writer.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_NODE_WRITER_H_
#define CYBER_NODE_WRITER_H_
 
#include <memory>
#include <string>
#include <vector>
 
#include "cyber/proto/topology_change.pb.h"
 
#include "cyber/common/log.h"
#include "cyber/node/writer_base.h"
#include "cyber/service_discovery/topology_manager.h"
#include "cyber/transport/transport.h"
 
namespace apollo {
namespace cyber {
 
template <typename MessageT>
class Writer : public WriterBase {
 public:
  using TransmitterPtr = std::shared_ptr<transport::Transmitter<MessageT>>;
  using ChangeConnection =
      typename service_discovery::Manager::ChangeConnection;
 
  explicit Writer(const proto::RoleAttributes& role_attr);
  virtual ~Writer();
 
  bool Init() override;
 
  void Shutdown() override;
 
  virtual bool Write(const MessageT& msg);
 
  virtual bool Write(const std::shared_ptr<MessageT>& msg_ptr);
 
  bool HasReader() override;
 
  void GetReaders(std::vector<proto::RoleAttributes>* readers) override;
 
  std::shared_ptr<MessageT> AcquireMessage();
 
 private:
  void JoinTheTopology();
  void LeaveTheTopology();
  void OnChannelChange(const proto::ChangeMsg& change_msg);
 
  TransmitterPtr transmitter_;
 
  ChangeConnection change_conn_;
  service_discovery::ChannelManagerPtr channel_manager_;
};
 
template <typename MessageT>
Writer<MessageT>::Writer(const proto::RoleAttributes& role_attr)
    : WriterBase(role_attr), transmitter_(nullptr), channel_manager_(nullptr) {}
 
template <typename MessageT>
Writer<MessageT>::~Writer() {
  Shutdown();
}
 
template <typename MessageT>
bool Writer<MessageT>::Init() {
  {
    std::lock_guard<std::mutex> g(lock_);
    if (init_) {
      return true;
    }
    transmitter_ =
        transport::Transport::Instance()->CreateTransmitter<MessageT>(
            role_attr_);
    if (transmitter_ == nullptr) {
      return false;
    }
    init_ = true;
  }
  this->role_attr_.set_id(transmitter_->id().HashValue());
  channel_manager_ =
      service_discovery::TopologyManager::Instance()->channel_manager();
  JoinTheTopology();
  return true;
}
 
template <typename MessageT>
void Writer<MessageT>::Shutdown() {
  {
    std::lock_guard<std::mutex> g(lock_);
    if (!init_) {
      return;
    }
    init_ = false;
  }
  LeaveTheTopology();
  transmitter_ = nullptr;
  channel_manager_ = nullptr;
}
 
template <typename MessageT>
bool Writer<MessageT>::Write(const MessageT& msg) {
  RETURN_VAL_IF(!WriterBase::IsInit(), false);
  auto msg_ptr = std::make_shared<MessageT>(msg);
  return Write(msg_ptr);
}
 
template <typename MessageT>
bool Writer<MessageT>::Write(const std::shared_ptr<MessageT>& msg_ptr) {
  RETURN_VAL_IF(!WriterBase::IsInit(), false);
  return transmitter_->Transmit(msg_ptr);
}
 
template <typename MessageT>
void Writer<MessageT>::JoinTheTopology() {
  // add listener
  change_conn_ = channel_manager_->AddChangeListener(std::bind(
      &Writer<MessageT>::OnChannelChange, this, std::placeholders::_1));
 
  // get peer readers
  const std::string& channel_name = this->role_attr_.channel_name();
  std::vector<proto::RoleAttributes> readers;
  channel_manager_->GetReadersOfChannel(channel_name, &readers);
  for (auto& reader : readers) {
    transmitter_->Enable(reader);
  }
 
  channel_manager_->Join(this->role_attr_, proto::RoleType::ROLE_WRITER,
                         message::HasSerializer<MessageT>::value);
}
 
template <typename MessageT>
void Writer<MessageT>::LeaveTheTopology() {
  channel_manager_->RemoveChangeListener(change_conn_);
  channel_manager_->Leave(this->role_attr_, proto::RoleType::ROLE_WRITER);
}
 
template <typename MessageT>
void Writer<MessageT>::OnChannelChange(const proto::ChangeMsg& change_msg) {
  if (change_msg.role_type() != proto::RoleType::ROLE_READER) {
    return;
  }
 
  auto& reader_attr = change_msg.role_attr();
  if (reader_attr.channel_name() != this->role_attr_.channel_name()) {
    return;
  }
 
  auto operate_type = change_msg.operate_type();
  if (operate_type == proto::OperateType::OPT_JOIN) {
    transmitter_->Enable(reader_attr);
  } else {
    transmitter_->Disable(reader_attr);
  }
}
 
template <typename MessageT>
bool Writer<MessageT>::HasReader() {
  RETURN_VAL_IF(!WriterBase::IsInit(), false);
  return channel_manager_->HasReader(role_attr_.channel_name());
}
 
template <typename MessageT>
void Writer<MessageT>::GetReaders(std::vector<proto::RoleAttributes>* readers) {
  if (readers == nullptr) {
    return;
  }
 
  if (!WriterBase::IsInit()) {
    return;
  }
 
  channel_manager_->GetReadersOfChannel(role_attr_.channel_name(), readers);
}
 
template <typename MessageT>
std::shared_ptr<MessageT> Writer<MessageT>::AcquireMessage() {
  if (!WriterBase::IsInit()) {
    AERROR << "Please Acquire message after init writer!";
    auto m = std::make_shared<MessageT>();
    return m;
  }
 
  std::shared_ptr<MessageT> m(nullptr);
  if (transmitter_->AcquireMessage(m)) {
    return m;
  } else {
    m = std::make_shared<MessageT>();
    return m;
  }
}
 
}  // namespace cyber
}  // namespace apollo
 
#endif  // CYBER_NODE_WRITER_H_