participant.h

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/******************************************************************************
 * Copyright 2024 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_RTPS_PARTICIPANT_H_
#define CYBER_TRANSPORT_RTPS_PARTICIPANT_H_
 
#include <arpa/inet.h>
#include <ifaddrs.h>
 
#include <atomic>
#include <memory>
#include <mutex>
#include <string>
#include <unordered_map>
 
#include "fastdds/dds/domain/DomainParticipantFactory.hpp"
#include "fastdds/dds/domain/DomainParticipantListener.hpp"
#include "fastdds/rtps/transport/TCPv4TransportDescriptor.h"
#include "fastdds/rtps/transport/UDPv4TransportDescriptor.h"
#include "fastrtps/utils/IPLocator.h"
 
#include "cyber/base/macros.h"
 
#include "cyber/proto/qos_profile.pb.h"
#include "cyber/proto/transport_conf.pb.h"
 
#include "cyber/common/global_data.h"
#include "cyber/common/log.h"
#include "cyber/transport/rtps/publisher.h"
#include "cyber/transport/rtps/subscriber.h"
#include "cyber/transport/rtps/underlay_message_type.h"
 
namespace apollo {
namespace cyber {
namespace transport {
 
class Participant {
 public:
  Participant(
      const std::string& name, int send_port,
      eprosima::fastdds::dds::DomainParticipantListener* listener = nullptr);
  virtual ~Participant();
 
  void Shutdown();
  bool Init();
  auto CreatePublisher(const std::string& channel_name,
                       const proto::QosProfile& qos)
      -> std::shared_ptr<transport::Publisher>;
 
  auto CreateSubscriber(const std::string& channel_name,
                        const proto::QosProfile& qos,
                        const rtps::subsciber_callback& callback = nullptr)
      -> std::shared_ptr<Subscriber>;
 
  bool is_shutdown() const { return shutdown_.load(); }
 
 private:
  Participant(const Participant&) = delete;
  Participant& operator=(const Participant&) = delete;
  bool CreateParticipant(
      const std::string& name, int send_port,
      eprosima::fastdds::dds::DomainParticipantListener* listener);
 
  bool CheckIPVaild(std::string ip_env);
  std::atomic<bool> shutdown_;
  std::string name_;
  int send_port_;
 
  using PublisherPtrMap =
      std::unordered_multimap<std::string, std::shared_ptr<Publisher>>;
  using SubscriberPtrMap =
      std::unordered_multimap<std::string, std::shared_ptr<Subscriber>>;
 
  std::mutex publisher_mutex_;
  PublisherPtrMap publisher_map_;
  std::mutex subscriber_mutex_;
  SubscriberPtrMap subscriber_map_;
 
  eprosima::fastdds::dds::DomainParticipantListener* listener_;
  eprosima::fastdds::dds::TypeSupport type_support_;
  eprosima::fastdds::dds::DomainParticipant* participant_;
  std::mutex mutex_;
};
 
}  // namespace transport
}  // namespace cyber
}  // namespace apollo
 
#endif  // CYBER_TRANSPORT_RTPS_PARTICIPANT_H_