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

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

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

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

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

Public Types inherited from goby::middleware::InnerTransporterInterface< InterVehicleTransporterBase< InterVehicleForwarder< InnerTransporter >, InnerTransporter >, InnerTransporter >
using	InnerTransporterType = InnerTransporter
	the InnerTransporter type (accessible for other uses) More...

Public Member Functions
	InterVehicleForwarder (InnerTransporter &inner)
	Construct a forwarder for the intervehicle layer. More...

virtual	~InterVehicleForwarder ()=default

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

	InterVehicleTransporterBase ()

virtual	~InterVehicleTransporterBase ()=default

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

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() More...

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() More...

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() More...

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() More...

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() More...

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() More...

Public Member Functions inherited from goby::middleware::StaticTransporterInterface< InterVehicleTransporterBase< InterVehicleForwarder< InnerTransporter >, InnerTransporter >, InnerTransporter >
void	publish (const Data &data, const Publisher< Data > &publisher=Publisher< Data >())
	Publish a message (const reference variant) More...

void	publish (std::shared_ptr< const Data > data, const Publisher< Data > &publisher=Publisher< Data >())
	Publish a message (shared pointer to const data variant) More...

void	publish (std::shared_ptr< Data > data, const Publisher< Data > &publisher=Publisher< Data >())
	Publish a message (shared pointer to mutable data variant) More...

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) More...

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) More...

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. More...

void	unsubscribe (const Subscriber< Data > &subscriber=Subscriber< Data >())
	Unsubscribe to a specific group and data type. More...

void	unsubscribe_all ()
	Unsubscribe to all messages that this transporter has subscribed to. More...

Public Member Functions inherited from goby::middleware::InnerTransporterInterface< InterVehicleTransporterBase< InterVehicleForwarder< InnerTransporter >, InnerTransporter >, InnerTransporter >
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 More...

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) More...

std::shared_ptr< std::timed_mutex >	poll_mutex ()
	access the mutex used for poll synchronization More...

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

Public Attributes
friend	Base

Additional Inherited Members
Static Public Member Functions inherited from goby::middleware::InterVehicleTransporterBase< InterVehicleForwarder< 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 More...

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

	StaticTransporterInterface ()

Protected Member Functions inherited from goby::middleware::Poller< InterVehicleTransporterBase< InterVehicleForwarder< InnerTransporter >, InnerTransporter > >
	Poller (PollerInterface *inner_poller=nullptr)
	Construct this Poller with a pointer to the inner Poller (unless this is the innermost Poller) More...

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 inherited from goby::middleware::InterVehicleTransporterBase< InterVehicleForwarder< 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::InterVehicleForwarder< InnerTransporter >

Implements the forwarder concept for the intervehicle layer.

This forwarder is used by applications that do not directly communicate with other vehicles, but are connected on the interprocess layer. For example, gobyd instantiates a portal and other processes running on the vehicle can transmit and receive data through that portal via the use of this forwarder.

Template Parameters

InnerTransporter The type of the inner transporter used to forward data to and from this node

Definition at line 576 of file intervehicle.h.

Member Typedef Documentation

◆ Base

template<typename InnerTransporter >

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

Definition at line 581 of file intervehicle.h.

Constructor & Destructor Documentation

◆ InterVehicleForwarder()

template<typename InnerTransporter >

goby::middleware::InterVehicleForwarder< InnerTransporter >::InterVehicleForwarder ( InnerTransporter & inner )

inline

Construct a forwarder for the intervehicle layer.

Parameters

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

Definition at line 586 of file intervehicle.h.

◆ ~InterVehicleForwarder()

template<typename InnerTransporter >

virtual goby::middleware::InterVehicleForwarder< InnerTransporter >::~InterVehicleForwarder ( )

virtualdefault

Member Data Documentation

◆ Base

template<typename InnerTransporter >

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

Definition at line 607 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

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

Member Typedef Documentation

◆ Base

Constructor & Destructor Documentation

◆ InterVehicleForwarder()

◆ ~InterVehicleForwarder()

Member Data Documentation

◆ Base

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