Abstract interface providing I/O and additional subscription facilities for a repository. More...

#include <rtctk/componentFramework/repositorySubscriberIf.hpp>

Inheritance diagram for rtctk::componentFramework::RepositorySubscriberIf:

Classes
class	BatchRequest

class	SequenceIdMissmatch

class	Subscription
	RAII wrapper class used to manage the life-time of individual subscriptions. More...

class	SubscriptionError

Public Types
template<typename T>
using	ValueCallbackType = std::function<void(const DataPointPath&, T&, const MetaData&)>

using	NotifyCallbackType = std::function<void(const DataPointPath&, const MetaData&)>

using	ErrorCallbackType = std::function<void(std::exception_ptr)>

using	SubscriptionId = size_t

Public Types inherited from rtctk::componentFramework::RepositoryIf
using	PathList = std::vector<DataPointPath>

using	Clock = taiclock::TaiClock

using	Timestamp = Clock::time_point

using	CallbackType = std::function<void(const DataPointPath&)>
	Signature of the callback functions that can be registered with the repository requests.

Public Member Functions
	RepositorySubscriberIf ()=default

template<typename T = void, typename F>
Subscription	Subscribe (const DataPointPath &path, const F &cb_value, const ErrorCallbackType &cb_error) const
	Subscribes to datapoint values change events by registering callbacks.

Subscription	Subscribe (const CallbackType &cb_created, const CallbackType &cb_deleted, const ErrorCallbackType &cb_error) const
	Subscribes to datapoint creation and deletion events by registering callbacks.

Public Member Functions inherited from rtctk::componentFramework::RepositoryIf
	RepositoryIf ()=default

virtual	~RepositoryIf ()=default

BatchResponse	SendRequest (const BatchRequest &request)

BatchResponse	SendRequest (const BatchRequest &request) const

template<typename T>
void	CreateDataPoint (const DataPointPath &path)
	Creates a new empty datapoint in the repository.

template<typename T>
void	CreateDataPoint (const DataPointPath &path, const T &initial_value)
	Creates a new datapoint in the repository with an initial value.

void	CreateDataPoint (const DataPointPath &path, const char *initial_value)

void	DeleteDataPoint (const DataPointPath &path, bool recurse=false)
	Deletes a datapoint.

const std::type_info &	GetDataPointType (const DataPointPath &path) const
	Fetches the type of the datapoint.

size_t	GetDataPointSize (const DataPointPath &path) const
	Fetches the size of the datapoint's data.

RtcVectorUInt64	GetDataPointShape (const DataPointPath &path) const
	Fetches the shape of the datapoint's data.

bool	DataPointExists (const DataPointPath &path) const
	Checks for the existence of a datapoint in the repository.

std::pair< PathList, PathList >	GetChildren (const DataPointPath &path, bool recurse=false) const
	Queries the child datapoints and paths for a given parent path.

template<typename T>
T	GetDataPoint (const DataPointPath &path) const
	Fetches a datapoint from the repository.

template<typename T>
std::optional< T >	TryGetDataPoint (const DataPointPath &path) const
	Fetches a datapoint from the repository.

template<typename T>
void	SetDataPoint (const DataPointPath &path, const T &value)
	Sets a datapoint in the repository.

void	SetDataPoint (const DataPointPath &path, const char *value)

template<typename T>
void	ReadDataPoint (const DataPointPath &path, T &buffer) const
	Reads a datapoint from the repository.

template<typename T>
void	WriteDataPoint (const DataPointPath &path, const T &buffer)
	Writes a datapoint to the repository.

void	WriteDataPoint (const DataPointPath &path, const char *buffer)

template<typename... T>
void	WriteDataPoints (const T &... args)

template<typename... T>
void	ReadDataPoints (T &... args) const

Additional Inherited Members
Static Public Member Functions inherited from rtctk::componentFramework::RepositoryIf
static const std::type_info &	StringToType (const std::string &arg)
	Converts an RTC datapoint type string to a type_info.

static std::string	TypeToString (const std::type_info &arg)
	Converts a type_info to an RTC datapoint type string.

static std::any	MakeAnyBuffer (const MetaData &metadata)
	Helper method to create an std::any buffer compatible with a specific datapoint.

Protected Types inherited from rtctk::componentFramework::RepositoryIf
using	RequestList = std::vector<std::any>

Protected Member Functions inherited from rtctk::componentFramework::RepositoryIf
virtual BatchResponse	ProcessRequests (const RequestList &requests)=0

Detailed Description

Abstract interface providing I/O and additional subscription facilities for a repository.

Thread Safety: thread-safe

Member Typedef Documentation

◆ ErrorCallbackType

using rtctk::componentFramework::RepositorySubscriberIf::ErrorCallbackType = std::function<void(std::exception_ptr)>

◆ NotifyCallbackType

using rtctk::componentFramework::RepositorySubscriberIf::NotifyCallbackType = std::function<void(const DataPointPath&, const MetaData&)>

◆ SubscriptionId

using rtctk::componentFramework::RepositorySubscriberIf::SubscriptionId = size_t

◆ ValueCallbackType

template<typename T>

using rtctk::componentFramework::RepositorySubscriberIf::ValueCallbackType = std::function<void(const DataPointPath&, T&, const MetaData&)>

Constructor & Destructor Documentation

◆ RepositorySubscriberIf()

rtctk::componentFramework::RepositorySubscriberIf::RepositorySubscriberIf ( )

default

Member Function Documentation

◆ Subscribe() [1/2]

RepositorySubscriberIf::Subscription rtctk::componentFramework::RepositorySubscriberIf::Subscribe	(	const CallbackType &	cb_created,
		const CallbackType &	cb_deleted,
		const ErrorCallbackType &	cb_error ) const

Subscribes to datapoint creation and deletion events by registering callbacks.

This function can be used to register callback functions that will be called whenever a datapoint created or datapoint deleted notification is received.

Note: This is a synchronous method that blocks until the registration has been completed for the datapoint.

Parameters

[in]	cb_created	A handler functional to invoke after a datapoint was created.
[in]	cb_deleted	A handler functional to invoke after a datapoint was deleted.
[in]	cb_error	A handler functional to invoke after a subscription error was detected.

Returns: A moveable subscription object that controls the life-time of the subscription.

Thread Safety: thread-safe

Exception Safety: basic

◆ Subscribe() [2/2]

template<typename T, typename F>

RepositorySubscriberIf::Subscription rtctk::componentFramework::RepositorySubscriberIf::Subscribe	(	const DataPointPath &	path,
		const F &	cb_value,
		const ErrorCallbackType &	cb_error ) const

Subscribes to datapoint values change events by registering callbacks.

This is a convenience function that can be used to register a callback function that will be called whenever a datapoint value change notification is received and a new value is available. Either a notification only callback, or a callback that also receives the value can be registered. In the second case, a new buffer object will be allocated by the API and filled with the new value for every new value notification. This buffer is then passed onto the registered callback by reference, since the ownership of the memory for the buffer remains with the API.

Note: This is a synchronous method that blocks until the registration has been completed for the datapoint.

Template Parameters

T The datapoint type.

F

The type of the cb_value callback function. It can be any callable that has a function signature compatible with:

void(const DataPointPath& path, const MetaData& metadata)

rtctk::componentFramework::DataPointPath

This class provides a wrapper for a data point path.

Definition dataPointPath.hpp:77

rtctk::componentFramework::RepositoryIf::MetaData

Class for passing/receiving metadata to/from the repository.

Definition repositoryIf.hpp:146

or

void(const DataPointPath& path, T& buffer, const MetaData& metadata)