Implements a portal for the intervehicle layer based on Goby Acomms. More...

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

Inheritance diagram for goby::middleware::InterVehiclePortal< InnerTransporter >:

Public Types
using	Base = InterVehicleTransporterBase< InterVehiclePortal< InnerTransporter >, InnerTransporter >

Public Types inherited from goby::middleware::InterVehicleTransporterBase< InterVehiclePortal< InnerTransporter >, InnerTransporter >
enum	SubscriptionAction

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

Public Member Functions
	InterVehiclePortal (const intervehicle::protobuf::PortalConfig &cfg)
	Instantiate a portal with the given configuration (with the portal owning the inner transporter)

	InterVehiclePortal (InnerTransporter &inner, const intervehicle::protobuf::PortalConfig &cfg)
	Instantiate a portal with the given configuration and a reference to an external inner transporter.

	~InterVehiclePortal ()

Public Member Functions inherited from goby::middleware::InterVehicleTransporterBase< InterVehiclePortal< InnerTransporter >, InnerTransporter >
	InterVehicleTransporterBase (InnerTransporter &inner)

	InterVehicleTransporterBase ()

virtual	~InterVehicleTransporterBase ()=default

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

void	publish_dynamic (const Data &data, const Group &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=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=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	subscribe_dynamic (std::function< void(const Data &)> f, const Group &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=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=Group(), const Subscriber< Data > &subscriber=Subscriber< Data >())
	Unsubscribe from a specific run-time defined group and data type. Where possible, prefer the static variant in StaticTransporterInterface::unsubscribe()

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::InterVehicleTransporterBase< InterVehiclePortal< InnerTransporter >, InnerTransporter >
static constexpr int	scheme ()
	returns the marshalling scheme id for a given data type on this layer. Only MarshallingScheme::DCCL is currently supported

Protected Member Functions inherited from goby::middleware::InterVehicleTransporterBase< InterVehiclePortal< InnerTransporter >, InnerTransporter >
std::shared_ptr< goby::middleware::protobuf::SerializerTransporterMessage >	_set_up_publish (const Data &d, const Group &group, const Publisher< Data > &publisher)

std::shared_ptr< intervehicle::protobuf::Subscription >	_set_up_subscribe (std::function< void(std::shared_ptr< const Data > d)> func, const Group &group, const Subscriber< Data > &subscriber, SubscriptionAction action)

void	_handle_ack_or_expire (const AckorExpirePair &ack_or_expire_pair)

void	_receive (const intervehicle::protobuf::DCCLForwardedData &packets)

std::shared_ptr< intervehicle::protobuf::Subscription >	_serialize_subscription (const Group &group, const Subscriber< Data > &subscriber, SubscriptionAction action)

void	_insert_pending_ack (int dccl_id, std::shared_ptr< goby::middleware::protobuf::SerializerTransporterMessage > data, std::shared_ptr< SerializationHandlerBase< intervehicle::protobuf::AckData > > ack_handler, std::shared_ptr< SerializationHandlerBase< intervehicle::protobuf::ExpireData > > expire_handler)

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)

Protected Attributes inherited from goby::middleware::InterVehicleTransporterBase< InterVehiclePortal< InnerTransporter >, InnerTransporter >
std::unordered_map< int, std::unordered_map< std::string, std::shared_ptr< const SerializationHandlerBase< intervehicle::protobuf::Header > > > >	subscriptions_

Detailed Description

template<typename InnerTransporter>
class goby::middleware::InterVehiclePortal< InnerTransporter >

Implements a portal for the intervehicle layer based on Goby Acomms.

Template Parameters

InnerTransporter The type of the inner transporter used to forward data to and from this node. This portal uses goby::middleware::InterThreadTransport internally, so the innermost transporter must be goby::middleware::InterThreadTransport. This allows for use of any InterProcessPortal, as long as that InterProcessPortal has an inner transporter of goby::middleware::InterThreadTransport.

Definition at line 644 of file intervehicle.h.

Member Typedef Documentation

◆ Base

template<typename InnerTransporter >

using goby::middleware::InterVehiclePortal< InnerTransporter >::Base = InterVehicleTransporterBase<InterVehiclePortal<InnerTransporter>, InnerTransporter>

Definition at line 654 of file intervehicle.h.

Constructor & Destructor Documentation

◆ InterVehiclePortal() [1/2]

template<typename InnerTransporter >

goby::middleware::InterVehiclePortal< InnerTransporter >::InterVehiclePortal ( const intervehicle::protobuf::PortalConfig & cfg )

inline

Instantiate a portal with the given configuration (with the portal owning the inner transporter)

Parameters

cfg	Configuration of physical modem links to use, etc.

Definition at line 660 of file intervehicle.h.

◆ InterVehiclePortal() [2/2]

template<typename InnerTransporter >

goby::middleware::InterVehiclePortal< InnerTransporter >::InterVehiclePortal	(	InnerTransporter &	inner,
		const intervehicle::protobuf::PortalConfig &	cfg
	)

inline

Instantiate a portal with the given configuration and a reference to an external inner transporter.

Parameters

inner	Reference to the inner transporter to use
cfg	Configuration of physical modem links to use, etc.

Definition at line 666 of file intervehicle.h.

◆ ~InterVehiclePortal()

template<typename InnerTransporter >

goby::middleware::InterVehiclePortal< InnerTransporter >::~InterVehiclePortal ( )

inline

Definition at line 672 of file intervehicle.h.

Member Data Documentation

◆ Base

template<typename InnerTransporter >

friend goby::middleware::InterVehiclePortal< InnerTransporter >::Base

Definition at line 682 of file intervehicle.h.

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

goby/middleware/transport/intervehicle.h

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

Constructor & Destructor Documentation

◆ InterVehiclePortal() [1/2]

◆ InterVehiclePortal() [2/2]

◆ ~InterVehiclePortal()

Member Data Documentation

◆ Base