publisher_port_roudi.hpp🔗

Namespaces🔗

Name
iox
iox::popo

Classes🔗

Name

class

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.

Source code🔗

// Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
// Copyright (c) 2021 by Apex.AI Inc. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// SPDX-License-Identifier: Apache-2.0
#ifndef IOX_POSH_POPO_PORTS_PUBLISHER_PORT_ROUDI_HPP
#define IOX_POSH_POPO_PORTS_PUBLISHER_PORT_ROUDI_HPP

#include "iceoryx_posh/internal/capro/capro_message.hpp"
#include "iceoryx_posh/internal/popo/building_blocks/chunk_distributor.hpp"
#include "iceoryx_posh/internal/popo/building_blocks/chunk_sender.hpp"
#include "iceoryx_posh/internal/popo/ports/base_port.hpp"
#include "iceoryx_posh/internal/popo/ports/publisher_port_data.hpp"
#include "iceoryx_utils/cxx/optional.hpp"

namespace iox
{
namespace popo
{
class PublisherPortRouDi : public BasePort
{
  public:
    using MemberType_t = PublisherPortData;

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

    PublisherPortRouDi(const PublisherPortRouDi& other) = delete;
    PublisherPortRouDi& operator=(const PublisherPortRouDi&) = delete;
    PublisherPortRouDi(PublisherPortRouDi&& rhs) = default;
    PublisherPortRouDi& operator=(PublisherPortRouDi&& rhs) = default;
    ~PublisherPortRouDi() = default;

    SubscriberTooSlowPolicy getSubscriberTooSlowPolicy() const noexcept;

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

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

    void releaseAllChunks() noexcept;

  private:
    const MemberType_t* getMembers() const noexcept;
    MemberType_t* getMembers() noexcept;

    ChunkSender<PublisherPortData::ChunkSenderData_t> m_chunkSender;
};

} // namespace popo
} // namespace iox

#endif // IOX_POSH_POPO_PORTS_PUBLISHER_PORT_ROUDI_HPP

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