goby::middleware::InterModuleForwarder< InnerTransporter, ImplementationTag > Class Template Reference

Implements the forwarder concept for the intermodule layer. More...

#include <goby/middleware/transport/intermodule.h>

Inheritance diagram for goby::middleware::InterModuleForwarder< InnerTransporter, ImplementationTag >:

Public Types
using	Base = InterModuleTransporterBase< InterModuleForwarder< InnerTransporter, ImplementationTag >, InnerTransporter, ImplementationTag >
Public Types inherited from goby::middleware::InterProcessTransporterBase< Derived, InnerTransporter, ImplementationTag >
using	implementation_tag = ImplementationTag
	The ImplementationTag for this transporter (allows InterVehiclePortal to match the driver thread's forwarder tag to the InnerTransporter's tag)
Public Types inherited from goby::middleware::InnerTransporterInterface< Transporter, InnerTransporter, Enable >
using	InnerTransporterType = InnerTransporter
	the InnerTransporter type (accessible for other uses)

Public Member Functions
	InterModuleForwarder (InnerTransporter &inner)
	Construct a forwarder for the intermodule layer.
virtual	~InterModuleForwarder ()
Public Member Functions inherited from goby::middleware::InterProcessTransporterBase< Derived, InnerTransporter, ImplementationTag >
	InterProcessTransporterBase (InnerTransporter &inner)
	InterProcessTransporterBase ()
virtual	~InterProcessTransporterBase ()
template<typename Data , int scheme = InterProcessTransporterBase::scheme<Data>()>
void	publish_dynamic (const Data &data, const Group &group, const Publisher< Data > &publisher=Publisher< Data >())
	Publish a message using a run-time defined DynamicGroup (const reference variant). Where possible, prefer the static variant in StaticTransporterInterface::publish()
template<typename Data , int scheme = InterProcessTransporterBase::scheme<Data>()>
void	publish_dynamic (std::shared_ptr< const Data > data, const Group &group, const Publisher< Data > &publisher=Publisher< Data >())
	Publish a message using a run-time defined DynamicGroup (shared pointer to const data variant). Where possible, prefer the static variant in StaticTransporterInterface::publish()
template<typename Data , int scheme = InterProcessTransporterBase::scheme<Data>()>
void	publish_dynamic (std::shared_ptr< Data > data, const Group &group, const Publisher< Data > &publisher=Publisher< Data >())
	Publish a message using a run-time defined DynamicGroup (shared pointer to mutable data variant). Where possible, prefer the static variant in StaticTransporterInterface::publish()
void	publish_serialized (std::string type_name, int scheme, const std::vector< char > &bytes, const goby::middleware::Group &group)
	Publish a message that has already been serialized for the given scheme.
template<typename Data , int scheme = InterProcessTransporterBase::scheme<Data>()>
void	subscribe_dynamic (std::function< void(const Data &)> f, const Group &group, const Subscriber< Data > &subscriber=Subscriber< Data >())
	Subscribe to a specific run-time defined group and data type (const reference variant). Where possible, prefer the static variant in StaticTransporterInterface::subscribe()
template<typename Data , int scheme = InterProcessTransporterBase::scheme<Data>()>
void	subscribe_dynamic (std::function< void(std::shared_ptr< const Data >)> f, const Group &group, const Subscriber< Data > &subscriber=Subscriber< Data >())
	Subscribe to a specific run-time defined group and data type (shared pointer variant). Where possible, prefer the static variant in StaticTransporterInterface::subscribe()
template<typename Data , int scheme = InterProcessTransporterBase::scheme<Data>()>
void	unsubscribe_dynamic (const Group &group, const Subscriber< Data > &subscriber=Subscriber< Data >())
	Unsubscribe to a specific run-time defined group and data type. Where possible, prefer the static variant in StaticTransporterInterface::unsubscribe()
void	unsubscribe_all ()
	Unsubscribe from all current subscriptions.
std::shared_ptr< SerializationSubscriptionRegex >	subscribe_regex (std::function< void(const std::vector< unsigned char > &, int scheme, const std::string &type, const Group &group)> f, const std::set< int > &schemes, const std::string &type_regex=".*", const std::string &group_regex=".*")
	Subscribe to multiple groups and/or types at once using regular expressions.
template<typename Data , int scheme = InterProcessTransporterBase::scheme<Data>()>
std::shared_ptr< SerializationSubscriptionRegex >	subscribe_type_regex (std::function< void(std::shared_ptr< const Data >, const std::string &type)> f, const Group &group, const std::string &type_regex=".*")
	Subscribe to a number of types within a given group and scheme using a regular expression.
template<const Group & group, typename Data , int scheme = InterProcessTransporterBase::scheme<Data>()>
void	subscribe_type_regex (std::function< void(std::shared_ptr< const Data >, const std::string &type)> f, const std::string &type_regex=".*")
	Subscribe to a number of types within a given group and scheme using a regular expression.
template<const Group & group>
void	check_validity ()
	Check validity of the Group for interthread use (at compile time)
void	check_validity_runtime (const Group &group)
	Check validity of the Group for interthread use (for DynamicGroup at run time)
Public Member Functions inherited from goby::middleware::StaticTransporterInterface< InterProcessTransporterBase< Derived, InnerTransporter, ImplementationTag >, InnerTransporter >
void	publish (const Data &data, const Publisher< Data > &publisher=Publisher< Data >())
	Publish a message (const reference variant)
void	publish (std::shared_ptr< const Data > data, const Publisher< Data > &publisher=Publisher< Data >())
	Publish a message (shared pointer to const data variant)
void	publish (std::shared_ptr< Data > data, const Publisher< Data > &publisher=Publisher< Data >())
	Publish a message (shared pointer to mutable data variant)
void	subscribe (std::function< void(const Data &)> f, const Subscriber< Data > &subscriber=Subscriber< Data >())
	Subscribe to a specific group and data type (const reference variant)
void	subscribe (std::function< void(std::shared_ptr< const Data >)> f, const Subscriber< Data > &subscriber=Subscriber< Data >())
	Subscribe to a specific group and data type (shared pointer variant)
void	subscribe (Func f)
	Simplified version of subscribe() that can deduce Data from the first argument of the function (lambda, function pointer, etc.) passed to it.
void	unsubscribe (const Subscriber< Data > &subscriber=Subscriber< Data >())
	Unsubscribe to a specific group and data type.
void	unsubscribe_all ()
	Unsubscribe to all messages that this transporter has subscribed to.
Public Member Functions inherited from goby::middleware::InnerTransporterInterface< Transporter, InnerTransporter, Enable >
InnerTransporter &	inner ()
auto	innermost ()
Public Member Functions inherited from goby::middleware::PollerInterface
template<class Clock = std::chrono::system_clock, class Duration = typename Clock::duration>
int	poll (const std::chrono::time_point< Clock, Duration > &timeout=std::chrono::time_point< Clock, Duration >::max())
	poll for data. Blocks until a data event occurs or a timeout when a particular time has been reached
template<class Clock = std::chrono::system_clock, class Duration = typename Clock::duration>
int	poll (Duration wait_for)
	poll for data. Blocks until a data event occurs or a certain duration of time elapses (timeout)
std::shared_ptr< std::mutex >	poll_mutex ()
	access the mutex used for poll synchronization
std::shared_ptr< std::condition_variable >	cv ()
	access the condition variable used for poll synchronization
void	attach (PollerInterface *poller)
	Attach another PollerInterface to this one so that its _transporter_poll() is also called during _poll_all()

Public Attributes
friend	Base

Additional Inherited Members
Static Public Member Functions inherited from goby::middleware::InterProcessTransporterBase< Derived, InnerTransporter, ImplementationTag >
template<typename Data >
static constexpr int	scheme ()
	returns the marshalling scheme id for a given data type on this layer
Protected Member Functions inherited from goby::middleware::StaticTransporterInterface< InterProcessTransporterBase< Derived, InnerTransporter, ImplementationTag >, InnerTransporter >
	StaticTransporterInterface (InnerTransporter &inner)
	StaticTransporterInterface ()
Protected Member Functions inherited from goby::middleware::Poller< InterProcessTransporterBase< Derived, InnerTransporter, ImplementationTag > >
	Poller (PollerInterface *inner_poller=nullptr)
	Construct this Poller with a pointer to the inner Poller (unless this is the innermost Poller)
PollerInterface *	inner_poller ()
Protected Member Functions inherited from goby::middleware::PollerInterface
	PollerInterface (std::shared_ptr< std::mutex > poll_mutex, std::shared_ptr< std::condition_variable > cv)
Static Protected Attributes inherited from goby::middleware::InterProcessTransporterBase< Derived, InnerTransporter, ImplementationTag >
static constexpr auto	to_portal_group_name_
static constexpr auto	regex_group_name_
static constexpr auto	from_portal_group_name_
static constexpr Group	to_portal_group_ {to_portal_group_name_.data()}
static constexpr Group	regex_group_ {regex_group_name_.data()}
static constexpr Group	from_portal_group_ {from_portal_group_name_.data()}

Detailed Description

template<typename InnerTransporter, typename ImplementationTag>
class goby::middleware::InterModuleForwarder< InnerTransporter, ImplementationTag >

Implements the forwarder concept for the intermodule layer.

Implements the forwarder concept for the intermodule layer (implementation)

The forwarder is intended to be used by inner nodes within the layer that do not connect directly to other nodes on that layer.

Template Parameters

InnerTransporter	The type of the inner transporter used to forward data to and from this node
ImplementationTag	Distinguishes different implementations using different internal groups (e.g. detail::InterModuleTag or detail::InterModuleTag)
InnerTransporter	The type of the inner transporter used to forward data to and from this node
ImplementationTag	Must be provided explicitly; use zeromq::InterModuleForwarder or udpm::InterModuleForwarder for the common cases

Definition at line 74 of file intermodule.h.

Member Typedef Documentation

Base

template<typename InnerTransporter , typename ImplementationTag >

using goby::middleware::InterModuleForwarder< InnerTransporter, ImplementationTag >::Base = InterModuleTransporterBase<InterModuleForwarder<InnerTransporter, ImplementationTag>, InnerTransporter, ImplementationTag>

Definition at line 79 of file intermodule.h.

Constructor & Destructor Documentation

InterModuleForwarder()

template<typename InnerTransporter , typename ImplementationTag >

goby::middleware::InterModuleForwarder< InnerTransporter, ImplementationTag >::InterModuleForwarder ( InnerTransporter &  inner )

inline

Construct a forwarder for the intermodule layer.

Parameters

inner

A reference to the inner transporter used to forward messages to and from the portal

Definition at line 86 of file intermodule.h.

~InterModuleForwarder()

template<typename InnerTransporter , typename ImplementationTag >

virtual goby::middleware::InterModuleForwarder< InnerTransporter, ImplementationTag >::~InterModuleForwarder ( )

inlinevirtual

Definition at line 87 of file intermodule.h.

Member Data Documentation

Base

template<typename InnerTransporter , typename ImplementationTag >

friend goby::middleware::InterModuleForwarder< InnerTransporter, ImplementationTag >::Base

Definition at line 89 of file intermodule.h.

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The documentation for this class was generated from the following file:

• goby/middleware/transport/intermodule.h