iceoryx_posh/internal/popo/ports/subscriber_port_roudi.hpp

Namespaces

Name
iox
iox::popo

Classes

Name

class

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.

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_POPO_SUBSCRIBER_PORT_ROUDI_HPP_
#define IOX_POPO_SUBSCRIBER_PORT_ROUDI_HPP_

#include "iceoryx_posh/internal/capro/capro_message.hpp"
#include "iceoryx_posh/internal/popo/building_blocks/chunk_receiver.hpp"
#include "iceoryx_posh/internal/popo/ports/base_port.hpp"
#include "iceoryx_posh/internal/popo/ports/subscriber_port_data.hpp"
#include "iceoryx_utils/cxx/optional.hpp"

namespace iox
{
namespace popo
{
class SubscriberPortRouDi : public BasePort
{
  public:
    using MemberType_t = SubscriberPortData;

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

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

    QueueFullPolicy getQueueFullPolicy() const noexcept;

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

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

    void releaseAllChunks() noexcept;

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

    ChunkReceiver<SubscriberPortData::ChunkReceiverData_t> m_chunkReceiver;
};

} // namespace popo
} // namespace iox

#endif

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