AddChangeListener (const ChangeFunc &func)
	Add topology change listener, when topology changed, func will be called. More...

void	RemoveChangeListener (const ChangeConnection &conn)
	Remove our listener for topology change. More...

Friends
class	TopologyManager

Additional Inherited Members
Protected Member Functions inherited from apollo::cyber::service_discovery::Manager
bool	CreatePublisher (RtpsParticipant *participant)

bool	CreateSubscriber (RtpsParticipant *participant)

virtual bool	NeedPublish (const ChangeMsg &msg) const

void	Convert (const RoleAttributes &attr, RoleType role, OperateType opt, ChangeMsg *msg)

void	Notify (const ChangeMsg &msg)

bool	Publish (const ChangeMsg &msg)

void	OnRemoteChange (const std::string &msg_str)

bool	IsFromSameProcess (const ChangeMsg &msg)

Protected Attributes inherited from apollo::cyber::service_discovery::Manager
std::atomic< bool >	is_shutdown_

std::atomic< bool >	is_discovery_started_

int	allowed_role_

ChangeType	change_type_

std::string	host_name_

int	process_id_

std::string	channel_name_

eprosima::fastrtps::Publisher *	publisher_

std::mutex	lock_

eprosima::fastrtps::Subscriber *	subscriber_

SubscriberListener *	listener_

ChangeSignal	signal_

Detailed Description

Topology Manager of Service related.

Member Typedef Documentation

◆ ExemptedMessageTypes

using apollo::cyber::service_discovery::ChannelManager::ExemptedMessageTypes = std::unordered_set<std::string>

◆ ReaderWarehouse

using apollo::cyber::service_discovery::ChannelManager::ReaderWarehouse = MultiValueWarehouse

◆ RoleAttrVec

using apollo::cyber::service_discovery::ChannelManager::RoleAttrVec = std::vector<proto::RoleAttributes>

◆ WriterWarehouse

using apollo::cyber::service_discovery::ChannelManager::WriterWarehouse = MultiValueWarehouse

Constructor & Destructor Documentation

◆ ChannelManager()

apollo::cyber::service_discovery::ChannelManager::ChannelManager ( )

Construct a new Channel Manager object.

◆ ~ChannelManager()

virtual apollo::cyber::service_discovery::ChannelManager::~ChannelManager ( )

virtual

Destroy the Channel Manager object.

Member Function Documentation

◆ GetChannelNames()

void apollo::cyber::service_discovery::ChannelManager::GetChannelNames ( std::vector< std::string > * channels )

Get all channel names in the topology.

Parameters

channels result vector

◆ GetDownstreamOfNode()

void apollo::cyber::service_discovery::ChannelManager::GetDownstreamOfNode	(	const std::string &	node_name,
		RoleAttrVec *	downstream_nodes
	)

Get the Downstream Of Node object. If Node A has writer that publishes channel-1, and Node B has reader that subscribes channel-1 then A is B's Upstream node, and B is A's Downstream node.

Parameters

node_name	node's name we want to inquire
downstream_nodes	result RoleAttribute vector

◆ GetFlowDirection()

FlowDirection apollo::cyber::service_discovery::ChannelManager::GetFlowDirection	(	const std::string &	lhs_node_name,
		const std::string &	rhs_node_name
	)

Get the Flow Direction from lhs_node_node to rhs_node_name You can see FlowDirection's description for more information.

Returns: FlowDirection result direction

◆ GetMsgType()

void apollo::cyber::service_discovery::ChannelManager::GetMsgType	(	const std::string &	channel_name,
		std::string *	msg_type
	)

Get the Msg Type of channel_name

Parameters

channel_name	channel name we want to inquire
msg_type	result string, empty if inquire failed

◆ GetProtoDesc()

void apollo::cyber::service_discovery::ChannelManager::GetProtoDesc	(	const std::string &	channel_name,
		std::string *	proto_desc
	)

Get the Protocol Desc of channel_name

Parameters

channel_name	channel name we want to inquire
proto_desc	result string, empty if inquire failed

◆ GetReaders()

void apollo::cyber::service_discovery::ChannelManager::GetReaders ( RoleAttrVec * readers )

Get All Readers object.

Parameters

readers result RoleAttr vector

◆ GetReadersOfChannel()

void apollo::cyber::service_discovery::ChannelManager::GetReadersOfChannel	(	const std::string &	channel_name,
		RoleAttrVec *	readers
	)

Get the Readers Of Channel object.

Parameters

channel_name	channel's name we want to inquire
readers	result RoleAttribute vector

◆ GetReadersOfNode()

void apollo::cyber::service_discovery::ChannelManager::GetReadersOfNode	(	const std::string &	node_name,
		RoleAttrVec *	readers
	)

Get the Readers Of Node object.

Parameters

node_name	node's name we want to inquire
readers	result RoleAttribute vector

◆ GetUpstreamOfNode()

void apollo::cyber::service_discovery::ChannelManager::GetUpstreamOfNode	(	const std::string &	node_name,
		RoleAttrVec *	upstream_nodes
	)

Get the Upstream Of Node object. If Node A has writer that publishes channel-1, and Node B has reader that subscribes channel-1 then A is B's Upstream node, and B is A's Downstream node.

Parameters

node_name	node's name we want to inquire
upstream_nodes	result RoleAttribute vector

◆ GetWriters()

void apollo::cyber::service_discovery::ChannelManager::GetWriters ( RoleAttrVec * writers )

Get All Writers object.

Parameters

writers result RoleAttr vector

◆ GetWritersOfChannel()

void apollo::cyber::service_discovery::ChannelManager::GetWritersOfChannel	(	const std::string &	channel_name,
		RoleAttrVec *	writers
	)

Get the Writers Of Channel object.

Parameters

channel_name	channel's name we want to inquire
writers	result RoleAttribute vector

◆ GetWritersOfNode()

void apollo::cyber::service_discovery::ChannelManager::GetWritersOfNode	(	const std::string &	node_name,
		RoleAttrVec *	writers
	)

Get the Writers Of Node object.

Parameters

node_name	node's name we want to inquire
writers	result RoleAttribute vector

◆ HasReader()

bool apollo::cyber::service_discovery::ChannelManager::HasReader ( const std::string & channel_name )

Inquire if there is at least one Reader that publishes channel_name

Parameters

channel_name channel name we want to inquire

Returns: true if there is at least one Reader; false if there are no Reader

◆ HasWriter()

bool apollo::cyber::service_discovery::ChannelManager::HasWriter ( const std::string & channel_name )

Inquire if there is at least one Writer that publishes channel_name

Parameters

channel_name channel name we want to inquire

Returns: true if there is at least one Writer; false if there are no Writers

◆ IsMessageTypeMatching()

bool apollo::cyber::service_discovery::ChannelManager::IsMessageTypeMatching	(	const std::string &	lhs,
		const std::string &	rhs
	)

Is lhs and rhs have same MessageType.

Parameters

lhs	the left message type to compare
rhs	the right message type to compare

Returns: true if type matches; false if type does not matches

Friends And Related Function Documentation

◆ TopologyManager

friend class TopologyManager

friend

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

cyber/service_discovery/specific_manager/channel_manager.h

Public Types

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ExemptedMessageTypes

◆ ReaderWarehouse

◆ RoleAttrVec

◆ WriterWarehouse

Constructor & Destructor Documentation

◆ ChannelManager()

◆ ~ChannelManager()

Member Function Documentation

◆ GetChannelNames()

◆ GetDownstreamOfNode()

◆ GetFlowDirection()

◆ GetMsgType()

◆ GetProtoDesc()

◆ GetReaders()

◆ GetReadersOfChannel()

◆ GetReadersOfNode()

◆ GetUpstreamOfNode()

◆ GetWriters()

◆ GetWritersOfChannel()

◆ GetWritersOfNode()

◆ HasReader()

◆ HasWriter()

◆ IsMessageTypeMatching()

Friends And Related Function Documentation

◆ TopologyManager