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

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

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

Public Types
using	Base = InterProcessTransporterBase< InterProcessForwarder< InnerTransporter, ImplementationTag >, InnerTransporter, ImplementationTag >

Public Types inherited from goby::middleware::InterProcessTransporterBase< InterProcessForwarder< InnerTransporter, ImplementationTag >, 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
	InterProcessForwarder (InnerTransporter &inner)
	Construct a forwarder for the interprocess layer.

virtual	~InterProcessForwarder ()

Public Member Functions inherited from goby::middleware::InterProcessTransporterBase< InterProcessForwarder< InnerTransporter, ImplementationTag >, InnerTransporter, ImplementationTag >
	InterProcessTransporterBase (InnerTransporter &inner)

	InterProcessTransporterBase ()

virtual	~InterProcessTransporterBase ()

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()

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()

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.

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()

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()

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.

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.

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.

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< Transporter, InnerTransporter >
template<const Group & group, typename Data , int scheme = transporter_scheme<Data, Transporter>()>
void	publish (const Data &data, const Publisher< Data > &publisher=Publisher< Data >())
	Publish a message (const reference variant)

template<const Group & group, typename Data , int scheme = transporter_scheme<Data, Transporter>()>
void	publish (std::shared_ptr< const Data > data, const Publisher< Data > &publisher=Publisher< Data >())
	Publish a message (shared pointer to const data variant)

template<const Group & group, typename Data , int scheme = transporter_scheme<Data, Transporter>()>
void	publish (std::shared_ptr< Data > data, const Publisher< Data > &publisher=Publisher< Data >())
	Publish a message (shared pointer to mutable data variant)

template<const Group & group, typename Data , int scheme = transporter_scheme<Data, Transporter>(), Necessity necessity = Necessity::OPTIONAL>
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)

template<const Group & group, typename Data , int scheme = transporter_scheme<Data, Transporter>(), Necessity necessity = Necessity::OPTIONAL>
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)

template<const Group & group, Necessity necessity = Necessity::OPTIONAL, typename Func >
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.

template<const Group & group, typename Data , int scheme = transporter_scheme<Data, Transporter>()>
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< InterProcessForwarder< InnerTransporter, ImplementationTag >, InnerTransporter, ImplementationTag >
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< Transporter, InnerTransporter >
	StaticTransporterInterface (InnerTransporter &inner)

	StaticTransporterInterface ()

Protected Member Functions inherited from goby::middleware::Poller< Transporter >
	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< InterProcessForwarder< InnerTransporter, ImplementationTag >, 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_

static constexpr Group	regex_group_

static constexpr Group	from_portal_group_

Detailed Description

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

Implements the forwarder concept for the interprocess layer.

Implements the forwarder concept for the interprocess 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. For example, the main thread might instantiate a portal and then spawn several threads that instantiate forwarders. These auxiliary threads can then communicate on the interprocess layer as if they had a direct connection to other interprocess nodes.

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::InterProcessTag or detail::InterProcessTag)
InnerTransporter	The type of the inner transporter used to forward data to and from this node
ImplementationTag	Must be provided explicitly; use zeromq::InterProcessForwarder or udpm::InterProcessForwarder for the common cases

Definition at line 311 of file interprocess.h.

Member Typedef Documentation

◆ Base

template<typename InnerTransporter , typename ImplementationTag >

using goby::middleware::InterProcessForwarder< InnerTransporter, ImplementationTag >::Base = InterProcessTransporterBase<InterProcessForwarder<InnerTransporter, ImplementationTag>, InnerTransporter, ImplementationTag>

Definition at line 316 of file interprocess.h.

Constructor & Destructor Documentation

◆ InterProcessForwarder()

template<typename InnerTransporter , typename ImplementationTag >

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

inline

Construct a forwarder for the interprocess layer.

Parameters

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

Definition at line 323 of file interprocess.h.

◆ ~InterProcessForwarder()

template<typename InnerTransporter , typename ImplementationTag >

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

inlinevirtual

Definition at line 333 of file interprocess.h.

Member Data Documentation

◆ Base

template<typename InnerTransporter , typename ImplementationTag >

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

Definition at line 347 of file interprocess.h.

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

goby/middleware/io/detail/io_interface.h
goby/middleware/transport/interprocess.h

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

Constructor & Destructor Documentation

◆ InterProcessForwarder()

◆ ~InterProcessForwarder()

Member Data Documentation

◆ Base