transport.cc

浏览该文件的文档.

/******************************************************************************
 * 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.
 *****************************************************************************/
 
#include "cyber/transport/transport.h"
 
#include "cyber/common/global_data.h"
#include "cyber/transport/dispatcher/rtps_dispatcher.h"
 
namespace apollo {
namespace cyber {
namespace transport {
 
Transport::Transport() {
  CreateParticipant();
  notifier_ = NotifierFactory::CreateNotifier();
  intra_dispatcher_ = IntraDispatcher::Instance();
  shm_dispatcher_ = ShmDispatcher::Instance();
  rtps_dispatcher_ = RtpsDispatcher::Instance();
  rtps_dispatcher_->SetParticipant(participant_);
}
 
Transport::~Transport() { Shutdown(); }
 
void Transport::Shutdown() {
  if (is_shutdown_.exchange(true)) {
    return;
  }
 
  intra_dispatcher_->Shutdown();
  shm_dispatcher_->Shutdown();
  rtps_dispatcher_->Shutdown();
  notifier_->Shutdown();
 
  if (participant_ != nullptr) {
    participant_->Shutdown();
    participant_ = nullptr;
  }
}
 
void Transport::CreateParticipant() {
  std::string participant_name =
      common::GlobalData::Instance()->HostName() + "+" +
      std::to_string(common::GlobalData::Instance()->ProcessId());
  participant_ = std::make_shared<
      Participant>(participant_name, 11512);
  if (!participant_->Init()) {
    AERROR << "Transport inner participant init failed!";
  }
}
 
}  // namespace transport
}  // namespace cyber
}  // namespace apollo