manager.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_SERVICE_DISCOVERY_SPECIFIC_MANAGER_MANAGER_H_
#define CYBER_SERVICE_DISCOVERY_SPECIFIC_MANAGER_MANAGER_H_
 
#include <atomic>
#include <functional>
#include <memory>
#include <mutex>
#include <string>
 
#include "cyber/base/macros.h"
 
#include "fastdds/dds/publisher/qos/PublisherQos.hpp"
#include "fastdds/dds/subscriber/qos/SubscriberQos.hpp"
 
#include "cyber/proto/topology_change.pb.h"
 
#include "cyber/base/signal.h"
#include "cyber/service_discovery/communication/subscriber_listener.h"
#include "cyber/transport/rtps/participant.h"
#include "cyber/transport/rtps/publisher.h"
#include "cyber/transport/rtps/subscriber.h"
 
namespace apollo {
namespace cyber {
namespace service_discovery {
 
using proto::ChangeMsg;
using proto::ChangeType;
using proto::OperateType;
using proto::RoleAttributes;
using proto::RoleType;
 
class Manager {
 public:
  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 PublisherPtr = std::shared_ptr<transport::Publisher>;
  using SubscriberPtr = std::shared_ptr<transport::Subscriber>;
  Manager();
 
  virtual ~Manager();
 
  bool StartDiscovery(const ParticipantPtr& participant);
 
  void StopDiscovery();
 
  virtual void Shutdown();
 
  bool Join(const RoleAttributes& attr, RoleType role,
            bool need_publish = true);
 
  bool Leave(const RoleAttributes& attr, RoleType role);
 
  ChangeConnection AddChangeListener(const ChangeFunc& func);
 
  void RemoveChangeListener(const ChangeConnection& conn);
 
  virtual void OnTopoModuleLeave(const std::string& host_name,
                                 int process_id) = 0;
 
 protected:
  bool CreatePublisher(const ParticipantPtr& participant);
  bool CreateSubscriber(const ParticipantPtr& participant);
 
  virtual bool Check(const RoleAttributes& attr) = 0;
  virtual void Dispose(const ChangeMsg& msg) = 0;
  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::shared_ptr<std::string>& msg_str);
  bool IsFromSameProcess(const ChangeMsg& msg);
 
  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_;
  PublisherPtr publisher_;
  SubscriberPtr subscriber_;
  ParticipantPtr participant_;
  std::mutex lock_;
 
  ChangeSignal signal_;
};
 
}  // namespace service_discovery
}  // namespace cyber
}  // namespace apollo
 
#endif  // CYBER_SERVICE_DISCOVERY_SPECIFIC_MANAGER_MANAGER_H_