iceoryx_posh/runtime/posh_runtime.hpp

Namespaces

Name
iox
iox::roudi
iox::runtime

Classes

	Name
class	iox::runtime::PoshRuntime The runtime that is needed for each application to communicate with the RouDi daemon.

Source code

// Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
// Copyright (c) 2021 - 2022 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_RUNTIME_POSH_RUNTIME_HPP
#define IOX_POSH_RUNTIME_POSH_RUNTIME_HPP

#include "iceoryx_hoofs/cxx/optional.hpp"
#include "iceoryx_posh/capro/service_description.hpp"
#include "iceoryx_posh/iceoryx_posh_types.hpp"
#include "iceoryx_posh/internal/popo/building_blocks/condition_variable_data.hpp"
#include "iceoryx_posh/internal/popo/ports/client_port_user.hpp"
#include "iceoryx_posh/internal/popo/ports/interface_port.hpp"
#include "iceoryx_posh/internal/popo/ports/publisher_port_user.hpp"
#include "iceoryx_posh/internal/popo/ports/server_port_user.hpp"
#include "iceoryx_posh/internal/popo/ports/subscriber_port_user.hpp"
#include "iceoryx_posh/internal/runtime/ipc_runtime_interface.hpp"
#include "iceoryx_posh/internal/runtime/node_property.hpp"
#include "iceoryx_posh/popo/client_options.hpp"
#include "iceoryx_posh/popo/server_options.hpp"
#include "iceoryx_posh/popo/subscriber_options.hpp"
#include "iceoryx_posh/runtime/port_config_info.hpp"

#include <atomic>

namespace iox
{
namespace roudi
{
class RuntimeTestInterface;
} // namespace roudi

namespace runtime
{
class Node;
class NodeData;

class PoshRuntime
{
  public:
    PoshRuntime(const PoshRuntime&) = delete;
    PoshRuntime& operator=(const PoshRuntime&) = delete;
    PoshRuntime(PoshRuntime&&) = delete;
    PoshRuntime& operator=(PoshRuntime&&) = delete;
    virtual ~PoshRuntime() noexcept = default;

    static PoshRuntime& getInstance() noexcept;

    static PoshRuntime& initRuntime(const RuntimeName_t& name) noexcept;

    RuntimeName_t getInstanceName() const noexcept;

    void shutdown() noexcept;

    virtual PublisherPortUserType::MemberType_t*
    getMiddlewarePublisher(const capro::ServiceDescription& service,
                           const popo::PublisherOptions& publisherOptions = {},
                           const PortConfigInfo& portConfigInfo = {}) noexcept = 0;

    virtual SubscriberPortUserType::MemberType_t*
    getMiddlewareSubscriber(const capro::ServiceDescription& service,
                            const popo::SubscriberOptions& subscriberOptions = {},
                            const PortConfigInfo& portConfigInfo = {}) noexcept = 0;

    virtual popo::ClientPortData*
    getMiddlewareClient(const capro::ServiceDescription& service,
                        const popo::ClientOptions& clientOptions = {},
                        const PortConfigInfo& portConfigInfo = PortConfigInfo()) noexcept = 0;

    virtual popo::ServerPortData*
    getMiddlewareServer(const capro::ServiceDescription& service,
                        const popo::ServerOptions& serverOptions = {},
                        const PortConfigInfo& portConfigInfo = PortConfigInfo()) noexcept = 0;

    virtual popo::InterfacePortData* getMiddlewareInterface(const capro::Interfaces interface,
                                                            const NodeName_t& nodeName = {}) noexcept = 0;

    virtual popo::ConditionVariableData* getMiddlewareConditionVariable() noexcept = 0;

    virtual NodeData* createNode(const NodeProperty& nodeProperty) noexcept = 0;

    virtual bool sendRequestToRouDi(const IpcMessage& msg, IpcMessage& answer) noexcept = 0;

  protected:
    friend class roudi::RuntimeTestInterface;
    using factory_t = PoshRuntime& (*)(cxx::optional<const RuntimeName_t*>);

    // Protected constructor for derived classes
    PoshRuntime(cxx::optional<const RuntimeName_t*> name) noexcept;

    static PoshRuntime& defaultRuntimeFactory(cxx::optional<const RuntimeName_t*> name) noexcept;

    static factory_t& getRuntimeFactory() noexcept;

    static void setRuntimeFactory(const factory_t& factory) noexcept;

    static PoshRuntime& getInstance(cxx::optional<const RuntimeName_t*> name) noexcept;

    const RuntimeName_t& verifyInstanceName(cxx::optional<const RuntimeName_t*> name) noexcept;

    const RuntimeName_t m_appName;
    std::atomic<bool> m_shutdownRequested{false};
};

} // namespace runtime
} // namespace iox

#endif // IOX_POSH_RUNTIME_POSH_RUNTIME_HPP

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Updated on 17 March 2022 at 12:15:57 CET