This class provides an interface into the Open Splice dissemination transport. More...

#include <SpliceDDSTransport.h>

Inheritance diagram for madara::transport::SpliceDDSTransport:

Public Types
enum	{ ERROR_OSPL_NOT_STARTED = -1 , ERROR_SUB_BAD_CREATE = -2 , ERROR_PUB_BAD_CREATE = -3 }

typedef std::vector< std::string >	HostsVector
	Used to define a vector of hosts to contact. More...

Public Member Functions
	SpliceDDSTransport (const std::string &id, knowledge::ThreadSafeContext &context, TransportSettings &config, bool launch_transport)
	Constructor. More...

	~SpliceDDSTransport ()
	Destructor. More...

int	check_transport (void)
	all subclasses should call this method at the beginning of send_data More...

void	close (void)
	Closes this transport. More...

void	invalidate_transport (void)
	Invalidates a transport to indicate it is shutting down. More...

long	prep_send (const knowledge::KnowledgeMap &orig_updates, const char *print_prefix)
	Preps a message for sending. More...

int	reliability (const int &setting)
	Sets the reliability setting. More...

int	reliability (void) const
	Accesses reliability setting. More...

long	send_data (const knowledge::KnowledgeMap &updates) override
	Sends a list of knowledge updates to listeners. More...

TransportSettings &	settings (void)
	Getter for the transport settings. More...

int	setup (void)
	Activates this transport. More...

int	validate_transport (void)
	Validates a transport to indicate it is not shutting down. More...

Static Public Attributes
static const int	PROFILES = 2

Protected Attributes
madara::utility::ScopedArray< char >	buffer_
	buffer for sending More...

madara::knowledge::ThreadSafeContext &	context_

HostsVector	hosts

const std::string	id_
	host:port identifier of this process More...

volatile bool	is_valid_

uint64_t	last_toi_sent_ = 0
	Latest TOI the previous send operation included. More...

madara::expression::ExpressionTree	on_data_received_
	data received rules, defined in Transport settings More...

PacketScheduler	packet_scheduler_
	scheduler for dropping packets to simulate network issues More...

BandwidthMonitor	receive_monitor_
	monitor for receiving bandwidth usage More...

BandwidthMonitor	send_monitor_
	monitor for sending bandwidth usage More...

QoSTransportSettings	settings_

volatile bool	shutting_down_

Private Member Functions
int	check_handle (void handle, const char info)
	Splice handle checker. More...

int	check_status (DDS::ReturnCode_t status, const char *info)
	Splice status checker. More...

const char *	get_error_name (DDS::ReturnCode_t status)
	Returns error name of the specific status. More...

Private Attributes
DDS::DataReader_var	datareader_

DDS::DataReaderQos	datareader_qos_

DDS::DataWriter_var	datawriter_

DDS::DataWriterQos	datawriter_qos_

DDS::DomainId_t	domain_

DDS::DomainParticipantFactory_var	domain_factory_

DDS::DomainParticipant_var	domain_participant_

knowledge::KnowledgeBase	knowledge_
	knowledge base for threads to use More...

Knowledge::UpdateDataWriter_var	latency_update_writer_

DDS::DataWriter_var	latencywriter_

DDS::DomainParticipantQos	part_qos_

DDS::PublisherQos	pub_qos_

DDS::Publisher_var	publisher_

threads::Threader	read_threads_
	threads for reading knowledge updates More...

DDS::SubscriberQos	sub_qos_

DDS::Subscriber_var	subscriber_

DDS::TopicQos	topic_qos_

Knowledge::UpdateDataReader_var	update_reader_

DDS::Topic_var	update_topic_

Knowledge::UpdateTypeSupport	update_type_support_

Knowledge::UpdateDataWriter_var	update_writer_

Static Private Attributes
static const char *	partition_

static const char *	ret_code_names []

static const char *	topic_names_ []

Detailed Description

This class provides an interface into the Open Splice dissemination transport.

Definition at line 22 of file SpliceDDSTransport.h.

Member Typedef Documentation

◆ HostsVector

typedef std::vector<std::string> madara::transport::Base::HostsVector

inherited

Used to define a vector of hosts to contact.

Definition at line 51 of file Transport.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
ERROR_OSPL_NOT_STARTED
ERROR_SUB_BAD_CREATE
ERROR_PUB_BAD_CREATE

Definition at line 25 of file SpliceDDSTransport.h.

Constructor & Destructor Documentation

◆ SpliceDDSTransport()

madara::transport::SpliceDDSTransport::SpliceDDSTransport	(	const std::string &	id,
		knowledge::ThreadSafeContext &	context,
		TransportSettings &	config,
		bool	launch_transport
	)

Constructor.

Parameters

id	unique identifer - usually a combination of host:port
context	knowledge context
config	transport configuration settings
launch_transport	whether or not to launch this transport

Definition at line 27 of file SpliceDDSTransport.cpp.

◆ ~SpliceDDSTransport()

madara::transport::SpliceDDSTransport::~SpliceDDSTransport ( )

Destructor.

Definition at line 51 of file SpliceDDSTransport.cpp.

Member Function Documentation

◆ check_handle()

int madara::transport::SpliceDDSTransport::check_handle	(	void *	handle,
		const char *	info
	)

private

Splice handle checker.

Definition at line 443 of file SpliceDDSTransport.cpp.

◆ check_status()

int madara::transport::SpliceDDSTransport::check_status	(	DDS::ReturnCode_t	status,
		const char *	info
	)

private

Splice status checker.

Definition at line 459 of file SpliceDDSTransport.cpp.

◆ check_transport()

int madara::transport::Base::check_transport ( void )

inlineinherited

all subclasses should call this method at the beginning of send_data

Definition at line 17 of file Transport.inl.

◆ close()

void madara::transport::SpliceDDSTransport::close ( void )

virtual

Closes this transport.

Reimplemented from madara::transport::Base.

Definition at line 56 of file SpliceDDSTransport.cpp.

◆ get_error_name()

const char * madara::transport::SpliceDDSTransport::get_error_name ( DDS::ReturnCode_t status )

private

Returns error name of the specific status.

Definition at line 474 of file SpliceDDSTransport.cpp.

◆ invalidate_transport()

void madara::transport::Base::invalidate_transport ( void )

inlineinherited

Invalidates a transport to indicate it is shutting down.

Definition at line 31 of file Transport.inl.

◆ prep_send()

long madara::transport::Base::prep_send	(	const knowledge::KnowledgeMap &	orig_updates,
		const char *	print_prefix
	)

inherited

Preps a message for sending.

Parameters

orig_updates	updates before send filtering is applied
print_prefix	prefix to include before every log message, e.g., "MyTransport::svc"

Returns: -1 Transport is shutting down
-2 Transport is invalid
-3 Unable to allocate send buffer
0 No message to send > 0 size of buffered message

filter the updates according to the filters specified by the user in QoSTransportSettings (if applicable)

size = buffer[0] (unsigned 64 bit) transport id = buffer[8] (8 byte) domain = buffer[16] (32 byte domain name) originator = buffer[48] (64 byte originator host:port) type = buffer[112] (unsigned 32 bit type of message–usually MULTIASSIGN) updates = buffer[116] (unsigned 32 bit number of updates) quality = buffer[120] (unsigned 32 bit quality of message) clock = buffer[124] (unsigned 64 bit clock for this message) ttl = buffer[132] (the new knowledge starts here) knowledge = buffer[133] (the new knowledge starts here)

Definition at line 860 of file Transport.cpp.

◆ reliability() [1/2]

int madara::transport::SpliceDDSTransport::reliability ( const int & setting )

Sets the reliability setting.

Returns: the changed setting

Definition at line 101 of file SpliceDDSTransport.cpp.

◆ reliability() [2/2]

int madara::transport::SpliceDDSTransport::reliability ( void ) const

Accesses reliability setting.

Returns: whether we are using reliable dissemination or not

Definition at line 96 of file SpliceDDSTransport.cpp.

◆ send_data()

long madara::transport::SpliceDDSTransport::send_data ( const knowledge::KnowledgeMap & updates )

overridevirtual

Sends a list of knowledge updates to listeners.

Parameters

updates listing of all updates that must be sent

Returns: result of write operation or -1 if we are shutting down

get current lamport clock.

Implements madara::transport::Base.

Definition at line 398 of file SpliceDDSTransport.cpp.

◆ settings()

madara::transport::TransportSettings & madara::transport::Base::settings ( void )

inlineinherited

Getter for the transport settings.

Returns: the current transport settings

Definition at line 40 of file Transport.inl.

◆ setup()

int madara::transport::SpliceDDSTransport::setup ( void )

virtual

Activates this transport.

Returns: 0 for success. This function may exit the process if the OSPL daemon hasn't been started.

Reimplemented from madara::transport::Base.

Definition at line 106 of file SpliceDDSTransport.cpp.

◆ validate_transport()

int madara::transport::Base::validate_transport ( void )

inlineinherited

Validates a transport to indicate it is not shutting down.

Definition at line 6 of file Transport.inl.

Member Data Documentation

◆ buffer_

madara::utility::ScopedArray<char> madara::transport::Base::buffer_

protectedinherited

buffer for sending

Definition at line 153 of file Transport.h.

◆ context_

madara::knowledge::ThreadSafeContext& madara::transport::Base::context_

protectedinherited

Definition at line 135 of file Transport.h.

◆ datareader_

DDS::DataReader_var madara::transport::SpliceDDSTransport::datareader_

private

Definition at line 106 of file SpliceDDSTransport.h.

◆ datareader_qos_

DDS::DataReaderQos madara::transport::SpliceDDSTransport::datareader_qos_

private

Definition at line 98 of file SpliceDDSTransport.h.

◆ datawriter_

DDS::DataWriter_var madara::transport::SpliceDDSTransport::datawriter_

private

Definition at line 105 of file SpliceDDSTransport.h.

◆ datawriter_qos_

DDS::DataWriterQos madara::transport::SpliceDDSTransport::datawriter_qos_

private

Definition at line 96 of file SpliceDDSTransport.h.

◆ domain_

DDS::DomainId_t madara::transport::SpliceDDSTransport::domain_

private

Definition at line 100 of file SpliceDDSTransport.h.

◆ domain_factory_

DDS::DomainParticipantFactory_var madara::transport::SpliceDDSTransport::domain_factory_

private

Definition at line 101 of file SpliceDDSTransport.h.

◆ domain_participant_

DDS::DomainParticipant_var madara::transport::SpliceDDSTransport::domain_participant_

private

Definition at line 102 of file SpliceDDSTransport.h.

◆ hosts

HostsVector madara::transport::Base::hosts

protectedinherited

Definition at line 127 of file Transport.h.

◆ id_

const std::string madara::transport::Base::id_

protectedinherited

host:port identifier of this process

Definition at line 130 of file Transport.h.

◆ is_valid_

volatile bool madara::transport::Base::is_valid_

protectedinherited

Definition at line 125 of file Transport.h.

◆ knowledge_

knowledge::KnowledgeBase madara::transport::SpliceDDSTransport::knowledge_

private

knowledge base for threads to use

Definition at line 84 of file SpliceDDSTransport.h.

◆ last_toi_sent_

uint64_t madara::transport::Base::last_toi_sent_ = 0

protectedinherited

Latest TOI the previous send operation included.

Definition at line 156 of file Transport.h.

◆ latency_update_writer_

Knowledge::UpdateDataWriter_var madara::transport::SpliceDDSTransport::latency_update_writer_

private

Definition at line 110 of file SpliceDDSTransport.h.

◆ latencywriter_

DDS::DataWriter_var madara::transport::SpliceDDSTransport::latencywriter_

private

Definition at line 107 of file SpliceDDSTransport.h.

◆ on_data_received_

madara::expression::ExpressionTree madara::transport::Base::on_data_received_

protectedinherited

data received rules, defined in Transport settings

Definition at line 139 of file Transport.h.

◆ packet_scheduler_

PacketScheduler madara::transport::Base::packet_scheduler_

protectedinherited

scheduler for dropping packets to simulate network issues

Definition at line 150 of file Transport.h.

◆ part_qos_

DDS::DomainParticipantQos madara::transport::SpliceDDSTransport::part_qos_

private

Definition at line 93 of file SpliceDDSTransport.h.

◆ partition_

const char * madara::transport::SpliceDDSTransport::partition_

staticprivate

Initial value:

=

"Madara_knowledge"

Definition at line 90 of file SpliceDDSTransport.h.

◆ PROFILES

const int madara::transport::SpliceDDSTransport::PROFILES = 2

static

Definition at line 32 of file SpliceDDSTransport.h.

◆ pub_qos_

DDS::PublisherQos madara::transport::SpliceDDSTransport::pub_qos_

private

Definition at line 95 of file SpliceDDSTransport.h.

◆ publisher_

DDS::Publisher_var madara::transport::SpliceDDSTransport::publisher_

private

Definition at line 103 of file SpliceDDSTransport.h.

◆ read_threads_

threads::Threader madara::transport::SpliceDDSTransport::read_threads_

private

threads for reading knowledge updates

Definition at line 87 of file SpliceDDSTransport.h.

◆ receive_monitor_

BandwidthMonitor madara::transport::Base::receive_monitor_

protectedinherited

monitor for receiving bandwidth usage

Definition at line 147 of file Transport.h.

◆ ret_code_names

const char * madara::transport::SpliceDDSTransport::ret_code_names

staticprivate

Initial value:

= {
    "DDS_RETCODE_OK", "DDS_RETCODE_ERROR", "DDS_RETCODE_UNSUPPORTED",
    "DDS_RETCODE_BAD_PARAMETER", "DDS_RETCODE_PRECONDITION_NOT_MET",
    "DDS_RETCODE_OUT_OF_RESOURCES", "DDS_RETCODE_NOT_ENABLED",
    "DDS_RETCODE_IMMUTABLE_POLICY", "DDS_RETCODE_INCONSISTENT_POLICY",
    "DDS_RETCODE_ALREADY_DELETED", "DDS_RETCODE_TIMEOUT", "DDS_RETCODE_NO_DATA",
    "DDS_RETCODE_ILLEGAL_OPERATION"}

Definition at line 91 of file SpliceDDSTransport.h.

◆ send_monitor_

BandwidthMonitor madara::transport::Base::send_monitor_

protectedinherited

monitor for sending bandwidth usage

Definition at line 144 of file Transport.h.

◆ settings_

QoSTransportSettings madara::transport::Base::settings_

protectedinherited

Definition at line 132 of file Transport.h.

◆ shutting_down_

volatile bool madara::transport::Base::shutting_down_

protectedinherited

Definition at line 126 of file Transport.h.

◆ sub_qos_

DDS::SubscriberQos madara::transport::SpliceDDSTransport::sub_qos_

private

Definition at line 97 of file SpliceDDSTransport.h.

◆ subscriber_

DDS::Subscriber_var madara::transport::SpliceDDSTransport::subscriber_

private

Definition at line 104 of file SpliceDDSTransport.h.

◆ topic_names_

const char * madara::transport::SpliceDDSTransport::topic_names_

staticprivate

Initial value:

= {

"MADARA_KaRL_Data", "MADARA_KaRL_Control"}

Definition at line 89 of file SpliceDDSTransport.h.

◆ topic_qos_

DDS::TopicQos madara::transport::SpliceDDSTransport::topic_qos_

private

Definition at line 94 of file SpliceDDSTransport.h.

◆ update_reader_

Knowledge::UpdateDataReader_var madara::transport::SpliceDDSTransport::update_reader_

private

Definition at line 111 of file SpliceDDSTransport.h.

◆ update_topic_

DDS::Topic_var madara::transport::SpliceDDSTransport::update_topic_

private

Definition at line 114 of file SpliceDDSTransport.h.

◆ update_type_support_

Knowledge::UpdateTypeSupport madara::transport::SpliceDDSTransport::update_type_support_

private

Definition at line 112 of file SpliceDDSTransport.h.

◆ update_writer_

Knowledge::UpdateDataWriter_var madara::transport::SpliceDDSTransport::update_writer_

private

Definition at line 109 of file SpliceDDSTransport.h.

The documentation for this class was generated from the following files:

include/madara/transport/splice/SpliceDDSTransport.h
include/madara/transport/splice/SpliceDDSTransport.cpp

Public Types

Public Member Functions

Static Public Attributes

Protected Attributes

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Typedef Documentation

◆ HostsVector

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ SpliceDDSTransport()

◆ ~SpliceDDSTransport()

Member Function Documentation

◆ check_handle()

◆ check_status()

◆ check_transport()

◆ close()

◆ get_error_name()

◆ invalidate_transport()

◆ prep_send()

◆ reliability() [1/2]

◆ reliability() [2/2]

◆ send_data()

◆ settings()

◆ setup()

◆ validate_transport()

Member Data Documentation

◆ buffer_

◆ context_

◆ datareader_

◆ datareader_qos_

◆ datawriter_

◆ datawriter_qos_

◆ domain_

◆ domain_factory_

◆ domain_participant_

◆ hosts

◆ id_

◆ is_valid_

◆ knowledge_

◆ last_toi_sent_

◆ latency_update_writer_

◆ latencywriter_

◆ on_data_received_

◆ packet_scheduler_

◆ part_qos_

◆ partition_

◆ PROFILES

◆ pub_qos_

◆ publisher_

◆ read_threads_

◆ receive_monitor_

◆ ret_code_names

◆ send_monitor_

◆ settings_

◆ shutting_down_

◆ sub_qos_

◆ subscriber_

◆ topic_names_

◆ topic_qos_

◆ update_reader_

◆ update_topic_

◆ update_type_support_

◆ update_writer_