iceoryx_posh/internal/popo/publisher_impl.hpp

Namespaces

Name
iox
iox::popo

Classes

	Name
class	iox::popo::PublisherImpl The PublisherImpl class implements the typed publisher API.

Source code

// Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
// Copyright (c) 2020 - 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_POPO_TYPED_PUBLISHER_IMPL_HPP
#define IOX_POSH_POPO_TYPED_PUBLISHER_IMPL_HPP

#include "iceoryx_hoofs/cxx/type_traits.hpp"
#include "iceoryx_posh/internal/popo/base_publisher.hpp"
#include "iceoryx_posh/internal/popo/publisher_interface.hpp"
#include "iceoryx_posh/internal/popo/typed_port_api_trait.hpp"
#include "iceoryx_posh/popo/sample.hpp"

namespace iox
{
namespace popo
{
template <typename T, typename H = mepoo::NoUserHeader, typename BasePublisherType = BasePublisher<>>
class PublisherImpl : public BasePublisherType, private PublisherInterface<T, H>
{
    using DataTypeAssert = typename TypedPortApiTrait<T>::Assert;
    using HeaderTypeAssert = typename TypedPortApiTrait<H>::Assert;

  public:
    explicit PublisherImpl(const capro::ServiceDescription& service,
                           const PublisherOptions& publisherOptions = PublisherOptions());
    PublisherImpl(const PublisherImpl& other) = delete;
    PublisherImpl& operator=(const PublisherImpl&) = delete;
    PublisherImpl(PublisherImpl&& rhs) = delete;
    PublisherImpl& operator=(PublisherImpl&& rhs) = delete;
    virtual ~PublisherImpl() = default;

    template <typename... Args>
    cxx::expected<Sample<T, H>, AllocationError> loan(Args&&... args) noexcept;

    void publish(Sample<T, H>&& sample) noexcept override;

    cxx::expected<AllocationError> publishCopyOf(const T& val) noexcept;
    template <typename Callable, typename... ArgTypes>
    cxx::expected<AllocationError> publishResultOf(Callable c, ArgTypes... args) noexcept;

  protected:
    using BasePublisherType::port;

  private:
    Sample<T, H> convertChunkHeaderToSample(mepoo::ChunkHeader* const header) noexcept;

    cxx::expected<Sample<T, H>, AllocationError> loanSample() noexcept;

    using PublisherSampleDeleter = SampleDeleter<typename BasePublisherType::PortType>;
    PublisherSampleDeleter m_sampleDeleter{port()};
};

} // namespace popo
} // namespace iox

#include "iceoryx_posh/internal/popo/publisher_impl.inl"

#endif // IOX_POSH_POPO_TYPED_PUBLISHER_IMPL_HPP

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Updated on 18 December 2023 at 13:11:43 CET