channels_updater.h

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/******************************************************************************
 * Copyright 2023 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.
 *****************************************************************************/
 
#pragma once
#include <memory>
#include <string>
#include <unordered_map>
 
#include <boost/thread/locks.hpp>
#include <boost/thread/shared_mutex.hpp>
 
#include "cyber/common/log.h"
#include "cyber/cyber.h"
#include "modules/dreamview/backend/common/handlers/websocket_handler.h"
#include "modules/dreamview_plus/backend/updater/updater_base.h"
namespace apollo {
namespace dreamview {
 
using apollo::cyber::message::RawMessage;
 
struct ChannelUpdater {
  std::shared_ptr<apollo::cyber::Reader<RawMessage>> reader;
  std::string channel_data_str;
  ChannelUpdater() : reader(nullptr), channel_data_str("") {}
};
 
class ChannelsUpdater : public UpdaterBase {
 public:
  using ReaderMap = std::unordered_map<std::string, ChannelUpdater>;
  explicit ChannelsUpdater(WebSocketHandler *websocket);
  ~ChannelsUpdater() override {
    if (timer_initialized_) {
      timer_->Stop();
    }
  }
  void StartStream(const double &time_interval_ms,
                   const std::string &channel_name = "",
                   nlohmann::json *subscribe_param = nullptr) override;
  void StopStream(const std::string& channel_name = "") override;
  void PublishMessage(const std::string& channel_name = "") override;
 
 private:
  bool SubscribeChannel(const std::string &channel_name);
  void ControlThrottle(bool add_lock);
  bool GetThrottleFlag();
  std::unique_ptr<cyber::Node> node_;
  WebSocketHandler *websocket_ = nullptr;
  ReaderMap channel_updaters_;
  // Channel data stream string by channels.
  bool timer_initialized_ = false;
  // Add channel timer to control channel data stream frequency.
  std::unique_ptr<cyber::Timer> timer_;
  // Channel data stream throttle flag
  bool throttle = false;
  mutable boost::shared_mutex throttle_mutex_;
};
 
}  // namespace dreamview
}  // namespace apollo