apollo::cyber::service_discovery::TopologyManager Class Reference

elements in Cyber – Node, Channel, Service, Writer, Reader, Client and Server's relationship is presented by Topology. You can Imagine that a directed graph – Node is the container of Server/Client/Writer/Reader, and they are the vertice of the graph and Channel is the Edge from Writer flow to the Reader, Service is the Edge from Server to Client. Thus we call Writer and Server Upstream, Reader and Client Downstream To generate this graph, we use TopologyManager, it has three sub managers – NodeManager: You can find Nodes in this topology ChannelManager: You can find Channels in this topology, and their Writers and Readers ServiceManager: You can find Services in this topology, and their Servers and Clients TopologyManager use fast-rtps' Participant to communicate. It can broadcast Join or Leave messages of those elements. Also, you can register you own ChangeFunc to monitor topology change More...

#include <topology_manager.h>

Collaboration diagram for apollo::cyber::service_discovery::TopologyManager:

Public Types
using	ChangeSignal = base::Signal< const ChangeMsg & >
using	ChangeFunc = std::function< void(const ChangeMsg &)>
using	ChangeConnection = base::Connection< const ChangeMsg & >
using	PartNameContainer = std::map< eprosima::fastrtps::rtps::GUID_t, std::string >
using	PartInfo = eprosima::fastrtps::ParticipantDiscoveryInfo

Public Member Functions
virtual	~TopologyManager ()
void	Shutdown ()
	Shutdown the TopologyManager. More...
ChangeConnection	AddChangeListener (const ChangeFunc &func)
	To observe the topology change, you can register a ChangeFunc More...
void	RemoveChangeListener (const ChangeConnection &conn)
	Remove the observe function connect to change_signal_ by conn More...
NodeManagerPtr &	node_manager ()
	Get shared_ptr for NodeManager. More...
ChannelManagerPtr &	channel_manager ()
	Get shared_ptr for ChannelManager. More...
ServiceManagerPtr &	service_manager ()
	Get shared_ptr for ServiceManager. More...

Detailed Description

elements in Cyber – Node, Channel, Service, Writer, Reader, Client and Server's relationship is presented by Topology. You can Imagine that a directed graph – Node is the container of Server/Client/Writer/Reader, and they are the vertice of the graph and Channel is the Edge from Writer flow to the Reader, Service is the Edge from Server to Client. Thus we call Writer and Server Upstream, Reader and Client Downstream To generate this graph, we use TopologyManager, it has three sub managers – NodeManager: You can find Nodes in this topology ChannelManager: You can find Channels in this topology, and their Writers and Readers ServiceManager: You can find Services in this topology, and their Servers and Clients TopologyManager use fast-rtps' Participant to communicate. It can broadcast Join or Leave messages of those elements. Also, you can register you own ChangeFunc to monitor topology change

Member Typedef Documentation

ChangeConnection

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

ChangeFunc

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

ChangeSignal

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

PartInfo

using apollo::cyber::service_discovery::TopologyManager::PartInfo = eprosima::fastrtps::ParticipantDiscoveryInfo

PartNameContainer

using apollo::cyber::service_discovery::TopologyManager::PartNameContainer = std::map<eprosima::fastrtps::rtps::GUID_t, std::string>

Constructor & Destructor Documentation

~TopologyManager()

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

virtual

Member Function Documentation

AddChangeListener()

ChangeConnection apollo::cyber::service_discovery::TopologyManager::AddChangeListener

(

const ChangeFunc &

func

)

To observe the topology change, you can register a ChangeFunc

Parameters

func	is the observe function

Returns

ChangeConnection is the connection that connected to change_signal_. Used to Remove your observe function

channel_manager()

ChannelManagerPtr& apollo::cyber::service_discovery::TopologyManager::channel_manager ( )

inline

Get shared_ptr for ChannelManager.

node_manager()

NodeManagerPtr& apollo::cyber::service_discovery::TopologyManager::node_manager ( )

inline

Get shared_ptr for NodeManager.

RemoveChangeListener()

void apollo::cyber::service_discovery::TopologyManager::RemoveChangeListener

(

const ChangeConnection &

conn

)

Remove the observe function connect to change_signal_ by conn

service_manager()

ServiceManagerPtr& apollo::cyber::service_discovery::TopologyManager::service_manager ( )

inline

Get shared_ptr for ServiceManager.

Shutdown()

void apollo::cyber::service_discovery::TopologyManager::Shutdown

(

)

Shutdown the TopologyManager.

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

• cyber/service_discovery/topology_manager.h