Objects implementing the Goby nested middleware. More...

Namespaces
	coroner

	detail

	frontseat

	groups

	hdf5

	intermodule

	intervehicle

	io

	log

	protobuf

	terminate

Classes
class	AISConverter

class	Application
	Base class for Goby applications. Generally you will want to use SingleThreadApplication or MultiThreadApplication rather than instantiating this class directly. More...

class	ConfigException
	indicates a problem with the runtime command line or .cfg file configuration (or –help was given) More...

class	ConfigReader
	Class for reading configuration from command line and/or file(s) into a Google Protocol Buffers message. You will likely want to use ProtobufConfigurator rather than using this class directly. More...

class	ConfiguratorInterface
	Defines the interface to a "configurator", a class that can read command line parameters (argc, argv) and produce a configuration object. More...

class	DynamicGroup
	Implementation of Group for dynamic (run-time) instantiations. Use Group directly for static (compile-time) instantiations. More...

class	Group
	Class for grouping publications in the Goby middleware. Analogous to "topics" in ROS, "channel" in LCM, or "variable" in MOOS. More...

class	HDF5Plugin
	Superclass for implementing plugins for the goby_hdf5 tool for converting from Google Protocol Buffers messages to an HDF5 scientific data file. More...

struct	HDF5ProtobufEntry
	Represents an entry in a HDF5 scientific data file converted from a Google Protocol Buffers message. More...

class	HealthMonitorThread

class	InnerTransporterInterface
	Recursive inner layer transporter storage or generator. More...

class	InnerTransporterInterface< Transporter, InnerTransporter, typename std::enable_if_t< std::is_same< Transporter, NullTransporter >::value &&std::is_same< InnerTransporter, NullTransporter >::value > >
	End recursion when both Transporter and InnerTransporter are NullTransporter. More...

class	InnerTransporterInterface< Transporter, InnerTransporter, typename std::enable_if_t<!std::is_same< Transporter, NullTransporter >::value &&!std::is_same< InnerTransporter, NullTransporter >::value > >
	Real transporter that has a real inner transporter. More...

class	InnerTransporterInterface< Transporter, InnerTransporter, typename std::enable_if_t<!std::is_same< Transporter, NullTransporter >::value &&std::is_same< InnerTransporter, NullTransporter >::value > >
	Innermost real transporter. More...

class	InterModuleForwarder
	Implements the forwarder concept for the intermodule layer. More...

class	InterModulePortalBase

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

class	InterProcessPortalBase

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

class	InterThreadTransporter
	A transporter for the interthread layer. More...

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

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

class	IntervehicleSerializationSubscription
	Represents a subscription to a serialized data type (intervehicle layer). More...

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

class	InvalidPublication

class	InvalidSubscription

class	InvalidUnsubscription

struct	MarshallingScheme
	Enumeration and helper functions for marshalling scheme identification. More...

struct	MAVLinkRegistry
	A registry of mavlink types used for decoding. More...

struct	MAVLinkTupleIndices

class	MultiThreadApplication
	Base class for building multithreaded applications for a given implementation of the InterProcessPortal. This class isn't used directly by user applications, for that use a specific implementation, e.g. zeromq::MultiThreadApplication. More...

class	MultiThreadApplicationBase
	Base class for creating multiple thread applications. More...

class	MultiThreadStandaloneApplication
	Base class for building multithreaded Goby applications that do not have perform any interprocess (or outer) communications, but only communicate internally via the InterThreadTransporter. More...

class	MultiThreadTest
	Base class for building multithreaded Goby tests that do not have perform any interprocess (or outer) communications, but only communicate internally via the InterThreadTransporter. The only difference with this class and MultiThreadStandaloneApplication is that the interprocess() and intervehicle() methods are implemented here (as dummy calls to interthread()) to allow this to be a drop-in replacement for testing interthread comms on existing MultiThreadApplication subclasses. More...

struct	NullConfig

class	NullTransporter
	A do-nothing transporter that is always inside the last real transporter level. You will never directly instantiate a NullTransporter if you want it to do anything. More...

class	Poller
	Utility class for allowing the various Goby middleware transporters to poll the underlying transport code for data. More...

class	PollerInterface
	Defines the common interface for polling for data on Goby transporters. More...

class	ProtobufConfigurator
	Implementation of ConfiguratorInterface for Google Protocol buffers. More...

class	Publisher
	Class that holds additional metadata and callback functions related to a publication (and is optionally provided as a parameter to StaticTransporterInterface::publish). Use of this class is generally unnecessary on interprocess and inner layers. More...

class	PublisherCallback
	Represents a callback for a published data type (e.g. acked_func or expired_func) More...

class	SerializationHandlerBase
	Base class for handling posting callbacks for serialized data types (interprocess and outer) More...

class	SerializationHandlerPostSelector
	Selector class for enabling SerializationHandlerBase::post() override signature based on whether the Metadata exists (e.g. Publisher or Subscriber) or not (that is, Metadata = void). More...

class	SerializationHandlerPostSelector< Metadata, typename std::enable_if_t< std::is_void< Metadata >::value > >
	Selects the SerializationHandlerBase::post() signatures without metadata. More...

class	SerializationHandlerPostSelector< Metadata, typename std::enable_if_t<!std::is_void< Metadata >::value > >
	Selects the SerializationHandlerBase::post() signatures with metadata (e.g. Publisher or Subscriber) More...

class	SerializationInterModuleSubscription
	Represents a(n) (un)subscription from an InterModuleForwarder. More...

class	SerializationSubscription
	Represents a subscription to a serialized data type (interprocess layer). More...

class	SerializationSubscriptionRegex
	Represents a regex subscription to a serialized data type (interprocess and outer layers). More...

class	SerializationUnSubscribeAll
	Represents an unsubscription to all subscribed data for a given thread. More...

class	SerializationUnSubscription
	Represents an unsubscription to a serialized data type (interprocess and outer layers). More...

struct	SerializerParserHelper
	Class for parsing and serializing a given marshalling scheme. Must be specialized for a particular scheme and/or DataType. More...

struct	SerializerParserHelper< DataType, MarshallingScheme::DCCL >
	Specialization for DCCL message types that are fully qualified Protobuf message types (static), e.g. DataType == Foo for "message Foo". More...

struct	SerializerParserHelper< DataType, MarshallingScheme::MAVLINK >
	Specialization for known compile-time Mavlink message without metadata, e.g. DataType == HEARTBEAT. More...

struct	SerializerParserHelper< DataType, MarshallingScheme::PROTOBUF, std::enable_if_t<!std::is_same< DataType, google::protobuf::Message >::value > >
	Specialization for fully qualified Protobuf message types (static), e.g. DataType == Foo for "message Foo". More...

struct	SerializerParserHelper< google::protobuf::Message, MarshallingScheme::DCCL >
	Specialization for runtime introspection of DCCL messages using google::protobuf::Message base class (works for publish and subscribe_regex only) More...

struct	SerializerParserHelper< google::protobuf::Message, MarshallingScheme::PROTOBUF >
	Specialization for runtime introspection using google::protobuf::Message base class (works for publish and subscribe_type_regex only) More...

struct	SerializerParserHelper< mavlink::mavlink_message_t, MarshallingScheme::MAVLINK >
	Specialization for Mavlink message using runtime introspection (publish and subscribe_type_regex only) More...

struct	SerializerParserHelper< nlohmann::json, MarshallingScheme::JSON >
	Support nlohmann JSON library in Goby3 using BSON encoding. More...

struct	SerializerParserHelper< std::string, MarshallingScheme::CSTR >
	Example usable specialization for std::string using a null terminated array of bytes (C string). Likely not the best choice for production use. More...

struct	SerializerParserHelper< std::tuple< Integer, Integer, DataType >, MarshallingScheme::MAVLINK >
	Specialization for known compile-time Mavlink message and system id / component id metadata, e.g. DataType == HEARTBEAT, with tuple of <sysid, compid, msg> More...

struct	SerializerParserHelper< T, MarshallingScheme::JSON >
	Support arbitrary data types using nlohmann JSON (must define to_json/from_json functions for your data type: see nlohmann JSON docs) More...

class	SimpleThread
	Implements Thread for a three layer middleware setup ([ intervehicle [ interprocess [ interthread ] ] ]) based around InterVehicleForwarder. More...

class	SingleThreadApplication
	Implements an Application for a two layer middleware setup ([ intervehicle [ interprocess ] ]) based around InterVehicleForwarder without any interthread communications layer. This class isn't used directly by user applications, for that use a specific implementation, e.g. zeromq::SingleThreadApplication. More...

class	StaticTransporterInterface
	Defines the common interface for publishing and subscribing data using static (constexpr) groups on Goby transporters. More...

class	Subscriber
	Class that holds additional metadata and callback functions related to a subscription (and is optionally provided as a parameter to StaticTransporterInterface::subscribe). Use of this class is generally unnecessary on interprocess and inner layers. More...

class	Thread
	Represents a thread of execution within the Goby middleware, interleaving periodic events (loop()) with asynchronous receipt of data. Most user code should inherit from SimpleThread, not from Thread directly. More...

struct	ThreadIdentifier

class	TimerThread
	Thread that simply publishes an empty message on its loop interval to TimerThread::group. More...

class	ToolHelper

class	ToolSharedLibraryLoader

Typedefs
template<typename Derived , typename InnerTransporter >
using	InterModuleTransporterBase = InterProcessTransporterBase< Derived, InnerTransporter >

Enumerations
enum	Necessity { Necessity::REQUIRED, Necessity::RECOMMENDED, Necessity::OPTIONAL }
	Used to tag subscriptions based on their necessity (e.g. required for correct functioning, or optional) More...

Functions
std::string	to_string (goby::middleware::protobuf::Layer layer)

std::string	thread_id (std::thread::id i=std::this_thread::get_id())

std::string	hostname ()

std::string	full_process_id ()

std::string	full_process_and_thread_id (std::thread::id i=std::this_thread::get_id())

bool	operator== (const Group &a, const Group &b)

bool	operator!= (const Group &a, const Group &b)

std::ostream &	operator<< (std::ostream &os, const Group &g)

std::ostream &	operator<< (std::ostream &os, const HDF5ProtobufEntry &entry)

template<typename T , typename std::enable_if< std::is_same< T, std::string >::value >::type * = nullptr>
constexpr int	scheme ()
	Placeholder to provide an interface for the scheme() function family. More...

template<typename DataType , typename Transporter >
constexpr int	transporter_scheme ()
	Helper function for calling a particular transporter's scheme method. More...

template<typename T , class Enable = void>
constexpr const char *	json_type_name ()

template<typename Tuple , typename T = typename std::tuple_element<MAVLinkTupleIndices::PACKET_INDEX, Tuple>::type, typename std::enable_if< std::is_base_of< mavlink::Message, T >::value >::type * = nullptr>
constexpr int	scheme ()
	Specialization for Mavlink with system id / component id metadata for tuple of <sysid, compid, msg> More...

template<typename Metadata >
bool	operator== (const SerializationHandlerBase< Metadata > &s1, const SerializationHandlerBase< Metadata > &s2)

Detailed Description

Objects implementing the Goby nested middleware.

Typedef Documentation

◆ InterModuleTransporterBase

template<typename Derived , typename InnerTransporter >

using goby::middleware::InterModuleTransporterBase = typedef InterProcessTransporterBase<Derived, InnerTransporter>

Definition at line 59 of file intermodule.h.

Enumeration Type Documentation

◆ Necessity

enum goby::middleware::Necessity

strong

Used to tag subscriptions based on their necessity (e.g. required for correct functioning, or optional)

Enumerator
REQUIRED
RECOMMENDED
OPTIONAL

Definition at line 191 of file interface.h.

Function Documentation

◆ full_process_and_thread_id()

std::string goby::middleware::full_process_and_thread_id ( std::thread::id i = std::this_thread::get_id() )

inline

Definition at line 104 of file common.h.

◆ full_process_id()

std::string goby::middleware::full_process_id ( )

inline

Definition at line 95 of file common.h.

◆ hostname()

std::string goby::middleware::hostname ( )

inline

Definition at line 77 of file common.h.

◆ json_type_name()

template<typename T , class Enable = void>

constexpr const char* goby::middleware::json_type_name ( )

constexpr

Definition at line 62 of file json.h.

◆ operator!=()

bool goby::middleware::operator!=	(	const Group &	a,
		const Group &	b
	)

inline

Definition at line 113 of file group.h.

◆ operator<<() [1/2]

std::ostream& goby::middleware::operator<<	(	std::ostream &	os,
		const Group &	g
	)

inline

Definition at line 115 of file group.h.

◆ operator<<() [2/2]

std::ostream& goby::middleware::operator<<	(	std::ostream &	os,
		const HDF5ProtobufEntry &	entry
	)

inline

Definition at line 64 of file hdf5_plugin.h.

◆ operator==() [1/2]

bool goby::middleware::operator==	(	const Group &	a,
		const Group &	b
	)

inline

Definition at line 105 of file group.h.

◆ operator==() [2/2]

template<typename Metadata >

bool goby::middleware::operator==	(	const SerializationHandlerBase< Metadata > &	s1,
		const SerializationHandlerBase< Metadata > &	s2
	)

Definition at line 124 of file serialization_handlers.h.

◆ scheme() [1/2]

template<typename T , typename std::enable_if< std::is_same< T, std::string >::value >::type * = nullptr>

constexpr int goby::middleware::scheme ( )

constexpr

Placeholder to provide an interface for the scheme() function family.

Specialization for Mavlink without metadata.

Specializations must provide the numeric marshalling scheme id (typically MarshallingScheme::MarshallingSchemeEnum for known schemes) given a DataType and perhaps a enable_if template parameter. These functions must be defined before they are used (due to C++ rules on constexpr functions), which typically means including the appropriate "marshalling" header(s) before include the relevant "transport" header(s). For example:

// include Protobuf marshalling scheme definition (with scheme() function definition)
#include "goby/middleware/marshalling/protobuf.h"
 
// include InterProcessPortal definition (that uses the scheme() function in its template default parameters)
#include "goby/zeromq/transport/interprocess.h"

Template Parameters

DataType data type that the specialization can handle

Definition at line 65 of file cstr.h.

◆ scheme() [2/2]

template<typename Tuple , typename T = typename std::tuple_element<MAVLinkTupleIndices::PACKET_INDEX, Tuple>::type, typename std::enable_if< std::is_base_of< mavlink::Message, T >::value >::type * = nullptr>

constexpr int goby::middleware::scheme ( )

constexpr

Specialization for Mavlink with system id / component id metadata for tuple of <sysid, compid, msg>

Definition at line 251 of file mavlink.h.

◆ thread_id()

std::string goby::middleware::thread_id ( std::thread::id i = std::this_thread::get_id() )

inline

Definition at line 53 of file common.h.

◆ to_string()

std::string goby::middleware::to_string ( goby::middleware::protobuf::Layer layer )

inline

Definition at line 44 of file common.h.

◆ transporter_scheme()

template<typename DataType , typename Transporter >

constexpr int goby::middleware::transporter_scheme ( )

constexpr

Helper function for calling a particular transporter's scheme method.

Different transporters may have different rules for determining allowable schemes or may enforce a different scheme for a particular data type. This function ensures the transporter has a chance to weigh in.

Template Parameters

DataType	data type to provide underlying marshalling scheme for
Transporter	transporter type to determine

Definition at line 147 of file interface.h.

Namespaces

Classes

Typedefs

Enumerations

Functions

Detailed Description

Typedef Documentation

◆ InterModuleTransporterBase

Enumeration Type Documentation

◆ Necessity

Function Documentation

◆ full_process_and_thread_id()

◆ full_process_id()

◆ hostname()

◆ json_type_name()

◆ operator!=()

◆ operator<<() [1/2]

◆ operator<<() [2/2]

◆ operator==() [1/2]

◆ operator==() [2/2]

◆ scheme() [1/2]

◆ scheme() [2/2]

◆ thread_id()

◆ to_string()

◆ transporter_scheme()