iceoryx_posh  2.0.2
gateway_generic.hpp
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2 // Copyright (c) 2021 by Apex.AI Inc. All rights reserved.
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16 // SPDX-License-Identifier: Apache-2.0
17 
18 #ifndef IOX_POSH_GW_GATEWAY_GENERIC_HPP
19 #define IOX_POSH_GW_GATEWAY_GENERIC_HPP
20 
21 #include "iceoryx_hoofs/cxx/expected.hpp"
22 #include "iceoryx_hoofs/cxx/function_ref.hpp"
23 #include "iceoryx_hoofs/cxx/optional.hpp"
24 #include "iceoryx_hoofs/cxx/string.hpp"
25 #include "iceoryx_hoofs/cxx/vector.hpp"
26 #include "iceoryx_hoofs/internal/concurrent/smart_lock.hpp"
27 #include "iceoryx_hoofs/internal/units/duration.hpp"
28 #include "iceoryx_posh/capro/service_description.hpp"
29 #include "iceoryx_posh/gateway/gateway_base.hpp"
30 #include "iceoryx_posh/gateway/gateway_config.hpp"
31 #include "iceoryx_posh/iceoryx_posh_config.hpp"
32 #include "iceoryx_posh/iceoryx_posh_types.hpp"
33 
34 #include <atomic>
35 #include <thread>
36 
37 namespace iox
38 {
39 namespace gw
40 {
41 using namespace iox::units::duration_literals;
42 
43 enum class GatewayError : uint8_t
44 {
45  UNSUPPORTED_SERVICE_TYPE,
46  UNSUCCESSFUL_CHANNEL_CREATION,
47  NONEXISTANT_CHANNEL
48 };
49 
57 template <typename channel_t, typename gateway_t = GatewayBase>
58 class GatewayGeneric : public gateway_t
59 {
60  using ChannelVector = cxx::vector<channel_t, MAX_CHANNEL_NUMBER>;
61  using ConcurrentChannelVector = concurrent::smart_lock<ChannelVector>;
62 
63  public:
64  virtual ~GatewayGeneric() noexcept;
65 
66  GatewayGeneric(const GatewayGeneric&) = delete;
67  GatewayGeneric& operator=(const GatewayGeneric&) = delete;
68  GatewayGeneric(GatewayGeneric&&) = delete;
69  GatewayGeneric& operator=(GatewayGeneric&&) = delete;
70 
71  void runMultithreaded() noexcept;
72  void shutdown() noexcept;
73 
78  virtual void loadConfiguration(const config::GatewayConfig& config) noexcept = 0;
83  virtual void discover(const capro::CaproMessage& msg) noexcept = 0;
88  virtual void forward(const channel_t& channel) noexcept = 0;
89 
90  uint64_t getNumberOfChannels() const noexcept;
91 
92  protected:
93  GatewayGeneric(capro::Interfaces interface,
94  units::Duration discoveryPeriod = 1000_ms,
95  units::Duration forwardingPeriod = 50_ms) noexcept;
96 
114  template <typename IceoryxPubSubOptions>
115  cxx::expected<channel_t, GatewayError> addChannel(const capro::ServiceDescription& service,
116  const IceoryxPubSubOptions& options) noexcept;
117 
124  cxx::optional<channel_t> findChannel(const capro::ServiceDescription& service) const noexcept;
125 
131  void forEachChannel(const cxx::function_ref<void(channel_t&)> f) const noexcept;
132 
138  cxx::expected<GatewayError> discardChannel(const capro::ServiceDescription& service) noexcept;
139 
140  private:
141  ConcurrentChannelVector m_channels;
142 
143  std::atomic_bool m_isRunning{false};
144 
145  units::Duration m_discoveryPeriod;
146  units::Duration m_forwardingPeriod;
147 
148  std::thread m_discoveryThread;
149  std::thread m_forwardingThread;
150 
151  void forwardingLoop() noexcept;
152  void discoveryLoop() noexcept;
153 };
154 
155 } // namespace gw
156 } // namespace iox
157 
158 #include "iceoryx_posh/internal/gateway/gateway_generic.inl"
159 
160 #endif // IOX_POSH_GW_GATEWAY_GENERIC_HPP
A reference generic gateway implementation.
Definition: gateway_generic.hpp:59
virtual void discover(const capro::CaproMessage &msg) noexcept=0
discover Process discovery messages coming from iceoryx.
virtual void loadConfiguration(const config::GatewayConfig &config) noexcept=0
loadConfiguration Load the provided configuration.
virtual void forward(const channel_t &channel) noexcept=0
forward Forward data between the two terminals of the channel used by the implementation.
Generic configuration for gateways.
Definition: gateway_config.hpp:32