iceoryx_posh/runtime/service_discovery.hpp
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// 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_SERVICE_DISCOVERY_HPP
#define IOX_POSH_RUNTIME_SERVICE_DISCOVERY_HPP
#include "iceoryx_posh/iceoryx_posh_types.hpp"
#include "iceoryx_posh/internal/roudi/service_registry.hpp"
#include "iceoryx_posh/popo/subscriber.hpp"
#include "iceoryx_posh/runtime/posh_runtime.hpp"
#include <memory>
#include <mutex>
namespace iox
{
namespace popo
{
enum class MessagingPattern
{
PUB_SUB,
REQ_RES
};
} // namespace popo
namespace runtime
{
enum class ServiceDiscoveryEvent : popo::EventEnumIdentifier
{
SERVICE_REGISTRY_CHANGED
};
class ServiceDiscovery
{
public:
ServiceDiscovery() noexcept;
ServiceDiscovery(const ServiceDiscovery&) = delete;
ServiceDiscovery& operator=(const ServiceDiscovery&) = delete;
ServiceDiscovery(ServiceDiscovery&&) = delete;
ServiceDiscovery& operator=(ServiceDiscovery&&) = delete;
~ServiceDiscovery() noexcept = default;
void findService(const cxx::optional<capro::IdString_t>& service,
const cxx::optional<capro::IdString_t>& instance,
const cxx::optional<capro::IdString_t>& event,
const cxx::function_ref<void(const capro::ServiceDescription&)>& callableForEach,
const popo::MessagingPattern pattern) noexcept;
friend iox::popo::NotificationAttorney;
private:
void enableEvent(popo::TriggerHandle&& triggerHandle, const ServiceDiscoveryEvent event) noexcept;
void disableEvent(const ServiceDiscoveryEvent event) noexcept;
void invalidateTrigger(const uint64_t uniqueTriggerId);
iox::popo::WaitSetIsConditionSatisfiedCallback
getCallbackForIsStateConditionSatisfied(const popo::SubscriberState state);
// use dynamic memory to reduce stack usage
std::unique_ptr<roudi::ServiceRegistry> m_serviceRegistry{new iox::roudi::ServiceRegistry};
std::mutex m_serviceRegistryMutex;
popo::Subscriber<roudi::ServiceRegistry> m_serviceRegistrySubscriber{
{SERVICE_DISCOVERY_SERVICE_NAME, SERVICE_DISCOVERY_INSTANCE_NAME, SERVICE_DISCOVERY_EVENT_NAME},
{1U, 1U, iox::NodeName_t("Service Registry"), true}};
void update();
};
} // namespace runtime
} // namespace iox
#endif // IOX_POSH_RUNTIME_SERVICE_DISCOVERY_HPP
Updated on 17 March 2022 at 12:15:57 CET