Implementation of the Runtime Configuration Repository Adapter. More...

#include <rtctk/componentFramework/runtimeRepoAdapter.hpp>

Inheritance diagram for rtctk::componentFramework::RuntimeRepoAdapter:

Classes
struct	CreateDeleteSubscription

struct	ValueSubscription

Public Member Functions
	RuntimeRepoAdapter ()=delete
	Do not allow construction with no arguments.

	RuntimeRepoAdapter (const RuntimeRepoAdapter &)=delete
	This class cannot be copy constructed.

RuntimeRepoAdapter &	operator= (const RuntimeRepoAdapter &)=delete
	This class cannot be copy assigned.

	RuntimeRepoAdapter (RuntimeRepoAdapter &&)=delete
	Objects of this class can not be moved because we have a mutex.

RuntimeRepoAdapter &	operator= (RuntimeRepoAdapter &&)=delete

	RuntimeRepoAdapter (const elt::mal::Uri &baseuri)
	Constructs an adapter for the Runtime Configuration Repository service.

	~RuntimeRepoAdapter () override=default

elt::mal::Uri	GetUri () const override
	Get the URI used when creating this adapter object.

Public Member Functions inherited from rtctk::componentFramework::RuntimeRepoIf
	~RuntimeRepoIf () override=default

Public Member Functions inherited from rtctk::componentFramework::RepositorySubscriberIf
	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

Static Public Attributes
static const std::string	SUPPORTED_URI_SCHEME = "rtr"

Protected Types
using	DispatchFunction = std::function<void(RuntimeRepoAdapter*, std::any&, RtrClient&)>

using	LookupTable = std::unordered_map<std::type_index, DispatchFunction>

using	TableEntry = typename LookupTable::value_type

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

Protected Member Functions
BatchResponse	ProcessRequests (const RequestList &requests) override

template<typename T>
void	CreateImpl (detail::CreateRequest< T > &, RtrClient &)

template<typename T>
void	WriteImpl (detail::WriteRequest< T > &, RtrClient &)

template<typename T>
void	ReadImpl (detail::ReadRequest< T > &, RtrClient &)

template<typename T>
void	PartialWriteImpl (detail::PartialWriteRequest< T > &, RtrClient &)

template<typename T>
void	PartialReadImpl (detail::PartialReadRequest< T > &, RtrClient &)

void	WriteMetaDataImpl (detail::WriteMetaDataRequest &, RtrClient &)

void	ReadMetaDataImpl (detail::ReadMetaDataRequest &, RtrClient &)

void	DeleteImpl (detail::DeleteRequest &, RtrClient &)

void	ExistsImpl (detail::ExistsRequest &, RtrClient &)

void	GetChildrenImpl (detail::GetChildrenRequest &, RtrClient &)

void	CreateLinkImpl (detail::CreateSymlinkRequest &, RtrClient &)

void	UpdateLinkImpl (detail::UpdateSymlinkRequest &, RtrClient &)

void	SubscribeImpl (detail::ValueSubscribeRequest &, RtrClient &)

void	CreateDeleteSubscribeImpl (detail::CreateDeleteSubscribeRequest &, RtrClient &)

void	UnsubscribeImpl (detail::UnsubscribeRequest &, RtrClient &)

virtual void	InvokeRequestHandler (std::any &, RtrClient &)

void	SubscriptionCallbackHandler (const JsonPayload &)

Static Protected Member Functions
template<typename T>
static TableEntry	Bind (void(RuntimeRepoAdapter::*method)(T &, RtrClient &))

Protected Attributes
elt::mal::Uri	m_baseuri

std::string	m_ip

uint16_t	m_port

std::string	m_topic

DynamicThreadPool	m_thread_pool {"rtr_worker"}
	Thread pool for worker threads.

DynamicThreadPool	m_thread_pool_callback {"rtr_worker_c"}
	Thread pool for callback threads.

std::mutex	m_mutex
	Mutex for synchronising access to subscriptions.

std::list< ValueSubscription >	m_value_subscriptions

std::list< CreateDeleteSubscription >	m_create_delete_subscriptions

MalDdsEventService	m_mal_event_service

EventServiceIf &	m_event_service

std::unique_ptr< EventSubscriberIf >	m_event_subscriber

Static Protected Attributes
static const LookupTable	S_REQUEST_DISPATCHER_TABLE

Additional Inherited Members
Public Types inherited from rtctk::componentFramework::RuntimeRepoIf
using	AdapterIdType = elt::mal::Uri
	The type used to distinguish between different adapters implementing RuntimeRepoIf.

Public Types inherited from rtctk::componentFramework::RepositorySubscriberIf
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.

Static Public Member Functions inherited from rtctk::componentFramework::RuntimeRepoIf
static std::unique_ptr< RuntimeRepoIf >	CreateAdapter (const elt::mal::Uri &uri)
	Factory method used to create the appropriate Runtime Configuration Repository adapter depending on the URI scheme.

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.

Detailed Description

Implementation of the Runtime Configuration Repository Adapter.

Member Typedef Documentation

◆ DispatchFunction

using rtctk::componentFramework::RuntimeRepoAdapter::DispatchFunction = std::function<void(RuntimeRepoAdapter*, std::any&, RtrClient&)>

protected

◆ LookupTable

using rtctk::componentFramework::RuntimeRepoAdapter::LookupTable = std::unordered_map<std::type_index, DispatchFunction>

protected

◆ TableEntry

using rtctk::componentFramework::RuntimeRepoAdapter::TableEntry = typename LookupTable::value_type

protected

Constructor & Destructor Documentation

◆ RuntimeRepoAdapter() [1/4]

rtctk::componentFramework::RuntimeRepoAdapter::RuntimeRepoAdapter ( )

delete

Do not allow construction with no arguments.

◆ RuntimeRepoAdapter() [2/4]

rtctk::componentFramework::RuntimeRepoAdapter::RuntimeRepoAdapter ( const RuntimeRepoAdapter & )

delete

This class cannot be copy constructed.

◆ RuntimeRepoAdapter() [3/4]

rtctk::componentFramework::RuntimeRepoAdapter::RuntimeRepoAdapter ( RuntimeRepoAdapter && )

delete

Objects of this class can not be moved because we have a mutex.

◆ RuntimeRepoAdapter() [4/4]

rtctk::componentFramework::RuntimeRepoAdapter::RuntimeRepoAdapter ( const elt::mal::Uri & baseuri )

explicit

Constructs an adapter for the Runtime Configuration Repository service.

Parameters

[in] baseuri A URI with an RTR scheme, containing an IP, port and pub/sub topic name. E.g.: rtr://127.0.0.1:8000/rtr_topic

◆ ~RuntimeRepoAdapter()

rtctk::componentFramework::RuntimeRepoAdapter::~RuntimeRepoAdapter ( )

overridedefault

Member Function Documentation

◆ Bind()

template<typename T>

RuntimeRepoAdapter::TableEntry rtctk::componentFramework::RuntimeRepoAdapter::Bind ( void(RuntimeRepoAdapter::* method )(T &, RtrClient &) )

staticprotected

◆ CreateDeleteSubscribeImpl()

void rtctk::componentFramework::RuntimeRepoAdapter::CreateDeleteSubscribeImpl	(	detail::CreateDeleteSubscribeRequest &	req,
		RtrClient &	client )

protected

◆ CreateImpl()

template<typename T>

void rtctk::componentFramework::RuntimeRepoAdapter::CreateImpl	(	detail::CreateRequest< T > &	req,
		RtrClient &	client )

protected

◆ CreateLinkImpl()

void rtctk::componentFramework::RuntimeRepoAdapter::CreateLinkImpl	(	detail::CreateSymlinkRequest &	req,
		RtrClient &	client )

protected

◆ DeleteImpl()

void rtctk::componentFramework::RuntimeRepoAdapter::DeleteImpl	(	detail::DeleteRequest &	req,
		RtrClient &	client )

protected

◆ ExistsImpl()

void rtctk::componentFramework::RuntimeRepoAdapter::ExistsImpl	(	detail::ExistsRequest &	req,
		RtrClient &	client )

protected

◆ GetChildrenImpl()

void rtctk::componentFramework::RuntimeRepoAdapter::GetChildrenImpl	(	detail::GetChildrenRequest &	req,
		RtrClient &	client )

protected

◆ GetUri()

elt::mal::Uri rtctk::componentFramework::RuntimeRepoAdapter::GetUri ( ) const

inlineoverridevirtual

Get the URI used when creating this adapter object.

Returns: elt::mal::Uri object indicating the URI used with CreateAdapter.

Thread Safety: thread-safe

Exception Safety: strong

Implements rtctk::componentFramework::RuntimeRepoIf.

◆ InvokeRequestHandler()

void rtctk::componentFramework::RuntimeRepoAdapter::InvokeRequestHandler	(	std::any &	request,
		RtrClient &	client )

protectedvirtual

◆ operator=() [1/2]

RuntimeRepoAdapter & rtctk::componentFramework::RuntimeRepoAdapter::operator= ( const RuntimeRepoAdapter & )

delete

This class cannot be copy assigned.

◆ operator=() [2/2]

RuntimeRepoAdapter & rtctk::componentFramework::RuntimeRepoAdapter::operator= ( RuntimeRepoAdapter && )

delete

◆ PartialReadImpl()

template<typename T>

void rtctk::componentFramework::RuntimeRepoAdapter::PartialReadImpl	(	detail::PartialReadRequest< T > &	req,
		RtrClient &	client )

protected

◆ PartialWriteImpl()

template<typename T>

void rtctk::componentFramework::RuntimeRepoAdapter::PartialWriteImpl	(	detail::PartialWriteRequest< T > &	req,
		RtrClient &	client )

protected

◆ ProcessRequests()

RepositoryIf::BatchResponse rtctk::componentFramework::RuntimeRepoAdapter::ProcessRequests ( const RequestList & requests )

overrideprotectedvirtual

Implements rtctk::componentFramework::RepositoryIf.

◆ ReadImpl()

template<typename T>

void rtctk::componentFramework::RuntimeRepoAdapter::ReadImpl	(	detail::ReadRequest< T > &	req,
		RtrClient &	client )

protected

◆ ReadMetaDataImpl()

void rtctk::componentFramework::RuntimeRepoAdapter::ReadMetaDataImpl	(	detail::ReadMetaDataRequest &	req,
		RtrClient &	client )

protected

◆ SubscribeImpl()

void rtctk::componentFramework::RuntimeRepoAdapter::SubscribeImpl	(	detail::ValueSubscribeRequest &	req,
		RtrClient &	client )

protected

◆ SubscriptionCallbackHandler()

void rtctk::componentFramework::RuntimeRepoAdapter::SubscriptionCallbackHandler ( const JsonPayload & payload )

protected

◆ UnsubscribeImpl()

void rtctk::componentFramework::RuntimeRepoAdapter::UnsubscribeImpl	(	detail::UnsubscribeRequest &	req,
		RtrClient &	client )

protected

◆ UpdateLinkImpl()

void rtctk::componentFramework::RuntimeRepoAdapter::UpdateLinkImpl	(	detail::UpdateSymlinkRequest &	req,
		RtrClient &	client )

protected

◆ WriteImpl()

template<typename T>

void rtctk::componentFramework::RuntimeRepoAdapter::WriteImpl	(	detail::WriteRequest< T > &	req,
		RtrClient &	client )

protected

◆ WriteMetaDataImpl()

void rtctk::componentFramework::RuntimeRepoAdapter::WriteMetaDataImpl	(	detail::WriteMetaDataRequest &	req,
		RtrClient &	client )

protected

Member Data Documentation

◆ m_baseuri

elt::mal::Uri rtctk::componentFramework::RuntimeRepoAdapter::m_baseuri

protected

◆ m_create_delete_subscriptions

std::list<CreateDeleteSubscription> rtctk::componentFramework::RuntimeRepoAdapter::m_create_delete_subscriptions

protected

◆ m_event_service

EventServiceIf& rtctk::componentFramework::RuntimeRepoAdapter::m_event_service

protected

◆ m_event_subscriber

std::unique_ptr<EventSubscriberIf> rtctk::componentFramework::RuntimeRepoAdapter::m_event_subscriber

protected

◆ m_ip

std::string rtctk::componentFramework::RuntimeRepoAdapter::m_ip

protected

◆ m_mal_event_service

MalDdsEventService rtctk::componentFramework::RuntimeRepoAdapter::m_mal_event_service

protected

◆ m_mutex

std::mutex rtctk::componentFramework::RuntimeRepoAdapter::m_mutex

mutableprotected

Mutex for synchronising access to subscriptions.

◆ m_port

uint16_t rtctk::componentFramework::RuntimeRepoAdapter::m_port

protected

◆ m_thread_pool

DynamicThreadPool rtctk::componentFramework::RuntimeRepoAdapter::m_thread_pool {"rtr_worker"}

protected

Thread pool for worker threads.

◆ m_thread_pool_callback

DynamicThreadPool rtctk::componentFramework::RuntimeRepoAdapter::m_thread_pool_callback {"rtr_worker_c"}

protected

Thread pool for callback threads.

◆ m_topic

std::string rtctk::componentFramework::RuntimeRepoAdapter::m_topic

protected

◆ m_value_subscriptions

std::list<ValueSubscription> rtctk::componentFramework::RuntimeRepoAdapter::m_value_subscriptions

protected

◆ S_REQUEST_DISPATCHER_TABLE

const RuntimeRepoAdapter::LookupTable rtctk::componentFramework::RuntimeRepoAdapter::S_REQUEST_DISPATCHER_TABLE

staticprotected

◆ SUPPORTED_URI_SCHEME

const std::string rtctk::componentFramework::RuntimeRepoAdapter::SUPPORTED_URI_SCHEME = "rtr"

inlinestatic

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

componentFramework/services/runtimeRepo/src/include/rtctk/componentFramework/runtimeRepoAdapter.hpp
componentFramework/services/runtimeRepo/src/runtimeRepoAdapter.cpp

Classes

Public Member Functions

Static Public Attributes

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ DispatchFunction

◆ LookupTable

◆ TableEntry

Constructor & Destructor Documentation

◆ RuntimeRepoAdapter() [1/4]

◆ RuntimeRepoAdapter() [2/4]

◆ RuntimeRepoAdapter() [3/4]

◆ RuntimeRepoAdapter() [4/4]

◆ ~RuntimeRepoAdapter()

Member Function Documentation

◆ Bind()

◆ CreateDeleteSubscribeImpl()

◆ CreateImpl()

◆ CreateLinkImpl()

◆ DeleteImpl()

◆ ExistsImpl()

◆ GetChildrenImpl()

◆ GetUri()

◆ InvokeRequestHandler()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ PartialReadImpl()

◆ PartialWriteImpl()

◆ ProcessRequests()

◆ ReadImpl()

◆ ReadMetaDataImpl()

◆ SubscribeImpl()

◆ SubscriptionCallbackHandler()

◆ UnsubscribeImpl()

◆ UpdateLinkImpl()

◆ WriteImpl()

◆ WriteMetaDataImpl()

Member Data Documentation

◆ m_baseuri

◆ m_create_delete_subscriptions

◆ m_event_service

◆ m_event_subscriber

◆ m_ip

◆ m_mal_event_service

◆ m_mutex

◆ m_port

◆ m_thread_pool

◆ m_thread_pool_callback

◆ m_topic

◆ m_value_subscriptions

◆ S_REQUEST_DISPATCHER_TABLE

◆ SUPPORTED_URI_SCHEME