rtps_receiver.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_RECEIVER_RTPS_RECEIVER_H_
#define CYBER_TRANSPORT_RECEIVER_RTPS_RECEIVER_H_
 
#include "cyber/common/log.h"
#include "cyber/transport/dispatcher/rtps_dispatcher.h"
#include "cyber/transport/receiver/receiver.h"
 
namespace apollo {
namespace cyber {
namespace transport {
 
template <typename M>
class RtpsReceiver : public Receiver<M> {
 public:
  RtpsReceiver(const RoleAttributes& attr,
               const typename Receiver<M>::MessageListener& msg_listener);
  virtual ~RtpsReceiver();
 
  void Enable() override;
  void Disable() override;
 
  void Enable(const RoleAttributes& opposite_attr) override;
  void Disable(const RoleAttributes& opposite_attr) override;
 
 private:
  RtpsDispatcherPtr dispatcher_;
};
 
template <typename M>
RtpsReceiver<M>::RtpsReceiver(
    const RoleAttributes& attr,
    const typename Receiver<M>::MessageListener& msg_listener)
    : Receiver<M>(attr, msg_listener) {
  dispatcher_ = RtpsDispatcher::Instance();
}
 
template <typename M>
RtpsReceiver<M>::~RtpsReceiver() {
  Disable();
}
 
template <typename M>
void RtpsReceiver<M>::Enable() {
  if (this->enabled_) {
    return;
  }
  dispatcher_->AddListener<M>(
      this->attr_, std::bind(&RtpsReceiver<M>::OnNewMessage, this,
                             std::placeholders::_1, std::placeholders::_2));
  this->enabled_ = true;
}
 
template <typename M>
void RtpsReceiver<M>::Disable() {
  if (!this->enabled_) {
    return;
  }
  dispatcher_->RemoveListener<M>(this->attr_);
  this->enabled_ = false;
}
 
template <typename M>
void RtpsReceiver<M>::Enable(const RoleAttributes& opposite_attr) {
  dispatcher_->AddListener<M>(
      this->attr_, opposite_attr,
      std::bind(&RtpsReceiver<M>::OnNewMessage, this, std::placeholders::_1,
                std::placeholders::_2));
}
 
template <typename M>
void RtpsReceiver<M>::Disable(const RoleAttributes& opposite_attr) {
  dispatcher_->RemoveListener<M>(this->attr_, opposite_attr);
}
 
}  // namespace transport
}  // namespace cyber
}  // namespace apollo
 
#endif  // CYBER_TRANSPORT_RECEIVER_RTPS_RECEIVER_H_