iox::popo::PublisherPortRouDi

The PublisherPortRouDi provides the API for accessing a publisher port from the RouDi middleware daemon side. The publisher port is divided in the three parts PublisherPortData, PublisherPortRouDi and PublisherPortUser. The PublisherPortRouDi provides service discovery functionality that is based on CaPro messages. With this API the dynamic connections between publisher and subscriber ports can be established.

#include <publisher_port_roudi.hpp>

Inherits from iox::popo::BasePort

Public Types

	Name
using PublisherPortData	MemberType_t

Public Functions

	Name
	PublisherPortRouDi(cxx::not_null< MemberType_t *const > publisherPortDataPtr)
	PublisherPortRouDi(const PublisherPortRouDi & other)
PublisherPortRouDi &	operator=(const PublisherPortRouDi & )
	PublisherPortRouDi(PublisherPortRouDi && rhs) =default
PublisherPortRouDi &	operator=(PublisherPortRouDi && rhs) =default
	~PublisherPortRouDi() =default
SubscriberTooSlowPolicy	getSubscriberTooSlowPolicy() const Returns behaviour in case of a full delivery queue.
cxx::optional< capro::CaproMessage >	tryGetCaProMessage() get an optional CaPro message that changes the offer state of the publisher
cxx::optional< capro::CaproMessage >	dispatchCaProMessageAndGetPossibleResponse(const capro::CaproMessage & caProMessage) dispatch a CaPro message to the publisher for processing
void	releaseAllChunks() cleanup the publisher and release all the chunks it currently holds Caution: Contract is that user process is no more running when cleanup is called

Additional inherited members

Public Functions inherited from iox::popo::BasePort

	Name
	BasePort(MemberType_t *const basePortDataPtr)
	BasePort(const BasePort & other)
	BasePort(BasePort && )
virtual	~BasePort() =default
	operator bool() const a port can be constructed from a nullptr, additionally it also can be moved and in these cases the member methods would work on a nullptr. to circumvent this problem
capro::ServiceDescription	getCaProServiceDescription() const Reads Type of actual CaPro Port (publisher/subscriber...)
RuntimeName_t	getRuntimeName() const Gets name of the application's runtime for the active port.
UniquePortId	getUniqueID() const Gets Id of the active port.
NodeName_t	getNodeName() const returns node name for the active port
void	destroy() Indicate that this port can be destroyed.
bool	toBeDestroyed() const Checks whether port can be destroyed.

Public Types Documentation

using MemberType_t

using iox::popo::PublisherPortRouDi::MemberType_t =  PublisherPortData;

Public Functions Documentation

function PublisherPortRouDi

explicit PublisherPortRouDi(
    cxx::not_null< MemberType_t *const > publisherPortDataPtr
)

function PublisherPortRouDi

PublisherPortRouDi(
    const PublisherPortRouDi & other
)

function operator=

PublisherPortRouDi & operator=(
    const PublisherPortRouDi & 
)

function PublisherPortRouDi

PublisherPortRouDi(
    PublisherPortRouDi && rhs
) =default

function operator=

PublisherPortRouDi & operator=(
    PublisherPortRouDi && rhs
) =default

function ~PublisherPortRouDi

~PublisherPortRouDi() =default

function getSubscriberTooSlowPolicy

SubscriberTooSlowPolicy getSubscriberTooSlowPolicy() const

Returns behaviour in case of a full delivery queue.

Return: SubScriberTooSlowPolicy What happens if the delivery queue is full

function tryGetCaProMessage

cxx::optional< capro::CaproMessage > tryGetCaProMessage()

get an optional CaPro message that changes the offer state of the publisher

Return: CaPro message with the new offer state, empty optional if no state change

function dispatchCaProMessageAndGetPossibleResponse

cxx::optional< capro::CaproMessage > dispatchCaProMessageAndGetPossibleResponse(
    const capro::CaproMessage & caProMessage
)

dispatch a CaPro message to the publisher for processing

Parameters:

• caProMessage to process

Return: CaPro message with an immediate response the provided CaPro message, empty optional if no response

function releaseAllChunks

void releaseAllChunks()

cleanup the publisher and release all the chunks it currently holds Caution: Contract is that user process is no more running when cleanup is called

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Updated on 31 May 2022 at 15:29:16 CEST