iceoryx_posh  2.0.2
service_discovery.hpp
1 // Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
2 // Copyright (c) 2021 - 2022 by Apex.AI Inc. All rights reserved.
3 //
4 // Licensed under the Apache License, Version 2.0 (the "License");
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16 // SPDX-License-Identifier: Apache-2.0
17 #ifndef IOX_POSH_RUNTIME_SERVICE_DISCOVERY_HPP
18 #define IOX_POSH_RUNTIME_SERVICE_DISCOVERY_HPP
19 
20 #include "iceoryx_posh/iceoryx_posh_types.hpp"
21 #include "iceoryx_posh/internal/roudi/service_registry.hpp"
22 #include "iceoryx_posh/popo/subscriber.hpp"
23 #include "iceoryx_posh/runtime/posh_runtime.hpp"
24 
25 #include <memory>
26 #include <mutex>
27 
28 namespace iox
29 {
30 namespace popo
31 {
32 enum class MessagingPattern
33 {
34  PUB_SUB,
35  REQ_RES
36 };
37 } // namespace popo
38 namespace runtime
39 {
40 enum class ServiceDiscoveryEvent : popo::EventEnumIdentifier
41 {
42  SERVICE_REGISTRY_CHANGED
43 };
45 {
46  public:
47  ServiceDiscovery() noexcept;
48 
49  ServiceDiscovery(const ServiceDiscovery&) = delete;
50  ServiceDiscovery& operator=(const ServiceDiscovery&) = delete;
52  ServiceDiscovery& operator=(ServiceDiscovery&&) = delete;
53  ~ServiceDiscovery() noexcept = default;
54 
62  void findService(const cxx::optional<capro::IdString_t>& service,
63  const cxx::optional<capro::IdString_t>& instance,
64  const cxx::optional<capro::IdString_t>& event,
65  const cxx::function_ref<void(const capro::ServiceDescription&)>& callableForEach,
66  const popo::MessagingPattern pattern) noexcept;
67 
69 
70  private:
71  void enableEvent(popo::TriggerHandle&& triggerHandle, const ServiceDiscoveryEvent event) noexcept;
72  void disableEvent(const ServiceDiscoveryEvent event) noexcept;
73  void invalidateTrigger(const uint64_t uniqueTriggerId);
74  iox::popo::WaitSetIsConditionSatisfiedCallback
75  getCallbackForIsStateConditionSatisfied(const popo::SubscriberState state);
76 
77  // use dynamic memory to reduce stack usage
79  std::unique_ptr<roudi::ServiceRegistry> m_serviceRegistry{new iox::roudi::ServiceRegistry};
80  std::mutex m_serviceRegistryMutex;
81 
82  popo::Subscriber<roudi::ServiceRegistry> m_serviceRegistrySubscriber{
83  {SERVICE_DISCOVERY_SERVICE_NAME, SERVICE_DISCOVERY_INSTANCE_NAME, SERVICE_DISCOVERY_EVENT_NAME},
84  {1U, 1U, iox::NodeName_t("Service Registry"), true}};
85 
86  void update();
87 };
88 
89 } // namespace runtime
90 } // namespace iox
91 
92 #endif // IOX_POSH_RUNTIME_SERVICE_DISCOVERY_HPP
class for the identification of a communication event including information on the service,...
Definition: service_description.hpp:81
Class which allows accessing private methods to friends of NotificationAttorney. Used for example by ...
Definition: notification_attorney.hpp:33
TriggerHandle is threadsafe without restrictions in a single process. Not qualified for inter process...
Definition: trigger_handle.hpp:38
Definition: service_discovery.hpp:45
void findService(const cxx::optional< capro::IdString_t > &service, const cxx::optional< capro::IdString_t > &instance, const cxx::optional< capro::IdString_t > &event, const cxx::function_ref< void(const capro::ServiceDescription &)> &callableForEach, const popo::MessagingPattern pattern) noexcept
Searches all services with the given messaging pattern that match the provided service description an...