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

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

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

Public Types
enum class	SubscriptionAction { SUBSCRIBE , UNSUBSCRIBE }

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

Public Member Functions
	InterVehicleTransporterBase (InnerTransporter &inner)

	InterVehicleTransporterBase ()

virtual	~InterVehicleTransporterBase ()=default

template<const Group & group>
void	check_validity ()
	Check validity of the Group for interthread use (at compile time)

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

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

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

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

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

template<typename Data , int scheme = goby::middleware::scheme<Data>()>
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< InterVehicleTransporterBase< 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. Only MarshallingScheme::DCCL is currently supported

Protected Member Functions
template<typename Data >
std::shared_ptr< goby::middleware::protobuf::SerializerTransporterMessage >	_set_up_publish (const Data &d, const Group &group, const Publisher< Data > &publisher)

template<typename Data >
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)

template<int tuple_index, typename AckorExpirePair >
void	_handle_ack_or_expire (const AckorExpirePair &ack_or_expire_pair)

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

template<typename Data >
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< InterVehicleTransporterBase< Derived, InnerTransporter >, InnerTransporter >
	StaticTransporterInterface (InnerTransporter &inner)

	StaticTransporterInterface ()

Protected Member Functions inherited from goby::middleware::Poller< InterVehicleTransporterBase< 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)

Protected Attributes
std::unordered_map< int, std::unordered_map< std::string, std::shared_ptr< const SerializationHandlerBase< intervehicle::protobuf::Header > > > >	subscriptions_

Detailed Description

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

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

Template Parameters

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

Definition at line 70 of file intervehicle.h.

Member Enumeration Documentation

◆ SubscriptionAction

template<typename Derived , typename InnerTransporter >

enum class goby::middleware::InterVehicleTransporterBase::SubscriptionAction

strong

Enumerator
SUBSCRIBE
UNSUBSCRIBE

Definition at line 82 of file intervehicle.h.

Constructor & Destructor Documentation

◆ InterVehicleTransporterBase() [1/2]

template<typename Derived , typename InnerTransporter >

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

inline

Definition at line 88 of file intervehicle.h.

◆ InterVehicleTransporterBase() [2/2]

template<typename Derived , typename InnerTransporter >

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

inline

Definition at line 111 of file intervehicle.h.

◆ ~InterVehicleTransporterBase()

template<typename Derived , typename InnerTransporter >

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

virtualdefault

Member Function Documentation

◆ _handle_ack_or_expire()

template<typename Derived , typename InnerTransporter >

template<int tuple_index, typename AckorExpirePair >

void goby::middleware::InterVehicleTransporterBase< Derived, InnerTransporter >::_handle_ack_or_expire ( const AckorExpirePair & ack_or_expire_pair )

inlineprotected

Definition at line 387 of file intervehicle.h.

◆ _insert_pending_ack()

template<typename Derived , typename InnerTransporter >

void goby::middleware::InterVehicleTransporterBase< Derived, InnerTransporter >::_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
	)

inlineprotected

Definition at line 468 of file intervehicle.h.

◆ _receive()

template<typename Derived , typename InnerTransporter >

void goby::middleware::InterVehicleTransporterBase< Derived, InnerTransporter >::_receive ( const intervehicle::protobuf::DCCLForwardedData & packets )

inlineprotected

Definition at line 430 of file intervehicle.h.

◆ _serialize_subscription()

template<typename Derived , typename InnerTransporter >

template<typename Data >

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

inlineprotected

Definition at line 444 of file intervehicle.h.

◆ _set_up_publish()

template<typename Derived , typename InnerTransporter >

template<typename Data >

std::shared_ptr< goby::middleware::protobuf::SerializerTransporterMessage > goby::middleware::InterVehicleTransporterBase< Derived, InnerTransporter >::_set_up_publish	(	const Data &	d,
		const Group &	group,
		const Publisher< Data > &	publisher
	)

inlineprotected

Definition at line 261 of file intervehicle.h.

◆ _set_up_subscribe()

template<typename Derived , typename InnerTransporter >

template<typename Data >

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

inlineprotected

Definition at line 302 of file intervehicle.h.

◆ check_validity()

template<typename Derived , typename InnerTransporter >

template<const Group & group>

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

inline

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

The layer requires a valid numeric group

Definition at line 127 of file intervehicle.h.

◆ publish_dynamic() [1/3]

template<typename Derived , typename InnerTransporter >

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

void goby::middleware::InterVehicleTransporterBase< Derived, InnerTransporter >::publish_dynamic	(	const Data &	data,
		const Group &	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). If a Publisher is provided, the group will be set in the data using Publisher::set_group()
publisher	Optional metadata that controls the publication or sets callbacks to monitor the result.

Definition at line 142 of file intervehicle.h.

◆ publish_dynamic() [2/3]

template<typename Derived , typename InnerTransporter >

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

void goby::middleware::InterVehicleTransporterBase< Derived, InnerTransporter >::publish_dynamic	(	std::shared_ptr< const Data >	data,
		const Group &	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). If a Publisher is provided, the group will be set in the data using Publisher::set_group()
publisher	Optional metadata that controls the publication or sets callbacks to monitor the result.

Definition at line 167 of file intervehicle.h.

◆ publish_dynamic() [3/3]

template<typename Derived , typename InnerTransporter >

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

void goby::middleware::InterVehicleTransporterBase< Derived, InnerTransporter >::publish_dynamic	(	std::shared_ptr< Data >	data,
		const Group &	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). If a Publisher is provided, the group will be set in the data using Publisher::set_group()
publisher	Optional metadata that controls the publication or sets callbacks to monitor the result.

Definition at line 199 of file intervehicle.h.

◆ scheme()

template<typename Derived , typename InnerTransporter >

template<typename Data >

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

inlinestaticconstexpr

returns the marshalling scheme id for a given data type on this layer. Only MarshallingScheme::DCCL is currently supported

Definition at line 116 of file intervehicle.h.

◆ subscribe_dynamic() [1/2]

template<typename Derived , typename InnerTransporter >

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

void goby::middleware::InterVehicleTransporterBase< Derived, InnerTransporter >::subscribe_dynamic	(	std::function< void(const Data &)>	f,
		const Group &	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 213 of file intervehicle.h.

◆ subscribe_dynamic() [2/2]

template<typename Derived , typename InnerTransporter >

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

void goby::middleware::InterVehicleTransporterBase< Derived, InnerTransporter >::subscribe_dynamic	(	std::function< void(std::shared_ptr< const Data >)>	f,
		const Group &	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 231 of file intervehicle.h.

◆ unsubscribe_dynamic()

template<typename Derived , typename InnerTransporter >

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

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

inline

Unsubscribe from 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 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 248 of file intervehicle.h.

Member Data Documentation

◆ subscriptions_

template<typename Derived , typename InnerTransporter >

std::unordered_map< int, std::unordered_map<std::string, std::shared_ptr<const SerializationHandlerBase< intervehicle::protobuf::Header> > > > goby::middleware::InterVehicleTransporterBase< Derived, InnerTransporter >::subscriptions_

protected

Definition at line 487 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

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ SubscriptionAction

Constructor & Destructor Documentation

◆ InterVehicleTransporterBase() [1/2]

◆ InterVehicleTransporterBase() [2/2]

◆ ~InterVehicleTransporterBase()

Member Function Documentation

◆ _handle_ack_or_expire()

◆ _insert_pending_ack()

◆ _receive()

◆ _serialize_subscription()

◆ _set_up_publish()

◆ _set_up_subscribe()

◆ check_validity()

◆ publish_dynamic() [1/3]

◆ publish_dynamic() [2/3]

◆ publish_dynamic() [3/3]

◆ scheme()

◆ subscribe_dynamic() [1/2]

◆ subscribe_dynamic() [2/2]

◆ unsubscribe_dynamic()

Member Data Documentation

◆ subscriptions_