Base class for management of Topology elements. Manager can Join/Leave the Topology, and Listen the topology change. More...

#include <manager.h>

Inheritance diagram for apollo::cyber::service_discovery::Manager:

Collaboration diagram for apollo::cyber::service_discovery::Manager:

Public Types
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
	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...

virtual void	OnTopoModuleLeave (const std::string &host_name, int process_id)=0
	Called when a process' topology manager instance leave. More...

Protected Member Functions
bool	CreatePublisher (RtpsParticipant *participant)

bool	CreateSubscriber (RtpsParticipant *participant)

virtual bool	Check (const RoleAttributes &attr)=0

virtual void	Dispose (const ChangeMsg &msg)=0

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
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

Base class for management of Topology elements. Manager can Join/Leave the Topology, and Listen the topology change.

Member Typedef Documentation

◆ ChangeConnection

using apollo::cyber::service_discovery::Manager::ChangeConnection = base::Connection<const ChangeMsg&>

◆ ChangeFunc

using apollo::cyber::service_discovery::Manager::ChangeFunc = std::function<void(const ChangeMsg&)>

◆ ChangeSignal

using apollo::cyber::service_discovery::Manager::ChangeSignal = base::Signal<const ChangeMsg&>

◆ RtpsParticipant

using apollo::cyber::service_discovery::Manager::RtpsParticipant = eprosima::fastrtps::Participant

◆ RtpsPublisherAttr

using apollo::cyber::service_discovery::Manager::RtpsPublisherAttr = eprosima::fastrtps::PublisherAttributes

◆ RtpsSubscriberAttr

using apollo::cyber::service_discovery::Manager::RtpsSubscriberAttr = eprosima::fastrtps::SubscriberAttributes

Constructor & Destructor Documentation

◆ Manager()

apollo::cyber::service_discovery::Manager::Manager ( )

Construct a new Manager object.

◆ ~Manager()

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

virtual

Destroy the Manager object.

Member Function Documentation

◆ AddChangeListener()

ChangeConnection apollo::cyber::service_discovery::Manager::AddChangeListener ( const ChangeFunc & func )

Add topology change listener, when topology changed, func will be called.

Parameters

func	the callback function

Returns: ChangeConnection Store it to use when you want to stop listening.

◆ Check()

virtual bool apollo::cyber::service_discovery::Manager::Check ( const RoleAttributes & attr )

protectedpure virtual

◆ Convert()

void apollo::cyber::service_discovery::Manager::Convert	(	const RoleAttributes &	attr,
		RoleType	role,
		OperateType	opt,
		ChangeMsg *	msg
	)

protected

◆ CreatePublisher()

bool apollo::cyber::service_discovery::Manager::CreatePublisher ( RtpsParticipant * participant )

protected

◆ CreateSubscriber()

bool apollo::cyber::service_discovery::Manager::CreateSubscriber ( RtpsParticipant * participant )

protected

◆ Dispose()

virtual void apollo::cyber::service_discovery::Manager::Dispose ( const ChangeMsg & msg )

protectedpure virtual

◆ IsFromSameProcess()

bool apollo::cyber::service_discovery::Manager::IsFromSameProcess ( const ChangeMsg & msg )

protected

◆ Join()

bool apollo::cyber::service_discovery::Manager::Join	(	const RoleAttributes &	attr,
		RoleType	role,
		bool	need_publish = `true`
	)

Join the topology.

Parameters

attr	is the attributes that will be sent to other Manager(include ourselves)
role	is one of RoleType enum

Returns: true if Join topology successfully; false if Join topology failed

◆ Leave()

bool apollo::cyber::service_discovery::Manager::Leave	(	const RoleAttributes &	attr,
		RoleType	role
	)

Leave the topology.

Parameters

attr	is the attributes that will be sent to other Manager(include ourselves)
role	if one of RoleType enum.

Returns: true if Leave topology successfully; false if Leave topology failed

◆ NeedPublish()

virtual bool apollo::cyber::service_discovery::Manager::NeedPublish ( const ChangeMsg & msg ) const

protectedvirtual

◆ Notify()

void apollo::cyber::service_discovery::Manager::Notify ( const ChangeMsg & msg )

protected

◆ OnRemoteChange()

void apollo::cyber::service_discovery::Manager::OnRemoteChange ( const std::string & msg_str )

protected

◆ OnTopoModuleLeave()

virtual void apollo::cyber::service_discovery::Manager::OnTopoModuleLeave	(	const std::string &	host_name,
		int	process_id
	)

pure virtual

Called when a process' topology manager instance leave.

Parameters

host_name	is the process's host's name
process_id	is the process' id

◆ Publish()

bool apollo::cyber::service_discovery::Manager::Publish ( const ChangeMsg & msg )

protected

◆ RemoveChangeListener()

void apollo::cyber::service_discovery::Manager::RemoveChangeListener ( const ChangeConnection & conn )

Remove our listener for topology change.

Parameters

conn	is the return value of `AddChangeListener`

◆ Shutdown()

virtual void apollo::cyber::service_discovery::Manager::Shutdown ( )

virtual

Shutdown module.

◆ StartDiscovery()

bool apollo::cyber::service_discovery::Manager::StartDiscovery ( RtpsParticipant * participant )

Startup topology discovery.

Parameters

participant is used to create rtps Publisher and Subscriber

Returns: true if start successfully; false if start fail

◆ StopDiscovery()

void apollo::cyber::service_discovery::Manager::StopDiscovery ( )

Stop topology discovery.

Member Data Documentation

◆ allowed_role_

int apollo::cyber::service_discovery::Manager::allowed_role_

protected

◆ change_type_

ChangeType apollo::cyber::service_discovery::Manager::change_type_

protected

◆ channel_name_

std::string apollo::cyber::service_discovery::Manager::channel_name_

protected

◆ host_name_

std::string apollo::cyber::service_discovery::Manager::host_name_

protected

◆ is_discovery_started_

std::atomic<bool> apollo::cyber::service_discovery::Manager::is_discovery_started_

protected

◆ is_shutdown_

std::atomic<bool> apollo::cyber::service_discovery::Manager::is_shutdown_

protected

◆ listener_

SubscriberListener* apollo::cyber::service_discovery::Manager::listener_

protected

◆ lock_

std::mutex apollo::cyber::service_discovery::Manager::lock_

protected

◆ process_id_

int apollo::cyber::service_discovery::Manager::process_id_

protected

◆ publisher_

eprosima::fastrtps::Publisher* apollo::cyber::service_discovery::Manager::publisher_

protected

◆ signal_

ChangeSignal apollo::cyber::service_discovery::Manager::signal_

protected

◆ subscriber_

eprosima::fastrtps::Subscriber* apollo::cyber::service_discovery::Manager::subscriber_

protected

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

cyber/service_discovery/specific_manager/manager.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ChangeConnection

◆ ChangeFunc

◆ ChangeSignal

◆ RtpsParticipant

◆ RtpsPublisherAttr

◆ RtpsSubscriberAttr

Constructor & Destructor Documentation

◆ Manager()

◆ ~Manager()

Member Function Documentation

◆ AddChangeListener()

◆ Check()

◆ Convert()

◆ CreatePublisher()

◆ CreateSubscriber()

◆ Dispose()

◆ IsFromSameProcess()

◆ Join()

◆ Leave()

◆ NeedPublish()

◆ Notify()

◆ OnRemoteChange()

◆ OnTopoModuleLeave()

◆ Publish()

◆ RemoveChangeListener()

◆ Shutdown()

◆ StartDiscovery()

◆ StopDiscovery()

Member Data Documentation

◆ allowed_role_

◆ change_type_

◆ channel_name_

◆ host_name_

◆ is_discovery_started_

◆ is_shutdown_

◆ listener_

◆ lock_

◆ process_id_

◆ publisher_

◆ signal_

◆ subscriber_