Template Class PortIntrospection

• Defined in File port_introspection.hpp

Nested Relationships

Nested Types

• Class PortIntrospection::PortData

• Struct PortData::ConnectionInfo

• Struct PortData::PublisherInfo

• Struct PortData::SubscriberInfo

Class Documentation

template<typename PublisherPort, typename SubscriberPort>
class PortIntrospection

This class handles the port introspection for RouDi. It is recommended to use the PortIntrospectionType alias which sets the intended template parameter required for the actual introspection. The class manages a thread that periodically updates a field with port introspection data to which clients may subscribe.

Public Functions

PortIntrospection() noexcept

~PortIntrospection() noexcept

PortIntrospection(PortIntrospection const&) = delete

PortIntrospection &operator=(PortIntrospection const&) = delete

PortIntrospection(PortIntrospection&&) = delete

PortIntrospection &operator=(PortIntrospection&&) = delete

bool addPublisher(typename PublisherPort::MemberType_t &port) noexcept

add a publisher port to be tracked by introspection

Parameters:

port – [in] to be added

Returns:

returns false if the port could not be added and true otherwise

bool addSubscriber(typename SubscriberPort::MemberType_t &port) noexcept

add a subscriber port to be tracked by introspection

Parameters:

port – [in] to be added

Returns:

returns false if the port could not be added and true otherwise

bool removePublisher(const PublisherPort &port) noexcept

remove a publisher port from introspection

Parameters:

port – [in] publisher port to be removed

Returns:

returns false if the port could not be removed (since it did not exist) and true otherwise

bool removeSubscriber(const SubscriberPort &port) noexcept

remove a subscriber port from introspection

Parameters:

port – [in] subscriber port to be removed

Returns:

returns false if the port could not be removed (since it did not exist) and true otherwise

void reportMessage(const capro::CaproMessage &message) noexcept

report a capro message to introspection (since this could change the state of active connections)

Parameters:

message – [in] capro message to be processed

void reportMessage(const capro::CaproMessage &message, const popo::UniquePortId &id) noexcept

report a capro message to introspection (since this could change the state of active connections)

Note

introduced for identifying the subscriber port whose connection state has to be updated, e.g. if a subscriber unsubscribes only its connection state should be updated - not the states of all subscribers which are subscribed to the same topic

Parameters:

• message – [in] capro message to be processed

• id – [in] unique port id

bool registerPublisherPort(PublisherPort &&publisherPortGeneric, PublisherPort &&publisherPortThroughput, PublisherPort &&publisherPortSubscriberPortsData) noexcept

register publisher port used to send introspection

Parameters:

publisherPort – [in] publisher port to be registered

Returns:

true if registration was successful, false otherwise

void setSendInterval(const units::Duration interval) noexcept

set the time interval used to send new introspection data

Parameters:

interval – [in] duration between two send invocations

void run() noexcept

start the internal send thread

void stop() noexcept

stop the internal send thread

Protected Functions

void sendPortData() noexcept

sends the port data; this is used from the unittests

void sendThroughputData() noexcept

sends the throughput data; this is used from the unittests

void sendSubscriberPortsData() noexcept

sends the subscriberport changing data, this is used from the unittests

void send() noexcept

calls the three specific send functions from above, this is used from the periodic task

Protected Attributes

cxx::optional<PublisherPort> m_publisherPort

cxx::optional<PublisherPort> m_publisherPortThroughput

cxx::optional<PublisherPort> m_publisherPortSubscriberPortsData