apollo::cyber::service_discovery::ChannelManager类 参考

Topology Manager of Service related 更多...

#include <channel_manager.h>

类 apollo::cyber::service_discovery::ChannelManager 继承关系图:

apollo::cyber::service_discovery::ChannelManager 的协作图:

Public 类型
using	RoleAttrVec = std::vector< proto::RoleAttributes >
using	WriterWarehouse = MultiValueWarehouse
using	ReaderWarehouse = MultiValueWarehouse
using	ExemptedMessageTypes = std::unordered_set< std::string >
Public 类型 继承自 apollo::cyber::service_discovery::Manager
using	ChangeSignal = base::Signal< const ChangeMsg & >
using	ChangeFunc = std::function< void(const ChangeMsg &)>
using	ChangeConnection = base::Connection< const ChangeMsg & >
using	RtpsParticipant = eprosima::fastrtps::Participant
using	RtpsPublisherAttr = eprosima::fastrtps::PublisherAttributes
using	RtpsSubscriberAttr = eprosima::fastrtps::SubscriberAttributes

Public 成员函数
	ChannelManager ()
	Construct a new Channel Manager object
virtual	~ChannelManager ()
	Destroy the Channel Manager object
void	GetChannelNames (std::vector< std::string > *channels)
	Get all channel names in the topology
void	GetProtoDesc (const std::string &channel_name, std::string *proto_desc)
	Get the Protocol Desc of channel_name
void	GetMsgType (const std::string &channel_name, std::string *msg_type)
	Get the Msg Type of channel_name
bool	HasWriter (const std::string &channel_name)
	Inquire if there is at least one Writer that publishes channel_name
void	GetWriters (RoleAttrVec *writers)
	Get All Writers object
void	GetWritersOfNode (const std::string &node_name, RoleAttrVec *writers)
	Get the Writers Of Node object
void	GetWritersOfChannel (const std::string &channel_name, RoleAttrVec *writers)
	Get the Writers Of Channel object
bool	HasReader (const std::string &channel_name)
	Inquire if there is at least one Reader that publishes channel_name
void	GetReaders (RoleAttrVec *readers)
	Get All Readers object
void	GetReadersOfNode (const std::string &node_name, RoleAttrVec *readers)
	Get the Readers Of Node object
void	GetReadersOfChannel (const std::string &channel_name, RoleAttrVec *readers)
	Get the Readers Of Channel object
void	GetUpstreamOfNode (const std::string &node_name, RoleAttrVec *upstream_nodes)
	Get the Upstream Of Node object.
void	GetDownstreamOfNode (const std::string &node_name, RoleAttrVec *downstream_nodes)
	Get the Downstream Of Node object.
FlowDirection	GetFlowDirection (const std::string &lhs_node_name, const std::string &rhs_node_name)
	Get the Flow Direction from lhs_node_node to rhs_node_name You can see FlowDirection's description for more information
bool	IsMessageTypeMatching (const std::string &lhs, const std::string &rhs)
	Is lhs and rhs have same MessageType
Public 成员函数 继承自 apollo::cyber::service_discovery::Manager
	Manager ()
	Construct a new Manager object
virtual	~Manager ()
	Destroy the Manager object
bool	StartDiscovery (RtpsParticipant *participant)
	Startup topology discovery
void	StopDiscovery ()
	Stop topology discovery
virtual void	Shutdown ()
	Shutdown module
bool	Join (const RoleAttributes &attr, RoleType role, bool need_publish=true)
	Join the topology
bool	Leave (const RoleAttributes &attr, RoleType role)
	Leave the topology
ChangeConnection	AddChangeListener (const ChangeFunc &func)
	Add topology change listener, when topology changed, func will be called.
void	RemoveChangeListener (const ChangeConnection &conn)
	Remove our listener for topology change.

友元
class	TopologyManager

额外继承的成员函数
Protected 成员函数 继承自 apollo::cyber::service_discovery::Manager
bool	CreatePublisher (RtpsParticipant *participant)
bool	CreateSubscriber (RtpsParticipant *participant)
virtual bool	NeedPublish (const ChangeMsg &msg) const
void	Convert (const RoleAttributes &attr, RoleType role, OperateType opt, ChangeMsg *msg)
void	Notify (const ChangeMsg &msg)
bool	Publish (const ChangeMsg &msg)
void	OnRemoteChange (const std::string &msg_str)
bool	IsFromSameProcess (const ChangeMsg &msg)
Protected 属性 继承自 apollo::cyber::service_discovery::Manager
std::atomic< bool >	is_shutdown_
std::atomic< bool >	is_discovery_started_
int	allowed_role_
ChangeType	change_type_
std::string	host_name_
int	process_id_
std::string	channel_name_
eprosima::fastrtps::Publisher *	publisher_
std::mutex	lock_
eprosima::fastrtps::Subscriber *	subscriber_
SubscriberListener *	listener_
ChangeSignal	signal_

详细描述

Topology Manager of Service related

在文件 channel_manager.h 第 42 行定义.

成员类型定义说明

ExemptedMessageTypes

using apollo::cyber::service_discovery::ChannelManager::ExemptedMessageTypes = std::unordered_set<std::string>

在文件 channel_manager.h 第 49 行定义.

ReaderWarehouse

using apollo::cyber::service_discovery::ChannelManager::ReaderWarehouse = MultiValueWarehouse

在文件 channel_manager.h 第 48 行定义.

RoleAttrVec

using apollo::cyber::service_discovery::ChannelManager::RoleAttrVec = std::vector<proto::RoleAttributes>

在文件 channel_manager.h 第 46 行定义.

WriterWarehouse

using apollo::cyber::service_discovery::ChannelManager::WriterWarehouse = MultiValueWarehouse

在文件 channel_manager.h 第 47 行定义.

构造及析构函数说明

ChannelManager()

apollo::cyber::service_discovery::ChannelManager::ChannelManager

(

)

Construct a new Channel Manager object

在文件 channel_manager.cc 第 35 行定义.

                               {
  allowed_role_ |= 1 << RoleType::ROLE_WRITER;
  allowed_role_ |= 1 << RoleType::ROLE_READER;
  change_type_ = ChangeType::CHANGE_CHANNEL;
  channel_name_ = "channel_change_broadcast";
  exempted_msg_types_.emplace(message::MessageType<message::RawMessage>());
  exempted_msg_types_.emplace(message::MessageType<message::PyMessageWrap>());
}

~ChannelManager()

apollo::cyber::service_discovery::ChannelManager::~ChannelManager ( )

virtual

Destroy the Channel Manager object

在文件 channel_manager.cc 第 44 行定义.

{}

成员函数说明

GetChannelNames()

void apollo::cyber::service_discovery::ChannelManager::GetChannelNames

(

std::vector< std::string > *

channels

)

Get all channel names in the topology

参数

channels

result vector

在文件 channel_manager.cc 第 46 行定义.

                                                                   {
  RETURN_IF_NULL(channels);
 
  std::unordered_set<std::string> local_channels;
  std::vector<RolePtr> roles;
  channel_writers_.GetAllRoles(&roles);
  channel_readers_.GetAllRoles(&roles);
  for (auto& role : roles) {
    local_channels.emplace(role->attributes().channel_name());
  }
  std::move(local_channels.begin(), local_channels.end(),
            std::back_inserter(*channels));
}

GetDownstreamOfNode()

void apollo::cyber::service_discovery::ChannelManager::GetDownstreamOfNode	(	const std::string &	node_name,
		RoleAttrVec *	downstream_nodes
	)

Get the Downstream Of Node object.

If Node A has writer that publishes channel-1, and Node B has reader that subscribes channel-1 then A is B's Upstream node, and B is A's Downstream node

参数

node_name	node's name we want to inquire
downstream_nodes	result RoleAttribute vector

在文件 channel_manager.cc 第 171 行定义.

                                                                        {
  RETURN_IF_NULL(downstream_nodes);
 
  RoleAttrVec writers;
  GetWritersOfNode(node_name, &writers);
  if (writers.empty()) {
    return;
  }
  std::unordered_set<std::string> channels;
  for (auto& writer : writers) {
    channels.emplace(writer.channel_name());
  }
 
  RoleAttrVec readers;
  for (auto& channel : channels) {
    GetReadersOfChannel(channel, &readers);
  }
 
  std::unordered_map<std::string, proto::RoleAttributes> nodes;
  for (auto& reader : readers) {
    proto::RoleAttributes attr;
    attr.set_host_name(reader.host_name());
    attr.set_process_id(reader.process_id());
    attr.set_node_name(reader.node_name());
    attr.set_node_id(reader.node_id());
    nodes[attr.node_name()] = attr;
  }
  for (auto& item : nodes) {
    downstream_nodes->emplace_back(item.second);
  }
}

GetFlowDirection()

FlowDirection apollo::cyber::service_discovery::ChannelManager::GetFlowDirection	(	const std::string &	lhs_node_name,
		const std::string &	rhs_node_name
	)

Get the Flow Direction from lhs_node_node to rhs_node_name You can see FlowDirection's description for more information

返回

FlowDirection result direction

在文件 channel_manager.cc 第 204 行定义.

                                                                    {
  Vertice lhs(lhs_node_name);
  Vertice rhs(rhs_node_name);
  return node_graph_.GetDirectionOf(lhs, rhs);
}

GetMsgType()

void apollo::cyber::service_discovery::ChannelManager::GetMsgType	(	const std::string &	channel_name,
		std::string *	msg_type
	)

Get the Msg Type of channel_name

参数

channel_name	channel name we want to inquire
msg_type	result string, empty if inquire failed

在文件 channel_manager.cc 第 74 行定义.

                                                     {
  RETURN_IF_NULL(msg_type);
  uint64_t key = common::GlobalData::RegisterChannel(channel_name);
  RolePtr writer = nullptr;
  if (!channel_writers_.Search(key, &writer)) {
    AERROR << "cannot find writer of channel: " << channel_name
           << " key: " << key;
    return;
  }
 
  if (writer->attributes().has_message_type()) {
    *msg_type = writer->attributes().message_type();
  }
}

GetProtoDesc()

void apollo::cyber::service_discovery::ChannelManager::GetProtoDesc	(	const std::string &	channel_name,
		std::string *	proto_desc
	)

Get the Protocol Desc of channel_name

参数

channel_name	channel name we want to inquire
proto_desc	result string, empty if inquire failed

在文件 channel_manager.cc 第 60 行定义.

                                                         {
  RETURN_IF_NULL(proto_desc);
  uint64_t key = common::GlobalData::RegisterChannel(channel_name);
  RolePtr writer = nullptr;
  if (!channel_writers_.Search(key, &writer)) {
    return;
  }
 
  if (writer->attributes().has_proto_desc()) {
    *proto_desc = writer->attributes().proto_desc();
  }
}

GetReaders()

void apollo::cyber::service_discovery::ChannelManager::GetReaders

(

RoleAttrVec *

readers

)

Get All Readers object

参数

readers

result RoleAttr vector

在文件 channel_manager.cc 第 119 行定义.

                                                    {
  RETURN_IF_NULL(readers);
  channel_readers_.GetAllRoles(readers);
}

GetReadersOfChannel()

void apollo::cyber::service_discovery::ChannelManager::GetReadersOfChannel	(	const std::string &	channel_name,
		RoleAttrVec *	readers
	)

Get the Readers Of Channel object

参数

channel_name	channel's name we want to inquire
readers	result RoleAttribute vector

在文件 channel_manager.cc 第 131 行定义.

                                                               {
  RETURN_IF_NULL(readers);
  uint64_t key = common::GlobalData::RegisterChannel(channel_name);
  channel_readers_.Search(key, readers);
}

GetReadersOfNode()

void apollo::cyber::service_discovery::ChannelManager::GetReadersOfNode	(	const std::string &	node_name,
		RoleAttrVec *	readers
	)

Get the Readers Of Node object

参数

node_name	node's name we want to inquire
readers	result RoleAttribute vector

在文件 channel_manager.cc 第 124 行定义.

                                                            {
  RETURN_IF_NULL(readers);
  uint64_t key = common::GlobalData::RegisterNode(node_name);
  node_readers_.Search(key, readers);
}

GetUpstreamOfNode()

void apollo::cyber::service_discovery::ChannelManager::GetUpstreamOfNode	(	const std::string &	node_name,
		RoleAttrVec *	upstream_nodes
	)

Get the Upstream Of Node object.

If Node A has writer that publishes channel-1, and Node B has reader that subscribes channel-1 then A is B's Upstream node, and B is A's Downstream node

参数

node_name	node's name we want to inquire
upstream_nodes	result RoleAttribute vector

在文件 channel_manager.cc 第 138 行定义.

                                                                    {
  RETURN_IF_NULL(upstream_nodes);
 
  RoleAttrVec readers;
  GetReadersOfNode(node_name, &readers);
  if (readers.empty()) {
    return;
  }
  std::unordered_set<std::string> channels;
  for (auto& reader : readers) {
    channels.emplace(reader.channel_name());
  }
 
  RoleAttrVec writers;
  for (auto& channel : channels) {
    GetWritersOfChannel(channel, &writers);
  }
 
  std::unordered_map<std::string, proto::RoleAttributes> nodes;
  for (auto& writer : writers) {
    proto::RoleAttributes attr;
    attr.set_host_name(writer.host_name());
    attr.set_process_id(writer.process_id());
    attr.set_node_name(writer.node_name());
    attr.set_node_id(writer.node_id());
    nodes[attr.node_name()] = attr;
  }
  for (auto& item : nodes) {
    upstream_nodes->emplace_back(item.second);
  }
}

GetWriters()

void apollo::cyber::service_discovery::ChannelManager::GetWriters

(

RoleAttrVec *

writers

)

Get All Writers object

参数

writers

result RoleAttr vector

在文件 channel_manager.cc 第 95 行定义.

                                                    {
  RETURN_IF_NULL(writers);
  channel_writers_.GetAllRoles(writers);
}

GetWritersOfChannel()

void apollo::cyber::service_discovery::ChannelManager::GetWritersOfChannel	(	const std::string &	channel_name,
		RoleAttrVec *	writers
	)

Get the Writers Of Channel object

参数

channel_name	channel's name we want to inquire
writers	result RoleAttribute vector

在文件 channel_manager.cc 第 107 行定义.

                                                               {
  RETURN_IF_NULL(writers);
  uint64_t key = common::GlobalData::RegisterChannel(channel_name);
  channel_writers_.Search(key, writers);
}

GetWritersOfNode()

void apollo::cyber::service_discovery::ChannelManager::GetWritersOfNode	(	const std::string &	node_name,
		RoleAttrVec *	writers
	)

Get the Writers Of Node object

参数

node_name	node's name we want to inquire
writers	result RoleAttribute vector

在文件 channel_manager.cc 第 100 行定义.

                                                            {
  RETURN_IF_NULL(writers);
  uint64_t key = common::GlobalData::RegisterNode(node_name);
  node_writers_.Search(key, writers);
}

HasReader()

bool apollo::cyber::service_discovery::ChannelManager::HasReader

(

const std::string &

channel_name

)

Inquire if there is at least one Reader that publishes channel_name

参数

channel_name

channel name we want to inquire

返回

true if there is at least one Reader

false if there are no Reader

在文件 channel_manager.cc 第 114 行定义.

                                                            {
  uint64_t key = common::GlobalData::RegisterChannel(channel_name);
  return channel_readers_.Search(key);
}

HasWriter()

bool apollo::cyber::service_discovery::ChannelManager::HasWriter

(

const std::string &

channel_name

)

Inquire if there is at least one Writer that publishes channel_name

参数

channel_name

channel name we want to inquire

返回

true if there is at least one Writer

false if there are no Writers

在文件 channel_manager.cc 第 90 行定义.

                                                            {
  uint64_t key = common::GlobalData::RegisterChannel(channel_name);
  return channel_writers_.Search(key);
}

IsMessageTypeMatching()

bool apollo::cyber::service_discovery::ChannelManager::IsMessageTypeMatching	(	const std::string &	lhs,
		const std::string &	rhs
	)

Is lhs and rhs have same MessageType

参数

lhs	the left message type to compare
rhs	the right message type to compare

返回

true if type matches

false if type does not matches

在文件 channel_manager.cc 第 211 行定义.

                                                                 {
  if (lhs == rhs) {
    return true;
  }
  if (exempted_msg_types_.count(lhs) > 0) {
    return true;
  }
  if (exempted_msg_types_.count(rhs) > 0) {
    return true;
  }
  return false;
}

友元及相关函数文档

TopologyManager

friend class TopologyManager

friend

在文件 channel_manager.h 第 43 行定义.

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该类的文档由以下文件生成:

• cyber/service_discovery/specific_manager/channel_manager.h
• cyber/service_discovery/specific_manager/channel_manager.cc