topology_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_TOPOLOGY_MANAGER_H_
#define CYBER_SERVICE_DISCOVERY_TOPOLOGY_MANAGER_H_
 
#include <atomic>
#include <functional>
#include <map>
#include <memory>
#include <mutex>
#include <string>
 
#include "cyber/base/signal.h"
#include "cyber/common/macros.h"
#include "cyber/service_discovery/communication/participant_listener.h"
#include "cyber/service_discovery/specific_manager/channel_manager.h"
#include "cyber/service_discovery/specific_manager/node_manager.h"
#include "cyber/service_discovery/specific_manager/service_manager.h"
#include "cyber/transport/rtps/participant.h"
 
namespace apollo {
namespace cyber {
namespace service_discovery {
 
class NodeManager;
using NodeManagerPtr = std::shared_ptr<NodeManager>;
 
class ChannelManager;
using ChannelManagerPtr = std::shared_ptr<ChannelManager>;
 
class ServiceManager;
using ServiceManagerPtr = std::shared_ptr<ServiceManager>;
 
class TopologyManager {
 public:
  using ChangeSignal = base::Signal<const ChangeMsg&>;
  using ChangeFunc = std::function<void(const ChangeMsg&)>;
  using ChangeConnection = base::Connection<const ChangeMsg&>;
  using PartNameContainer =
      std::map<eprosima::fastrtps::rtps::GUID_t, std::string>;
  using PartInfo = eprosima::fastrtps::ParticipantDiscoveryInfo;
 
  virtual ~TopologyManager();
 
  void Shutdown();
 
  ChangeConnection AddChangeListener(const ChangeFunc& func);
 
  void RemoveChangeListener(const ChangeConnection& conn);
 
  NodeManagerPtr& node_manager() { return node_manager_; }
 
  ChannelManagerPtr& channel_manager() { return channel_manager_; }
 
  ServiceManagerPtr& service_manager() { return service_manager_; }
 
 private:
  bool Init();
 
  bool InitNodeManager();
  bool InitChannelManager();
  bool InitServiceManager();
 
  bool CreateParticipant();
  void OnParticipantChange(const PartInfo& info);
  bool Convert(const PartInfo& info, ChangeMsg* change_msg);
  bool ParseParticipantName(const std::string& participant_name,
                            std::string* host_name, int* process_id);
 
  std::atomic<bool> init_;             
  NodeManagerPtr node_manager_;        
  ChannelManagerPtr channel_manager_;  
  ServiceManagerPtr service_manager_;  
  transport::ParticipantPtr participant_;
  ParticipantListener* participant_listener_;
  ChangeSignal change_signal_;           
  PartNameContainer participant_names_;  
 
  DECLARE_SINGLETON(TopologyManager)
};
 
}  // namespace service_discovery
}  // namespace cyber
}  // namespace apollo
 
#endif  // CYBER_SERVICE_DISCOVERY_TOPOLOGY_MANAGER_H_