apollo::cyber::transport::Transport类 参考

#include <transport.h>

apollo::cyber::transport::Transport 的协作图:

Public 成员函数
virtual	~Transport ()
void	Shutdown ()
template<typename M >
auto	CreateTransmitter (const RoleAttributes &attr, const OptionalMode &mode=OptionalMode::HYBRID) -> typename std::shared_ptr< Transmitter< M > >
template<typename M >
auto	CreateReceiver (const RoleAttributes &attr, const typename Receiver< M >::MessageListener &msg_listener, const OptionalMode &mode=OptionalMode::HYBRID) -> typename std::shared_ptr< Receiver< M > >
ParticipantPtr	participant () const

详细描述

在文件 transport.h 第 50 行定义.

构造及析构函数说明

~Transport()

apollo::cyber::transport::Transport::~Transport ( )

virtual

在文件 transport.cc 第 35 行定义.

{ Shutdown(); }

成员函数说明

CreateReceiver()

template<typename M >

auto apollo::cyber::transport::Transport::CreateReceiver	(	const RoleAttributes &	attr,
		const typename Receiver< M >::MessageListener &	msg_listener,
		const OptionalMode &	mode = OptionalMode::HYBRID
	)		-> typename std::shared_ptr<Receiver<M>>

在文件 transport.h 第 126 行定义.

                                                                     {
  if (is_shutdown_.load()) {
    AINFO << "transport has been shut down.";
    return nullptr;
  }
 
  std::shared_ptr<Receiver<M>> receiver = nullptr;
  RoleAttributes modified_attr = attr;
  if (!modified_attr.has_qos_profile()) {
    modified_attr.mutable_qos_profile()->CopyFrom(
        QosProfileConf::QOS_PROFILE_DEFAULT);
  }
 
  switch (mode) {
    case OptionalMode::INTRA:
      receiver =
          std::make_shared<IntraReceiver<M>>(modified_attr, msg_listener);
      break;
 
    case OptionalMode::SHM:
      receiver = std::make_shared<ShmReceiver<M>>(modified_attr, msg_listener);
      break;
 
    case OptionalMode::RTPS:
      receiver = std::make_shared<RtpsReceiver<M>>(modified_attr, msg_listener);
      break;
 
    default:
      receiver = std::make_shared<HybridReceiver<M>>(
          modified_attr, msg_listener, participant());
      break;
  }
 
  RETURN_VAL_IF_NULL(receiver, nullptr);
  if (mode != OptionalMode::HYBRID) {
    receiver->Enable();
  }
  return receiver;
}

CreateTransmitter()

template<typename M >

auto apollo::cyber::transport::Transport::CreateTransmitter	(	const RoleAttributes &	attr,
		const OptionalMode &	mode = OptionalMode::HYBRID
	)		-> typename std::shared_ptr<Transmitter<M>>

在文件 transport.h 第 83 行定义.

                                           {
  if (is_shutdown_.load()) {
    AINFO << "transport has been shut down.";
    return nullptr;
  }
 
  std::shared_ptr<Transmitter<M>> transmitter = nullptr;
  RoleAttributes modified_attr = attr;
  if (!modified_attr.has_qos_profile()) {
    modified_attr.mutable_qos_profile()->CopyFrom(
        QosProfileConf::QOS_PROFILE_DEFAULT);
  }
 
  switch (mode) {
    case OptionalMode::INTRA:
      transmitter = std::make_shared<IntraTransmitter<M>>(modified_attr);
      break;
 
    case OptionalMode::SHM:
      transmitter = std::make_shared<ShmTransmitter<M>>(modified_attr);
      break;
 
    case OptionalMode::RTPS:
      transmitter =
          std::make_shared<RtpsTransmitter<M>>(modified_attr, participant());
      break;
 
    default:
      transmitter =
          std::make_shared<HybridTransmitter<M>>(modified_attr, participant());
      break;
  }
 
  RETURN_VAL_IF_NULL(transmitter, nullptr);
  if (mode != OptionalMode::HYBRID) {
    transmitter->Enable();
  }
  return transmitter;
}

participant()

ParticipantPtr apollo::cyber::transport::Transport::participant ( ) const

inline

在文件 transport.h 第 67 行定义.

{ return participant_; }

Shutdown()

void apollo::cyber::transport::Transport::Shutdown

(

)

在文件 transport.cc 第 37 行定义.

                         {
  if (is_shutdown_.exchange(true)) {
    return;
  }
 
  intra_dispatcher_->Shutdown();
  shm_dispatcher_->Shutdown();
  rtps_dispatcher_->Shutdown();
  notifier_->Shutdown();
 
  if (participant_ != nullptr) {
    participant_->Shutdown();
    participant_ = nullptr;
  }
}

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该类的文档由以下文件生成:

• cyber/transport/transport.h
• cyber/transport/transport.cc