udp_bridge_receiver_component.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.
 *****************************************************************************/
#pragma once
 
#include <netinet/in.h>
#include <sys/socket.h>
 
#include <cstdlib>
#include <iostream>
#include <memory>
#include <string>
#include <vector>
 
#include "modules/bridge/proto/udp_bridge_remote_info.pb.h"
#include "modules/common_msgs/chassis_msgs/chassis.pb.h"
 
#include "cyber/class_loader/class_loader.h"
#include "cyber/component/component.h"
#include "cyber/cyber.h"
#include "cyber/init.h"
#include "cyber/scheduler/scheduler_factory.h"
#include "modules/bridge/common/bridge_gflags.h"
#include "modules/bridge/common/bridge_header.h"
#include "modules/bridge/common/bridge_proto_diserialized_buf.h"
#include "modules/bridge/common/udp_listener.h"
#include "modules/common/monitor_log/monitor_log_buffer.h"
 
namespace apollo {
namespace bridge {
 
#define RECEIVER_BRIDGE_COMPONENT_REGISTER(pb_msg) \
  CYBER_REGISTER_COMPONENT(UDPBridgeReceiverComponent<pb_msg>)
 
template <typename T>
class UDPBridgeReceiverComponent final : public cyber::Component<> {
 public:
  UDPBridgeReceiverComponent();
  ~UDPBridgeReceiverComponent();
 
  bool Init() override;
 
  std::string Name() const { return FLAGS_bridge_module_name; }
  bool MsgHandle(int fd);
 
 private:
  bool InitSession(uint16_t port);
  void MsgDispatcher();
  bool IsProtoExist(const BridgeHeader &header);
  BridgeProtoDiserializedBuf<T> *CreateBridgeProtoBuf(
      const BridgeHeader &header);
  bool IsTimeout(double time_stamp);
  bool RemoveInvalidBuf(uint32_t msg_id);
 
 private:
  common::monitor::MonitorLogBuffer monitor_logger_buffer_;
  unsigned int bind_port_ = 0;
  std::string proto_name_ = "";
  std::string topic_name_ = "";
  bool enable_timeout_ = true;
  std::shared_ptr<cyber::Writer<T>> writer_;
  std::mutex mutex_;
 
  std::shared_ptr<UDPListener<UDPBridgeReceiverComponent<T>>> listener_ =
      std::make_shared<UDPListener<UDPBridgeReceiverComponent<T>>>();
 
  std::vector<BridgeProtoDiserializedBuf<T> *> proto_list_;
};
 
RECEIVER_BRIDGE_COMPONENT_REGISTER(canbus::Chassis)
}  // namespace bridge
}  // namespace apollo