iceoryx_posh/runtime/service_discovery.hpp

Namespaces

Name
iox
iox::popo
iox::runtime

Classes

	Name
class	iox::runtime::ServiceDiscovery

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_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

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