iox::popo::SubscriberPortRouDi

The SubscriberPortRouDi provides the API for accessing a subscriber port from the RouDi middleware daemon side. The subscriber port is divided in the sevaral parts like SubscriberPortData, SubscriberPortRouDi and SubscriberPortUser. The SubscriberPortRouDi 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 <subscriber_port_roudi.hpp>

Inherits from iox::popo::BasePort

Inherited by iox::popo::SubscriberPortMultiProducer, iox::popo::SubscriberPortSingleProducer

Public Types

	Name
using SubscriberPortData	MemberType_t

Public Functions

	Name
	SubscriberPortRouDi(cxx::not_null< MemberType_t *const > subscriberPortDataPtr)
	SubscriberPortRouDi(const SubscriberPortRouDi & other)
SubscriberPortRouDi &	operator=(const SubscriberPortRouDi & )
	SubscriberPortRouDi(SubscriberPortRouDi && rhs) =default
SubscriberPortRouDi &	operator=(SubscriberPortRouDi && rhs) =default
virtual	~SubscriberPortRouDi() =default
QueueFullPolicy	getQueueFullPolicy() const Returns behaviour in case of a full delivery queue.
virtual cxx::optional< capro::CaproMessage >	tryGetCaProMessage() =0 get an optional CaPro message that requests changes to the subscription state of the subscriber
virtual cxx::optional< capro::CaproMessage >	dispatchCaProMessageAndGetPossibleResponse(const capro::CaproMessage & caProMessage) =0 dispatch a CaPro message to the subscriber for processing
void	releaseAllChunks() cleanup the subscriber and release all the chunks it currently holds Caution: Contract is that user process is no more running when cleanup is called

Protected Functions

	Name
const MemberType_t *	getMembers() const
MemberType_t *	getMembers()

Protected Attributes

	Name
ChunkReceiver< SubscriberPortData::ChunkReceiverData_t >	m_chunkReceiver

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::SubscriberPortRouDi::MemberType_t =  SubscriberPortData;

Public Functions Documentation

function SubscriberPortRouDi

explicit SubscriberPortRouDi(
    cxx::not_null< MemberType_t *const > subscriberPortDataPtr
)

function SubscriberPortRouDi

SubscriberPortRouDi(
    const SubscriberPortRouDi & other
)

function operator=

SubscriberPortRouDi & operator=(
    const SubscriberPortRouDi & 
)

function SubscriberPortRouDi

SubscriberPortRouDi(
    SubscriberPortRouDi && rhs
) =default

function operator=

SubscriberPortRouDi & operator=(
    SubscriberPortRouDi && rhs
) =default

function ~SubscriberPortRouDi

virtual ~SubscriberPortRouDi() =default

function getQueueFullPolicy

QueueFullPolicy getQueueFullPolicy() const

Returns behaviour in case of a full delivery queue.

Return: QueueFullPolicy What happens if the delivery queue is full

function tryGetCaProMessage

virtual cxx::optional< capro::CaproMessage > tryGetCaProMessage() =0

get an optional CaPro message that requests changes to the subscription state of the subscriber

Return: CaPro message with new subscription requet, empty optional if no state change

Reimplemented by: iox::popo::SubscriberPortSingleProducer::tryGetCaProMessage, iox::popo::SubscriberPortMultiProducer::tryGetCaProMessage

function dispatchCaProMessageAndGetPossibleResponse

virtual cxx::optional< capro::CaproMessage > dispatchCaProMessageAndGetPossibleResponse(
    const capro::CaproMessage & caProMessage
) =0

dispatch a CaPro message to the subscriber for processing

Parameters:

• caProMessage to process

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

Reimplemented by: iox::popo::SubscriberPortSingleProducer::dispatchCaProMessageAndGetPossibleResponse, iox::popo::SubscriberPortMultiProducer::dispatchCaProMessageAndGetPossibleResponse

function releaseAllChunks

void releaseAllChunks()

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

Protected Functions Documentation

function getMembers

const MemberType_t * getMembers() const

function getMembers

MemberType_t * getMembers()

Protected Attributes Documentation

variable m_chunkReceiver

ChunkReceiver< SubscriberPortData::ChunkReceiverData_t > m_chunkReceiver;

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