apollo::cyber::service_discovery::TopologyManager类 参考

elements in Cyber – Node, Channel, Service, Writer, Reader, Client and Server's relationship is presented by Topology. 更多...

#include <topology_manager.h>

apollo::cyber::service_discovery::TopologyManager 的协作图:

Public 类型
using	ChangeSignal = base::Signal< const ChangeMsg & >
using	ChangeFunc = std::function< void(const ChangeMsg &)>
using	ChangeConnection = base::Connection< const ChangeMsg & >
using	ParticipantPtr = std::shared_ptr< transport::Participant >
using	PartNameContainer = std::map< eprosima::fastrtps::rtps::GUID_t, std::string >

Public 成员函数
virtual	~TopologyManager ()
void	Shutdown ()
	Shutdown the TopologyManager
ChangeConnection	AddChangeListener (const ChangeFunc &func)
	To observe the topology change, you can register a ChangeFunc
void	RemoveChangeListener (const ChangeConnection &conn)
	Remove the observe function connect to change_signal_ by conn
NodeManagerPtr &	node_manager ()
	Get shared_ptr for NodeManager
ChannelManagerPtr &	channel_manager ()
	Get shared_ptr for ChannelManager
ServiceManagerPtr &	service_manager ()
	Get shared_ptr for ServiceManager

详细描述

elements in Cyber – Node, Channel, Service, Writer, Reader, Client and Server's relationship is presented by Topology.

You can Imagine that a directed graph – Node is the container of Server/Client/Writer/Reader, and they are the vertice of the graph and Channel is the Edge from Writer flow to the Reader, Service is the Edge from Server to Client. Thus we call Writer and Server Upstream, Reader and Client Downstream To generate this graph, we use TopologyManager, it has three sub managers – NodeManager: You can find Nodes in this topology ChannelManager: You can find Channels in this topology, and their Writers and Readers ServiceManager: You can find Services in this topology, and their Servers and Clients TopologyManager use fast-rtps' Participant to communicate. It can broadcast Join or Leave messages of those elements. Also, you can register you own ChangeFunc to monitor topology change

在文件 topology_manager.h 第 64 行定义.

成员类型定义说明

ChangeConnection

using apollo::cyber::service_discovery::TopologyManager::ChangeConnection = base::Connection<const ChangeMsg&>

在文件 topology_manager.h 第 68 行定义.

ChangeFunc

using apollo::cyber::service_discovery::TopologyManager::ChangeFunc = std::function<void(const ChangeMsg&)>

在文件 topology_manager.h 第 67 行定义.

ChangeSignal

using apollo::cyber::service_discovery::TopologyManager::ChangeSignal = base::Signal<const ChangeMsg&>

在文件 topology_manager.h 第 66 行定义.

ParticipantPtr

using apollo::cyber::service_discovery::TopologyManager::ParticipantPtr = std::shared_ptr<transport::Participant>

在文件 topology_manager.h 第 69 行定义.

PartNameContainer

using apollo::cyber::service_discovery::TopologyManager::PartNameContainer = std::map<eprosima::fastrtps::rtps::GUID_t, std::string>

在文件 topology_manager.h 第 70 行定义.

构造及析构函数说明

~TopologyManager()

apollo::cyber::service_discovery::TopologyManager::~TopologyManager ( )

virtual

在文件 topology_manager.cc 第 36 行定义.

{ Shutdown(); }

成员函数说明

AddChangeListener()

TopologyManager::ChangeConnection apollo::cyber::service_discovery::TopologyManager::AddChangeListener

(

const ChangeFunc &

func

)

To observe the topology change, you can register a ChangeFunc

参数

func	is the observe function

返回

ChangeConnection is the connection that connected to change_signal_. Used to Remove your observe function

在文件 topology_manager.cc 第 53 行定义.

                            {
  return change_signal_.Connect(func);
}

channel_manager()

ChannelManagerPtr & apollo::cyber::service_discovery::TopologyManager::channel_manager ( )

inline

Get shared_ptr for ChannelManager

在文件 topology_manager.h 第 102 行定义.

{ return channel_manager_; }

node_manager()

NodeManagerPtr & apollo::cyber::service_discovery::TopologyManager::node_manager ( )

inline

Get shared_ptr for NodeManager

在文件 topology_manager.h 第 97 行定义.

{ return node_manager_; }

RemoveChangeListener()

void apollo::cyber::service_discovery::TopologyManager::RemoveChangeListener

(

const ChangeConnection &

conn

)

Remove the observe function connect to change_signal_ by conn

在文件 topology_manager.cc 第 58 行定义.

                                                                       {
  auto local_conn = conn;
  local_conn.Disconnect();
}

service_manager()

ServiceManagerPtr & apollo::cyber::service_discovery::TopologyManager::service_manager ( )

inline

Get shared_ptr for ServiceManager

在文件 topology_manager.h 第 107 行定义.

{ return service_manager_; }

Shutdown()

void apollo::cyber::service_discovery::TopologyManager::Shutdown

(

)

Shutdown the TopologyManager

在文件 topology_manager.cc 第 38 行定义.

                               {
  ADEBUG << "topology shutdown.";
  // avoid shutdown twice
  if (!init_.exchange(false)) {
    return;
  }
 
  node_manager_->Shutdown();
  channel_manager_->Shutdown();
  service_manager_->Shutdown();
  participant_->Shutdown();
 
  change_signal_.DisconnectAllSlots();
}

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该类的文档由以下文件生成:

• cyber/service_discovery/topology_manager.h
• cyber/service_discovery/topology_manager.cc