apollo::bridge::UDPListener< T > 模板类 参考

#include <udp_listener.h>

apollo::bridge::UDPListener< T > 的协作图:

类
struct	Param

Public 类型
typedef bool(T::*	func) (int fd)

Public 成员函数
	UDPListener ()
	UDPListener (T *receiver, uint16_t port, func msg_handle)
	~UDPListener ()
void	SetMsgHandle (func msg_handle)
bool	Initialize (T *receiver, func msg_handle, uint16_t port)
bool	Listen ()

静态 Public 成员函数
static void *	pthread_handle_message (void *param)

详细描述

template<typename T>
class apollo::bridge::UDPListener< T >

在文件 udp_listener.h 第 36 行定义.

成员类型定义说明

func

template<typename T >

typedef bool(T::* apollo::bridge::UDPListener< T >::func) (int fd)

在文件 udp_listener.h 第 38 行定义.

构造及析构函数说明

UDPListener() [1/2]

template<typename T >

apollo::bridge::UDPListener< T >::UDPListener ( )

inline

在文件 udp_listener.h 第 39 行定义.

{}

UDPListener() [2/2]

template<typename T >

apollo::bridge::UDPListener< T >::UDPListener ( T *  receiver, uint16_t  port, func  msg_handle  )

inline

在文件 udp_listener.h 第 40 行定义.

                                                           {
    receiver_ = receiver;
    listened_port_ = port;
    msg_handle_ = msg_handle;
  }

~UDPListener()

template<typename T >

apollo::bridge::UDPListener< T >::~UDPListener ( )

inline

在文件 udp_listener.h 第 45 行定义.

                 {
    if (listener_sock_ != -1) {
      close(listener_sock_);
    }
  }

成员函数说明

Initialize()

template<typename T >

bool apollo::bridge::UDPListener< T >::Initialize	(	T *	receiver,
		func	msg_handle,
		uint16_t	port
	)

在文件 udp_listener.h 第 76 行定义.

                                                                           {
  msg_handle_ = msg_handle;
  if (!msg_handle_) {
    return false;
  }
 
  receiver_ = receiver;
  if (!receiver_) {
    return false;
  }
  listened_port_ = port;
  struct rlimit rt;
  rt.rlim_max = rt.rlim_cur = MAXEPOLLSIZE;
  if (setrlimit(RLIMIT_NOFILE, &rt) == -1) {
    return false;
  }
 
  listener_sock_ = socket(AF_INET, SOCK_DGRAM, 0);
  if (listener_sock_ == -1) {
    return false;
  }
  int opt = SO_REUSEADDR;
  setsockopt(listener_sock_, SOL_SOCKET, SO_REUSEADDR, &opt, sizeof(opt));
  setnonblocking(listener_sock_);
 
  struct sockaddr_in serv_addr;
  serv_addr.sin_family = PF_INET;
  serv_addr.sin_port = htons((uint16_t)listened_port_);
  serv_addr.sin_addr.s_addr = INADDR_ANY;
  if (bind(listener_sock_, (struct sockaddr *)&serv_addr,
           sizeof(struct sockaddr)) == -1) {
    close(listener_sock_);
    return false;
  }
  kdpfd_ = epoll_create(MAXEPOLLSIZE);
  struct epoll_event ev;
  ev.events = EPOLLIN | EPOLLET;
  ev.data.fd = listener_sock_;
  if (epoll_ctl(kdpfd_, EPOLL_CTL_ADD, listener_sock_, &ev) < 0) {
    close(listener_sock_);
    return false;
  }
  return true;
}

Listen()

template<typename T >

bool apollo::bridge::UDPListener< T >::Listen

(

)

在文件 udp_listener.h 第 122 行定义.

                            {
  int nfds = -1;
  bool res = true;
  struct epoll_event events[MAXEPOLLSIZE];
  while (true) {
    nfds = epoll_wait(kdpfd_, events, 10000, -1);
    if (nfds == -1) {
      res = false;
      break;
    }
 
    for (int i = 0; i < nfds; ++i) {
      if (events[i].data.fd == listener_sock_) {
        pthread_t thread;
        pthread_attr_t attr;
        pthread_attr_init(&attr);
        pthread_attr_setscope(&attr, PTHREAD_SCOPE_SYSTEM);
        pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);
        Param *par = new Param;
        par->fd_ = events[i].data.fd;
        par->listener_ = this;
        if (pthread_create(&thread, &attr,
                           &UDPListener<T>::pthread_handle_message,
                           reinterpret_cast<void *>(par))) {
          res = false;
          return res;
        }
      }
    }
  }
  close(listener_sock_);
  return res;
}

pthread_handle_message()

template<typename T >

void * apollo::bridge::UDPListener< T >::pthread_handle_message ( void *  param )

static

在文件 udp_listener.h 第 165 行定义.

                                                        {
  Param *par = static_cast<Param *>(param);
  int fd = par->fd_;
  UDPListener<T> *listener = par->listener_;
  if (par) {
    delete par;
  }
  par = nullptr;
  if (!listener) {
    pthread_exit(nullptr);
  }
  listener->MessageHandle(fd);
  pthread_exit(nullptr);
}

SetMsgHandle()

template<typename T >

void apollo::bridge::UDPListener< T >::SetMsgHandle ( func  msg_handle )

inline

在文件 udp_listener.h 第 51 行定义.

{ msg_handle_ = msg_handle; }

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该类的文档由以下文件生成:

• modules/bridge/common/udp_listener.h