hybrid_transmitter.h

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#ifndef CYBER_TRANSPORT_TRANSMITTER_HYBRID_TRANSMITTER_H_
#define CYBER_TRANSPORT_TRANSMITTER_HYBRID_TRANSMITTER_H_
 
#include <chrono>
#include <map>
#include <memory>
#include <set>
#include <string>
#include <unordered_map>
#include <vector>
 
#include "cyber/common/global_data.h"
#include "cyber/common/log.h"
#include "cyber/common/types.h"
#include "cyber/proto/role_attributes.pb.h"
#include "cyber/proto/transport_conf.pb.h"
#include "cyber/task/task.h"
#include "cyber/transport/message/history.h"
#include "cyber/transport/rtps/participant.h"
#include "cyber/transport/transmitter/intra_transmitter.h"
#include "cyber/transport/transmitter/rtps_transmitter.h"
#include "cyber/transport/transmitter/shm_transmitter.h"
#include "cyber/transport/transmitter/transmitter.h"
 
namespace apollo {
namespace cyber {
namespace transport {
 
using apollo::cyber::proto::OptionalMode;
using apollo::cyber::proto::QosDurabilityPolicy;
using apollo::cyber::proto::RoleAttributes;
 
template <typename M>
class HybridTransmitter : public Transmitter<M> {
 public:
  using MessagePtr = std::shared_ptr<M>;
  using HistoryPtr = std::shared_ptr<History<M>>;
  using TransmitterPtr = std::shared_ptr<Transmitter<M>>;
  using TransmitterMap =
      std::unordered_map<OptionalMode, TransmitterPtr, std::hash<int>>;
  using ReceiverMap =
      std::unordered_map<OptionalMode, std::set<uint64_t>, std::hash<int>>;
  using CommunicationModePtr = std::shared_ptr<proto::CommunicationMode>;
  using MappingTable =
      std::unordered_map<Relation, OptionalMode, std::hash<int>>;
 
  HybridTransmitter(const RoleAttributes& attr,
                    const ParticipantPtr& participant);
  virtual ~HybridTransmitter();
 
  void Enable() override;
  void Disable() override;
  void Enable(const RoleAttributes& opposite_attr) override;
  void Disable(const RoleAttributes& opposite_attr) override;
 
  bool Transmit(const MessagePtr& msg, const MessageInfo& msg_info) override;
 
  bool AcquireMessage(std::shared_ptr<M>& msg);
 
 private:
  void InitMode();
  void ObtainConfig();
  void InitHistory();
  void InitTransmitters();
  void ClearTransmitters();
  void InitReceivers();
  void ClearReceivers();
  void TransmitHistoryMsg(const RoleAttributes& opposite_attr);
  void ThreadFunc(const RoleAttributes& opposite_attr,
                  const std::vector<typename History<M>::CachedMessage>& msgs);
  Relation GetRelation(const RoleAttributes& opposite_attr);
 
  HistoryPtr history_;
  TransmitterMap transmitters_;
  ReceiverMap receivers_;
  std::mutex mutex_;
 
  CommunicationModePtr mode_;
  MappingTable mapping_table_;
 
  ParticipantPtr participant_;
};
 
template <typename M>
HybridTransmitter<M>::HybridTransmitter(const RoleAttributes& attr,
                                        const ParticipantPtr& participant)
    : Transmitter<M>(attr),
      history_(nullptr),
      mode_(nullptr),
      participant_(participant) {
  InitMode();
  ObtainConfig();
  InitHistory();
  InitTransmitters();
  InitReceivers();
}
 
template <typename M>
HybridTransmitter<M>::~HybridTransmitter() {
  ClearReceivers();
  ClearTransmitters();
}
 
template <typename M>
void HybridTransmitter<M>::Enable() {
  std::lock_guard<std::mutex> lock(mutex_);
  for (auto& item : transmitters_) {
    item.second->Enable();
  }
}
 
template <typename M>
void HybridTransmitter<M>::Disable() {
  std::lock_guard<std::mutex> lock(mutex_);
  for (auto& item : transmitters_) {
    item.second->Disable();
  }
}
 
template <typename M>
void HybridTransmitter<M>::Enable(const RoleAttributes& opposite_attr) {
  auto relation = GetRelation(opposite_attr);
  if (relation == NO_RELATION) {
    return;
  }
 
  uint64_t id = opposite_attr.id();
  std::lock_guard<std::mutex> lock(mutex_);
  receivers_[mapping_table_[relation]].insert(id);
  transmitters_[mapping_table_[relation]]->Enable(opposite_attr);
  TransmitHistoryMsg(opposite_attr);
}
 
template <typename M>
void HybridTransmitter<M>::Disable(const RoleAttributes& opposite_attr) {
  auto relation = GetRelation(opposite_attr);
  if (relation == NO_RELATION) {
    return;
  }
 
  uint64_t id = opposite_attr.id();
  std::lock_guard<std::mutex> lock(mutex_);
  receivers_[mapping_table_[relation]].erase(id);
  transmitters_[mapping_table_[relation]]->Disable(opposite_attr);
}
 
template <typename M>
bool HybridTransmitter<M>::Transmit(const MessagePtr& msg,
                                    const MessageInfo& msg_info) {
  std::lock_guard<std::mutex> lock(mutex_);
  history_->Add(msg, msg_info);
  for (auto& item : transmitters_) {
    item.second->Transmit(msg, msg_info);
  }
  return true;
}
 
template <typename M>
bool HybridTransmitter<M>::AcquireMessage(std::shared_ptr<M>& msg) {
  bool result = false;
  for (auto& item : transmitters_) {
    result = item.second->AcquireMessage(msg);
    if (result) {
      return true;
    }
  }
  return false;
}
 
template <typename M>
void HybridTransmitter<M>::InitMode() {
  mode_ = std::make_shared<proto::CommunicationMode>();
  mapping_table_[SAME_PROC] = mode_->same_proc();
  mapping_table_[DIFF_PROC] = mode_->diff_proc();
  mapping_table_[DIFF_HOST] = mode_->diff_host();
}
 
template <typename M>
void HybridTransmitter<M>::ObtainConfig() {
  auto& global_conf = common::GlobalData::Instance()->Config();
  if (!global_conf.has_transport_conf()) {
    return;
  }
  if (!global_conf.transport_conf().has_communication_mode()) {
    return;
  }
  mode_->CopyFrom(global_conf.transport_conf().communication_mode());
 
  mapping_table_[SAME_PROC] = mode_->same_proc();
  mapping_table_[DIFF_PROC] = mode_->diff_proc();
  mapping_table_[DIFF_HOST] = mode_->diff_host();
}
 
template <typename M>
void HybridTransmitter<M>::InitHistory() {
  HistoryAttributes history_attr(this->attr_.qos_profile().history(),
                                 this->attr_.qos_profile().depth());
  history_ = std::make_shared<History<M>>(history_attr);
  if (this->attr_.qos_profile().durability() ==
      QosDurabilityPolicy::DURABILITY_TRANSIENT_LOCAL) {
    history_->Enable();
  }
}
 
template <typename M>
void HybridTransmitter<M>::InitTransmitters() {
  std::set<OptionalMode> modes;
  modes.insert(mode_->same_proc());
  modes.insert(mode_->diff_proc());
  modes.insert(mode_->diff_host());
  for (auto& mode : modes) {
    switch (mode) {
      case OptionalMode::INTRA:
        transmitters_[mode] =
            std::make_shared<IntraTransmitter<M>>(this->attr_);
        break;
      case OptionalMode::SHM:
        transmitters_[mode] = std::make_shared<ShmTransmitter<M>>(this->attr_);
        break;
      default:
        transmitters_[mode] =
            std::make_shared<RtpsTransmitter<M>>(this->attr_, participant_);
        break;
    }
  }
}
 
template <typename M>
void HybridTransmitter<M>::ClearTransmitters() {
  for (auto& item : transmitters_) {
    item.second->Disable();
  }
  transmitters_.clear();
}
 
template <typename M>
void HybridTransmitter<M>::InitReceivers() {
  std::set<uint64_t> empty;
  for (auto& item : transmitters_) {
    receivers_[item.first] = empty;
  }
}
 
template <typename M>
void HybridTransmitter<M>::ClearReceivers() {
  receivers_.clear();
}
 
template <typename M>
void HybridTransmitter<M>::TransmitHistoryMsg(
    const RoleAttributes& opposite_attr) {
  // check qos
  if (this->attr_.qos_profile().durability() !=
      QosDurabilityPolicy::DURABILITY_TRANSIENT_LOCAL) {
    return;
  }
 
  // get unsent messages
  std::vector<typename History<M>::CachedMessage> unsent_msgs;
  history_->GetCachedMessage(&unsent_msgs);
  if (unsent_msgs.empty()) {
    return;
  }
 
  auto attr = opposite_attr;
  cyber::Async(&HybridTransmitter<M>::ThreadFunc, this, attr, unsent_msgs);
}
 
template <typename M>
void HybridTransmitter<M>::ThreadFunc(
    const RoleAttributes& opposite_attr,
    const std::vector<typename History<M>::CachedMessage>& msgs) {
  // create transmitter to transmit msgs
  RoleAttributes new_attr;
  new_attr.CopyFrom(this->attr_);
  std::string new_channel_name =
      std::to_string(this->attr_.id()) + std::to_string(opposite_attr.id());
  uint64_t channel_id = common::GlobalData::RegisterChannel(new_channel_name);
  new_attr.set_channel_name(new_channel_name);
  new_attr.set_channel_id(channel_id);
  auto new_transmitter =
      std::make_shared<RtpsTransmitter<M>>(new_attr, participant_);
  new_transmitter->Enable();
 
  for (auto& item : msgs) {
    new_transmitter->Transmit(item.msg, item.msg_info);
    cyber::USleep(1000);
  }
  new_transmitter->Disable();
  ADEBUG << "trans threadfunc exit.";
}
 
template <typename M>
Relation HybridTransmitter<M>::GetRelation(
    const RoleAttributes& opposite_attr) {
  if (opposite_attr.channel_name() != this->attr_.channel_name()) {
    return NO_RELATION;
  }
  if (opposite_attr.host_ip() != this->attr_.host_ip()) {
    return DIFF_HOST;
  }
  if (opposite_attr.process_id() != this->attr_.process_id()) {
    return DIFF_PROC;
  }
 
  return SAME_PROC;
}
 
}  // namespace transport
}  // namespace cyber
}  // namespace apollo
 
#endif  // CYBER_TRANSPORT_TRANSMITTER_HYBRID_TRANSMITTER_H_