intra_reader.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_BLOCKER_INTRA_READER_H_
#define CYBER_BLOCKER_INTRA_READER_H_
 
#include <functional>
#include <list>
#include <memory>
 
#include "cyber/blocker/blocker_manager.h"
#include "cyber/common/log.h"
#include "cyber/node/reader.h"
#include "cyber/time/time.h"
 
namespace apollo {
namespace cyber {
namespace blocker {
 
template <typename MessageT>
class IntraReader : public apollo::cyber::Reader<MessageT> {
 public:
  using MessagePtr = std::shared_ptr<MessageT>;
  using Callback = std::function<void(const std::shared_ptr<MessageT>&)>;
  using Iterator =
      typename std::list<std::shared_ptr<MessageT>>::const_iterator;
 
  IntraReader(const proto::RoleAttributes& attr, const Callback& callback);
  virtual ~IntraReader();
 
  bool Init() override;
  void Shutdown() override;
 
  void ClearData() override;
  void Observe() override;
  bool Empty() const override;
  bool HasReceived() const override;
 
  void Enqueue(const std::shared_ptr<MessageT>& msg) override;
  void SetHistoryDepth(const uint32_t& depth) override;
  uint32_t GetHistoryDepth() const override;
  std::shared_ptr<MessageT> GetLatestObserved() const override;
  std::shared_ptr<MessageT> GetOldestObserved() const override;
  Iterator Begin() const override;
  Iterator End() const override;
 
 private:
  void OnMessage(const MessagePtr& msg_ptr);
 
  Callback msg_callback_;
};
 
template <typename MessageT>
IntraReader<MessageT>::IntraReader(const proto::RoleAttributes& attr,
                                   const Callback& callback)
    : Reader<MessageT>(attr), msg_callback_(callback) {}
 
template <typename MessageT>
IntraReader<MessageT>::~IntraReader() {
  Shutdown();
}
 
template <typename MessageT>
bool IntraReader<MessageT>::Init() {
  if (this->init_.exchange(true)) {
    return true;
  }
  return BlockerManager::Instance()->Subscribe<MessageT>(
      this->role_attr_.channel_name(), this->role_attr_.qos_profile().depth(),
      this->role_attr_.node_name(),
      std::bind(&IntraReader<MessageT>::OnMessage, this,
                std::placeholders::_1));
}
 
template <typename MessageT>
void IntraReader<MessageT>::Shutdown() {
  if (!this->init_.exchange(false)) {
    return;
  }
  BlockerManager::Instance()->Unsubscribe<MessageT>(
      this->role_attr_.channel_name(), this->role_attr_.node_name());
}
 
template <typename MessageT>
void IntraReader<MessageT>::ClearData() {
  auto blocker = BlockerManager::Instance()->GetBlocker<MessageT>(
      this->role_attr_.channel_name());
  if (blocker != nullptr) {
    blocker->ClearObserved();
    blocker->ClearPublished();
  }
}
 
template <typename MessageT>
void IntraReader<MessageT>::Observe() {
  auto blocker = BlockerManager::Instance()->GetBlocker<MessageT>(
      this->role_attr_.channel_name());
  if (blocker != nullptr) {
    blocker->Observe();
  }
}
 
template <typename MessageT>
bool IntraReader<MessageT>::Empty() const {
  auto blocker = BlockerManager::Instance()->GetBlocker<MessageT>(
      this->role_attr_.channel_name());
  if (blocker != nullptr) {
    return blocker->IsObservedEmpty();
  }
  return true;
}
 
template <typename MessageT>
bool IntraReader<MessageT>::HasReceived() const {
  auto blocker = BlockerManager::Instance()->GetBlocker<MessageT>(
      this->role_attr_.channel_name());
  if (blocker != nullptr) {
    return !blocker->IsPublishedEmpty();
  }
  return false;
}
 
template <typename MessageT>
void IntraReader<MessageT>::Enqueue(const std::shared_ptr<MessageT>& msg) {
  BlockerManager::Instance()->Publish<MessageT>(this->role_attr_.channel_name(),
                                                msg);
}
 
template <typename MessageT>
void IntraReader<MessageT>::SetHistoryDepth(const uint32_t& depth) {
  auto blocker = BlockerManager::Instance()->GetBlocker<MessageT>(
      this->role_attr_.channel_name());
  if (blocker != nullptr) {
    blocker->set_capacity(depth);
  }
}
 
template <typename MessageT>
uint32_t IntraReader<MessageT>::GetHistoryDepth() const {
  auto blocker = BlockerManager::Instance()->GetBlocker<MessageT>(
      this->role_attr_.channel_name());
  if (blocker != nullptr) {
    return static_cast<uint32_t>(blocker->capacity());
  }
  return 0;
}
 
template <typename MessageT>
std::shared_ptr<MessageT> IntraReader<MessageT>::GetLatestObserved() const {
  auto blocker = BlockerManager::Instance()->GetBlocker<MessageT>(
      this->role_attr_.channel_name());
  if (blocker != nullptr) {
    return blocker->GetLatestObservedPtr();
  }
  return nullptr;
}
 
template <typename MessageT>
std::shared_ptr<MessageT> IntraReader<MessageT>::GetOldestObserved() const {
  auto blocker = BlockerManager::Instance()->GetBlocker<MessageT>(
      this->role_attr_.channel_name());
  if (blocker != nullptr) {
    return blocker->GetOldestObservedPtr();
  }
  return nullptr;
}
 
template <typename MessageT>
auto IntraReader<MessageT>::Begin() const -> Iterator {
  auto blocker = BlockerManager::Instance()->GetBlocker<MessageT>(
      this->role_attr_.channel_name());
  ACHECK(blocker != nullptr);
  return blocker->ObservedBegin();
}
 
template <typename MessageT>
auto IntraReader<MessageT>::End() const -> Iterator {
  auto blocker = BlockerManager::Instance()->GetBlocker<MessageT>(
      this->role_attr_.channel_name());
  ACHECK(blocker != nullptr);
  return blocker->ObservedEnd();
}
 
template <typename MessageT>
void IntraReader<MessageT>::OnMessage(const MessagePtr& msg_ptr) {
  this->second_to_lastest_recv_time_sec_ = this->latest_recv_time_sec_;
  this->latest_recv_time_sec_ = apollo::cyber::Time::Now().ToSecond();
  if (msg_callback_ != nullptr) {
    msg_callback_(msg_ptr);
  }
}
 
}  // namespace blocker
}  // namespace cyber
}  // namespace apollo
 
#endif  // CYBER_BLOCKER_INTRA_READER_H_