dispatcher.h

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#ifndef CYBER_TRANSPORT_DISPATCHER_DISPATCHER_H_
#define CYBER_TRANSPORT_DISPATCHER_DISPATCHER_H_
 
#include <atomic>
#include <functional>
#include <iostream>
#include <memory>
#include <mutex>
#include <string>
#include <unordered_map>
 
#include "cyber/proto/role_attributes.pb.h"
 
#include "cyber/base/atomic_hash_map.h"
#include "cyber/base/atomic_rw_lock.h"
#include "cyber/common/global_data.h"
#include "cyber/common/log.h"
#include "cyber/transport/message/listener_handler.h"
#include "cyber/transport/message/message_info.h"
 
namespace apollo {
namespace cyber {
namespace transport {
 
using apollo::cyber::base::AtomicHashMap;
using apollo::cyber::base::AtomicRWLock;
using apollo::cyber::base::ReadLockGuard;
using apollo::cyber::base::WriteLockGuard;
using apollo::cyber::common::GlobalData;
using cyber::proto::RoleAttributes;
 
class Dispatcher;
using DispatcherPtr = std::shared_ptr<Dispatcher>;
 
template <typename MessageT>
using MessageListener =
    std::function<void(const std::shared_ptr<MessageT>&, const MessageInfo&)>;
 
class Dispatcher {
 public:
  Dispatcher();
  virtual ~Dispatcher();
 
  virtual void Shutdown();
 
  template <typename MessageT>
  void AddListener(const RoleAttributes& self_attr,
                   const MessageListener<MessageT>& listener);
 
  template <typename MessageT>
  void AddListener(const RoleAttributes& self_attr,
                   const RoleAttributes& opposite_attr,
                   const MessageListener<MessageT>& listener);
 
  template <typename MessageT>
  void RemoveListener(const RoleAttributes& self_attr);
 
  template <typename MessageT>
  void RemoveListener(const RoleAttributes& self_attr,
                      const RoleAttributes& opposite_attr);
 
  bool HasChannel(uint64_t channel_id);
 
 protected:
  std::atomic<bool> is_shutdown_;
  // key: channel_id of message
  AtomicHashMap<uint64_t, ListenerHandlerBasePtr> msg_listeners_;
  base::AtomicRWLock rw_lock_;
};
 
template <typename MessageT>
void Dispatcher::AddListener(const RoleAttributes& self_attr,
                             const MessageListener<MessageT>& listener) {
  if (is_shutdown_.load()) {
    return;
  }
  uint64_t channel_id = self_attr.channel_id();
 
  std::shared_ptr<ListenerHandler<MessageT>> handler;
  ListenerHandlerBasePtr* handler_base = nullptr;
  if (msg_listeners_.Get(channel_id, &handler_base)) {
    handler =
        std::dynamic_pointer_cast<ListenerHandler<MessageT>>(*handler_base);
    if (handler == nullptr) {
      AERROR << "please ensure that readers with the same channel["
             << self_attr.channel_name()
             << "] in the same process have the same message type";
      return;
    }
  } else {
    ADEBUG << "new reader for channel:"
           << GlobalData::GetChannelById(channel_id);
    handler.reset(new ListenerHandler<MessageT>());
    msg_listeners_.Set(channel_id, handler);
  }
  handler->Connect(self_attr.id(), listener);
}
 
template <typename MessageT>
void Dispatcher::AddListener(const RoleAttributes& self_attr,
                             const RoleAttributes& opposite_attr,
                             const MessageListener<MessageT>& listener) {
  if (is_shutdown_.load()) {
    return;
  }
  uint64_t channel_id = self_attr.channel_id();
 
  std::shared_ptr<ListenerHandler<MessageT>> handler;
  ListenerHandlerBasePtr* handler_base = nullptr;
  if (msg_listeners_.Get(channel_id, &handler_base)) {
    handler =
        std::dynamic_pointer_cast<ListenerHandler<MessageT>>(*handler_base);
    if (handler == nullptr) {
      AERROR << "please ensure that readers with the same channel["
             << self_attr.channel_name()
             << "] in the same process have the same message type";
      return;
    }
  } else {
    ADEBUG << "new reader for channel:"
           << GlobalData::GetChannelById(channel_id);
    handler.reset(new ListenerHandler<MessageT>());
    msg_listeners_.Set(channel_id, handler);
  }
  handler->Connect(self_attr.id(), opposite_attr.id(), listener);
}
 
template <typename MessageT>
void Dispatcher::RemoveListener(const RoleAttributes& self_attr) {
  if (is_shutdown_.load()) {
    return;
  }
  uint64_t channel_id = self_attr.channel_id();
 
  ListenerHandlerBasePtr* handler_base = nullptr;
  if (msg_listeners_.Get(channel_id, &handler_base)) {
    (*handler_base)->Disconnect(self_attr.id());
  }
}
 
template <typename MessageT>
void Dispatcher::RemoveListener(const RoleAttributes& self_attr,
                                const RoleAttributes& opposite_attr) {
  if (is_shutdown_.load()) {
    return;
  }
  uint64_t channel_id = self_attr.channel_id();
 
  ListenerHandlerBasePtr* handler_base = nullptr;
  if (msg_listeners_.Get(channel_id, &handler_base)) {
    (*handler_base)->Disconnect(self_attr.id(), opposite_attr.id());
  }
}
 
}  // namespace transport
}  // namespace cyber
}  // namespace apollo
 
#endif  // CYBER_TRANSPORT_DISPATCHER_DISPATCHER_H_