Base class for implementing transporters (both portal and forwarder) for the interprocess layer. More...

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

Inheritance diagram for goby::middleware::InterProcessTransporterBase< Derived, InnerTransporter >:

Public Member Functions
	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 >, 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::timed_mutex >	poll_mutex ()
	access the mutex used for poll synchronization

std::shared_ptr< std::condition_variable_any >	cv ()
	access the condition variable used for poll synchronization

Static Public Member Functions
template<typename Data >
static constexpr int	scheme ()
	returns the marshalling scheme id for a given data type on this layer

Static Protected Attributes
static constexpr Group	to_portal_group_ {"goby::middleware::interprocess::to_portal"}

static constexpr Group	regex_group_ {"goby::middleware::interprocess::regex"}

static constexpr Group	from_portal_group_ {"goby::middleware::interprocess::from_portal"}

Additional Inherited Members
Public Types inherited from goby::middleware::InnerTransporterInterface< Transporter, InnerTransporter, Enable >
using	InnerTransporterType = InnerTransporter
	the InnerTransporter type (accessible for other uses)

Protected Member Functions inherited from goby::middleware::StaticTransporterInterface< InterProcessTransporterBase< Derived, InnerTransporter >, InnerTransporter >
	StaticTransporterInterface (InnerTransporter &inner)

	StaticTransporterInterface ()

Protected Member Functions inherited from goby::middleware::Poller< InterProcessTransporterBase< Derived, InnerTransporter > >
	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::timed_mutex > poll_mutex, std::shared_ptr< std::condition_variable_any > cv)

Detailed Description

template<typename Derived, typename InnerTransporter>
class goby::middleware::InterProcessTransporterBase< Derived, InnerTransporter >

Base class for implementing transporters (both portal and forwarder) for the interprocess layer.

Template Parameters

Derived	derived class (curiously recurring template pattern)
InnerTransporter	inner layer transporter type

Definition at line 51 of file interprocess.h.

Constructor & Destructor Documentation

◆ InterProcessTransporterBase() [1/2]

template<typename Derived , typename InnerTransporter >

goby::middleware::InterProcessTransporterBase< Derived, InnerTransporter >::InterProcessTransporterBase ( InnerTransporter & inner )

inline

Definition at line 63 of file interprocess.h.

◆ InterProcessTransporterBase() [2/2]

template<typename Derived , typename InnerTransporter >

goby::middleware::InterProcessTransporterBase< Derived, InnerTransporter >::InterProcessTransporterBase ( )

inline

Definition at line 67 of file interprocess.h.

◆ ~InterProcessTransporterBase()

template<typename Derived , typename InnerTransporter >

virtual goby::middleware::InterProcessTransporterBase< Derived, InnerTransporter >::~InterProcessTransporterBase ( )

inlinevirtual

Definition at line 69 of file interprocess.h.

Member Function Documentation

◆ check_validity()

template<typename Derived , typename InnerTransporter >

template<const Group & group>

void goby::middleware::InterProcessTransporterBase< Derived, InnerTransporter >::check_validity ( )

inline

Check validity of the Group for interthread use (at compile time)

This layer requires a valid string group

Definition at line 255 of file interprocess.h.

◆ check_validity_runtime()

template<typename Derived , typename InnerTransporter >

void goby::middleware::InterProcessTransporterBase< Derived, InnerTransporter >::check_validity_runtime ( const Group & group )

inline

Check validity of the Group for interthread use (for DynamicGroup at run time)

Definition at line 263 of file interprocess.h.

◆ publish_dynamic() [1/3]

template<typename Derived , typename InnerTransporter >

template<typename Data , int scheme = InterProcessTransporterBase::scheme<Data>()>

void goby::middleware::InterProcessTransporterBase< Derived, InnerTransporter >::publish_dynamic	(	const Data &	data,
		const Group &	group,
		const Publisher< Data > &	publisher = `Publisher<Data>()`
	)

inline

Publish a message using a run-time defined DynamicGroup (const reference variant). Where possible, prefer the static variant in StaticTransporterInterface::publish()

Template Parameters

Data	data type to publish. Can usually be inferred from the `data` parameter.
scheme	Marshalling scheme id (typically MarshallingScheme::MarshallingSchemeEnum). Can usually be inferred from the Data type.

Parameters

data	Message to publish
group	group to publish this message to (typically a DynamicGroup)
publisher	Optional metadata that controls the publication or sets callbacks to monitor the result. Typically unnecessary for interprocess and inner layers.

Definition at line 92 of file interprocess.h.

◆ publish_dynamic() [2/3]

template<typename Derived , typename InnerTransporter >

template<typename Data , int scheme = InterProcessTransporterBase::scheme<Data>()>

void goby::middleware::InterProcessTransporterBase< Derived, InnerTransporter >::publish_dynamic	(	std::shared_ptr< const Data >	data,
		const Group &	group,
		const Publisher< Data > &	publisher = `Publisher<Data>()`
	)

inline

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 Parameters

Data	data type to publish. Can usually be inferred from the `data` parameter.
scheme	Marshalling scheme id (typically MarshallingScheme::MarshallingSchemeEnum). Can usually be inferred from the Data type.

Parameters

data	Message to publish
group	group to publish this message to (typically a DynamicGroup)
publisher	Optional metadata that controls the publication or sets callbacks to monitor the result. Typically unnecessary for interprocess and inner layers.

Definition at line 108 of file interprocess.h.

◆ publish_dynamic() [3/3]

template<typename Derived , typename InnerTransporter >

template<typename Data , int scheme = InterProcessTransporterBase::scheme<Data>()>

void goby::middleware::InterProcessTransporterBase< Derived, InnerTransporter >::publish_dynamic	(	std::shared_ptr< Data >	data,
		const Group &	group,
		const Publisher< Data > &	publisher = `Publisher<Data>()`
	)

inline

Publish a message using a run-time defined DynamicGroup (shared pointer to mutable data variant). Where possible, prefer the static variant in StaticTransporterInterface::publish()

Template Parameters

Data	data type to publish. Can usually be inferred from the `data` parameter.
scheme	Marshalling scheme id (typically MarshallingScheme::MarshallingSchemeEnum). Can usually be inferred from the Data type.

Parameters

data	Message to publish
group	group to publish this message to (typically a DynamicGroup)
publisher	Optional metadata that controls the publication or sets callbacks to monitor the result. Typically unnecessary for interprocess and inner layers.

Definition at line 127 of file interprocess.h.

◆ publish_serialized()

template<typename Derived , typename InnerTransporter >

void goby::middleware::InterProcessTransporterBase< Derived, InnerTransporter >::publish_serialized	(	std::string	type_name,
		int	scheme,
		const std::vector< char > &	bytes,
		const goby::middleware::Group &	group
	)

inline

Publish a message that has already been serialized for the given scheme.

Definition at line 134 of file interprocess.h.

◆ scheme()

template<typename Derived , typename InnerTransporter >

template<typename Data >

static constexpr int goby::middleware::InterProcessTransporterBase< Derived, InnerTransporter >::scheme ( )

inlinestaticconstexpr

returns the marshalling scheme id for a given data type on this layer

Template Parameters

Data data type

Returns: marshalling scheme id

Definition at line 75 of file interprocess.h.

◆ subscribe_dynamic() [1/2]

template<typename Derived , typename InnerTransporter >

template<typename Data , int scheme = InterProcessTransporterBase::scheme<Data>()>

void goby::middleware::InterProcessTransporterBase< Derived, InnerTransporter >::subscribe_dynamic	(	std::function< void(const Data &)>	f,
		const Group &	group,
		const Subscriber< Data > &	subscriber = `Subscriber<Data>()`
	)

inline

Subscribe to a specific run-time defined group and data type (const reference variant). Where possible, prefer the static variant in StaticTransporterInterface::subscribe()

Template Parameters

Data	data type to subscribe to.
scheme	Marshalling scheme id (typically MarshallingScheme::MarshallingSchemeEnum). Can usually be inferred from the Data type.

Parameters

f	Callback function or lambda that is called upon receipt of the subscribed data
group	group to subscribe to (typically a DynamicGroup)
subscriber	Optional metadata that controls the subscription or sets callbacks to monitor the subscription result. Typically unnecessary for interprocess and inner layers.

Definition at line 149 of file interprocess.h.

◆ subscribe_dynamic() [2/2]

template<typename Derived , typename InnerTransporter >

template<typename Data , int scheme = InterProcessTransporterBase::scheme<Data>()>

void goby::middleware::InterProcessTransporterBase< Derived, InnerTransporter >::subscribe_dynamic	(	std::function< void(std::shared_ptr< const Data >)>	f,
		const Group &	group,
		const Subscriber< Data > &	subscriber = `Subscriber<Data>()`
	)

inline

Subscribe to a specific run-time defined group and data type (shared pointer variant). Where possible, prefer the static variant in StaticTransporterInterface::subscribe()

Template Parameters

Data	data type to subscribe to.
scheme	Marshalling scheme id (typically MarshallingScheme::MarshallingSchemeEnum). Can usually be inferred from the Data type.

Parameters

f	Callback function or lambda that is called upon receipt of the subscribed data
group	group to subscribe to (typically a DynamicGroup)
subscriber	Optional metadata that controls the subscription or sets callbacks to monitor the subscription result. Typically unnecessary for interprocess and inner layers.

Definition at line 165 of file interprocess.h.

◆ subscribe_regex()

template<typename Derived , typename InnerTransporter >

std::shared_ptr< SerializationSubscriptionRegex > goby::middleware::InterProcessTransporterBase< Derived, InnerTransporter >::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 = `".*"`
	)

inline

Subscribe to multiple groups and/or types at once using regular expressions.

Parameters

f	Callback function or lambda that is called upon receipt of any messages matching the group regex and type regex
schemes	Set of marshalling schemes to match
type_regex	C++ regex to match type names (within one or more of the given schemes)
group_regex	C++ regex to match group names

Returns: Shared pointer to SerializationSubscriptionRegex for later modification of regex parameters

Definition at line 196 of file interprocess.h.

◆ subscribe_type_regex() [1/2]

template<typename Derived , typename InnerTransporter >

template<typename Data , int scheme = InterProcessTransporterBase::scheme<Data>()>

std::shared_ptr< SerializationSubscriptionRegex > goby::middleware::InterProcessTransporterBase< Derived, InnerTransporter >::subscribe_type_regex	(	std::function< void(std::shared_ptr< const Data >, const std::string &type)>	f,
		const Group &	group,
		const std::string &	type_regex = `".*"`
	)

inline

Subscribe to a number of types within a given group and scheme using a regular expression.

The marshalling scheme must implement SerializerParserHelper::parse() to use this method.

Template Parameters

Data	data type to publish. Can usually be inferred from the `data` parameter.
scheme	Marshalling scheme id (typically MarshallingScheme::MarshallingSchemeEnum). Can usually be inferred from the Data type.

Parameters

group	group to subscribe to (typically a DynamicGroup)
f	Callback function or lambda that is called upon receipt of any messages matching the given group and type regex
type_regex	C++ regex to match type names (within the given scheme)

Returns: Shared pointer to SerializationSubscriptionRegex for later modification of regex parameters

Definition at line 215 of file interprocess.h.

◆ subscribe_type_regex() [2/2]

template<typename Derived , typename InnerTransporter >

template<const Group & group, typename Data , int scheme = InterProcessTransporterBase::scheme<Data>()>

void goby::middleware::InterProcessTransporterBase< Derived, InnerTransporter >::subscribe_type_regex	(	std::function< void(std::shared_ptr< const Data >, const std::string &type)>	f,
		const std::string &	type_regex = `".*"`
	)

inline

Subscribe to a number of types within a given group and scheme using a regular expression.

The marshalling scheme must implement SerializerParserHelper::parse() to use this method.

Template Parameters

group	group to publish this message to (reference to constexpr Group)
Data	data type to publish. Can usually be inferred from the `data` parameter.
scheme	Marshalling scheme id (typically MarshallingScheme::MarshallingSchemeEnum). Can usually be inferred from the Data type.

Parameters

f	Callback function or lambda that is called upon receipt of any messages matching the given group and type regex
type_regex	C++ regex to match type names (within the given scheme)

Definition at line 245 of file interprocess.h.

◆ unsubscribe_all()

template<typename Derived , typename InnerTransporter >

void goby::middleware::InterProcessTransporterBase< Derived, InnerTransporter >::unsubscribe_all ( )

inline

Unsubscribe from all current subscriptions.

Definition at line 186 of file interprocess.h.

◆ unsubscribe_dynamic()

template<typename Derived , typename InnerTransporter >

template<typename Data , int scheme = InterProcessTransporterBase::scheme<Data>()>

void goby::middleware::InterProcessTransporterBase< Derived, InnerTransporter >::unsubscribe_dynamic	(	const Group &	group,
		const Subscriber< Data > &	subscriber = `Subscriber<Data>()`
	)

inline

Unsubscribe to a specific run-time defined group and data type. Where possible, prefer the static variant in StaticTransporterInterface::unsubscribe()

Template Parameters

Data	data type to unsubscribe from.
scheme	Marshalling scheme id (typically MarshallingScheme::MarshallingSchemeEnum). Can usually be inferred from the Data type.

Parameters

group group to unsubscribe from (typically a DynamicGroup)

Definition at line 178 of file interprocess.h.

Member Data Documentation

◆ from_portal_group_

template<typename Derived , typename InnerTransporter >

constexpr goby::middleware::Group goby::middleware::InterProcessTransporterBase< Derived, InnerTransporter >::from_portal_group_ {"goby::middleware::interprocess::from_portal"}

staticconstexprprotected

Definition at line 272 of file interprocess.h.

◆ regex_group_

template<typename Derived , typename InnerTransporter >

constexpr goby::middleware::Group goby::middleware::InterProcessTransporterBase< Derived, InnerTransporter >::regex_group_ {"goby::middleware::interprocess::regex"}

staticconstexprprotected

Definition at line 271 of file interprocess.h.

◆ to_portal_group_

template<typename Derived , typename InnerTransporter >

constexpr goby::middleware::Group goby::middleware::InterProcessTransporterBase< Derived, InnerTransporter >::to_portal_group_ {"goby::middleware::interprocess::to_portal"}

staticconstexprprotected

Definition at line 270 of file interprocess.h.

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

goby/middleware/transport/interprocess.h

Public Member Functions

Static Public Member Functions

Static Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ InterProcessTransporterBase() [1/2]

◆ InterProcessTransporterBase() [2/2]

◆ ~InterProcessTransporterBase()

Member Function Documentation

◆ check_validity()

◆ check_validity_runtime()

◆ publish_dynamic() [1/3]

◆ publish_dynamic() [2/3]

◆ publish_dynamic() [3/3]

◆ publish_serialized()

◆ scheme()

◆ subscribe_dynamic() [1/2]

◆ subscribe_dynamic() [2/2]

◆ subscribe_regex()

◆ subscribe_type_regex() [1/2]

◆ subscribe_type_regex() [2/2]

◆ unsubscribe_all()

◆ unsubscribe_dynamic()

Member Data Documentation

◆ from_portal_group_

◆ regex_group_

◆ to_portal_group_