apollo::cyber::Writer< MessageT > 模板类 参考

#include <writer.h>

类 apollo::cyber::Writer< MessageT > 继承关系图:

apollo::cyber::Writer< MessageT > 的协作图:

Public 类型
using	TransmitterPtr = std::shared_ptr< transport::Transmitter< MessageT > >
using	ChangeConnection = typename service_discovery::Manager::ChangeConnection

Public 成员函数
	Writer (const proto::RoleAttributes &role_attr)
	Construct a new Writer object
virtual	~Writer ()
bool	Init () override
	Init the Writer
void	Shutdown () override
	Shutdown the Writer
virtual bool	Write (const MessageT &msg)
	Write a MessageT instance
virtual bool	Write (const std::shared_ptr< MessageT > &msg_ptr)
	Write a shared ptr of MessageT
bool	HasReader () override
	Is there any Reader that subscribes our Channel? You can publish message when this return true
void	GetReaders (std::vector< proto::RoleAttributes > *readers) override
	Get all Readers that subscriber our writing channel
std::shared_ptr< MessageT >	AcquireMessage ()
	Acquire message instance to send
Public 成员函数 继承自 apollo::cyber::WriterBase
	WriterBase (const proto::RoleAttributes &role_attr)
	Construct a new Writer Base object
virtual	~WriterBase ()
const std::string &	GetChannelName () const
	Get Writer's Channel name
const uint64_t	GetChannelId () const
	Get Writer's Channel id
bool	IsInit () const
	Is Writer initialized?

额外继承的成员函数
Protected 属性 继承自 apollo::cyber::WriterBase
proto::RoleAttributes	role_attr_
std::mutex	lock_
bool	init_

详细描述

template<typename MessageT>
class apollo::cyber::Writer< MessageT >

在文件 writer.h 第 42 行定义.

成员类型定义说明

ChangeConnection

template<typename MessageT >

using apollo::cyber::Writer< MessageT >::ChangeConnection = typename service_discovery::Manager::ChangeConnection

在文件 writer.h 第 45 行定义.

TransmitterPtr

template<typename MessageT >

using apollo::cyber::Writer< MessageT >::TransmitterPtr = std::shared_ptr<transport::Transmitter<MessageT> >

在文件 writer.h 第 44 行定义.

构造及析构函数说明

Writer()

template<typename MessageT >

apollo::cyber::Writer< MessageT >::Writer ( const proto::RoleAttributes &  role_attr )

explicit

Construct a new Writer object

参数

role_attr

we use RoleAttributes to identify a Writer

在文件 writer.h 第 121 行定义.

    : WriterBase(role_attr), transmitter_(nullptr), channel_manager_(nullptr) {}

~Writer()

template<typename MessageT >

apollo::cyber::Writer< MessageT >::~Writer ( )

virtual

在文件 writer.h 第 125 行定义.

                          {
  Shutdown();
}

成员函数说明

AcquireMessage()

template<typename MessageT >

std::shared_ptr< MessageT > apollo::cyber::Writer< MessageT >::AcquireMessage

(

)

Acquire message instance to send

在文件 writer.h 第 241 行定义.

                                                         {
  if (!WriterBase::IsInit()) {
    AERROR << "Please Acquire message after init writer!";
    auto m = std::make_shared<MessageT>();
    return m;
  }
 
  std::shared_ptr<MessageT> m(nullptr);
  if (transmitter_->AcquireMessage(m)) {
    return m;
  } else {
    m = std::make_shared<MessageT>();
    return m;
  }
}

GetReaders()

template<typename MessageT >

void apollo::cyber::Writer< MessageT >::GetReaders ( std::vector< proto::RoleAttributes > *  readers )

overridevirtual

Get all Readers that subscriber our writing channel

参数

readers

vector result of RoleAttributes

重载 apollo::cyber::WriterBase .

在文件 writer.h 第 228 行定义.

                                                                         {
  if (readers == nullptr) {
    return;
  }
 
  if (!WriterBase::IsInit()) {
    return;
  }
 
  channel_manager_->GetReadersOfChannel(role_attr_.channel_name(), readers);
}

HasReader()

template<typename MessageT >

bool apollo::cyber::Writer< MessageT >::HasReader ( )

overridevirtual

Is there any Reader that subscribes our Channel? You can publish message when this return true

返回

true if the channel has reader

false if the channel has no reader

重载 apollo::cyber::WriterBase .

在文件 writer.h 第 222 行定义.

                                 {
  RETURN_VAL_IF(!WriterBase::IsInit(), false);
  return channel_manager_->HasReader(role_attr_.channel_name());
}

Init()

template<typename MessageT >

bool apollo::cyber::Writer< MessageT >::Init ( )

overridevirtual

Init the Writer

返回

true if init successfully

false if init failed

实现了 apollo::cyber::WriterBase.

在文件 writer.h 第 130 行定义.

                            {
  {
    std::lock_guard<std::mutex> g(lock_);
    if (init_) {
      return true;
    }
    transmitter_ =
        transport::Transport::Instance()->CreateTransmitter<MessageT>(
            role_attr_);
    if (transmitter_ == nullptr) {
      return false;
    }
    init_ = true;
  }
  this->role_attr_.set_id(transmitter_->id().HashValue());
  channel_manager_ =
      service_discovery::TopologyManager::Instance()->channel_manager();
  JoinTheTopology();
  return true;
}

Shutdown()

template<typename MessageT >

void apollo::cyber::Writer< MessageT >::Shutdown ( )

overridevirtual

Shutdown the Writer

实现了 apollo::cyber::WriterBase.

在文件 writer.h 第 152 行定义.

                                {
  {
    std::lock_guard<std::mutex> g(lock_);
    if (!init_) {
      return;
    }
    init_ = false;
  }
  LeaveTheTopology();
  transmitter_ = nullptr;
  channel_manager_ = nullptr;
}

Write() [1/2]

template<typename MessageT >

bool apollo::cyber::Writer< MessageT >::Write ( const MessageT &  msg )

virtual

Write a MessageT instance

参数

msg	the message we want to write

返回

true if write successfully

false if write failed

被 apollo::cyber::blocker::IntraWriter< MessageT > 重载.

在文件 writer.h 第 166 行定义.

                                                {
  RETURN_VAL_IF(!WriterBase::IsInit(), false);
  auto msg_ptr = std::make_shared<MessageT>(msg);
  return Write(msg_ptr);
}

Write() [2/2]

template<typename MessageT >

bool apollo::cyber::Writer< MessageT >::Write ( const std::shared_ptr< MessageT > &  msg_ptr )

virtual

Write a shared ptr of MessageT

参数

msg_ptr

the message shared ptr we want to write

返回

true if write successfully

false if write failed

被 apollo::cyber::blocker::IntraWriter< MessageT > 重载.

在文件 writer.h 第 173 行定义.

                                                                   {
  RETURN_VAL_IF(!WriterBase::IsInit(), false);
  return transmitter_->Transmit(msg_ptr);
}

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该类的文档由以下文件生成:

• cyber/node/writer.h