The runtime that is needed for each application to communicate with the RouDi daemon. More...

#include <posh_runtime.hpp>

Inheritance diagram for iox::runtime::PoshRuntime:

Public Member Functions
RuntimeName_t	getInstanceName () const noexcept
	get the name that was used to register with RouDi More...

void	shutdown () noexcept
	initiates the shutdown of the runtime to unblock all potentially blocking publisher with the SubscriberTooSlowPolicy::WAIT_FOR_SUBSCRIBER option set

cxx::expected< InstanceContainer, FindServiceError >	findService (const capro::ServiceDescription &serviceDescription) noexcept
	find all services that match the provided service description More...

bool	offerService (const capro::ServiceDescription &serviceDescription) noexcept
	offer the provided service, sends the offer from application to RouDi daemon More...

void	stopOfferService (const capro::ServiceDescription &serviceDescription) noexcept
	stop offering the provided service More...

PublisherPortUserType::MemberType_t *	getMiddlewarePublisher (const capro::ServiceDescription &service, const popo::PublisherOptions &publisherOptions=popo::PublisherOptions(), const PortConfigInfo &portConfigInfo=PortConfigInfo()) noexcept
	request the RouDi daemon to create a publisher port More...

SubscriberPortUserType::MemberType_t *	getMiddlewareSubscriber (const capro::ServiceDescription &service, const popo::SubscriberOptions &subscriberOptions=popo::SubscriberOptions(), const PortConfigInfo &portConfigInfo=PortConfigInfo()) noexcept
	request the RouDi daemon to create a subscriber port More...

popo::InterfacePortData *	getMiddlewareInterface (const capro::Interfaces interface, const NodeName_t &nodeName={""}) noexcept
	request the RouDi daemon to create an interface port More...

popo::ApplicationPortData *	getMiddlewareApplication () noexcept
	request the RouDi daemon to create an application port More...

popo::ConditionVariableData *	getMiddlewareConditionVariable () noexcept
	request the RouDi daemon to create a condition variable More...

NodeData *	createNode (const NodeProperty &nodeProperty) noexcept
	request the RouDi daemon to create a node More...

const std::atomic< uint64_t > *	getServiceRegistryChangeCounter () noexcept
	requests the serviceRegistryChangeCounter from the shared memory More...

bool	sendRequestToRouDi (const IpcMessage &msg, IpcMessage &answer) noexcept
	send a request to the RouDi daemon and get the response currently each request is followed by a response More...

	PoshRuntime (const PoshRuntime &)=delete

PoshRuntime &	operator= (const PoshRuntime &)=delete

	PoshRuntime (PoshRuntime &&)=delete

PoshRuntime &	operator= (PoshRuntime &&)=delete

Static Public Member Functions
static PoshRuntime &	getInstance () noexcept
	returns active runtime More...

static PoshRuntime &	initRuntime (const RuntimeName_t &name) noexcept
	creates the runtime with given name More...

Protected Types
using	factory_t = PoshRuntime &()(cxx::optional< const RuntimeName_t >)

Protected Member Functions
	PoshRuntime (cxx::optional< const RuntimeName_t * > name, const bool doMapSharedMemoryIntoThread=true) noexcept

Static Protected Member Functions
static PoshRuntime &	defaultRuntimeFactory (cxx::optional< const RuntimeName_t * > name) noexcept

static RuntimeName_t &	defaultRuntimeInstanceName () noexcept

static factory_t &	getRuntimeFactory () noexcept
	gets current runtime factory. If the runtime factory is not yet initialized it is set to defaultRuntimeFactory. More...

static void	setRuntimeFactory (const factory_t &factory) noexcept
	sets runtime factory, terminates if given factory is empty More...

static PoshRuntime &	getInstance (cxx::optional< const RuntimeName_t * > name) noexcept
	creates the runtime or returns the already existing one -> Singleton More...

Friends
class	roudi::RuntimeTestInterface

Detailed Description

The runtime that is needed for each application to communicate with the RouDi daemon.

Member Function Documentation

◆ createNode()

NodeData* iox::runtime::PoshRuntime::createNode ( const NodeProperty & nodeProperty )

noexcept

request the RouDi daemon to create a node

Parameters

[in] nodeProperty class which contains all properties which the node should have

Returns: pointer to the data of the node

◆ findService()

cxx::expected<InstanceContainer, FindServiceError> iox::runtime::PoshRuntime::findService ( const capro::ServiceDescription & serviceDescription )

noexcept

find all services that match the provided service description

Parameters

[in] serviceDescription service to search for

Returns: cxx::expected<InstanceContainer, FindServiceError> InstanceContainer: on success, container that is filled with all matching instances FindServiceError: if any, encountered during the operation

◆ getInstance() [1/2]

static PoshRuntime& iox::runtime::PoshRuntime::getInstance ( )

staticnoexcept

returns active runtime

Returns: active runtime

◆ getInstance() [2/2]

static PoshRuntime& iox::runtime::PoshRuntime::getInstance ( cxx::optional< const RuntimeName_t * > name )

staticprotectednoexcept

creates the runtime or returns the already existing one -> Singleton

Parameters

[in] name optional containing the name used for registering with the RouDi daemon

Returns: active runtime

◆ getInstanceName()

RuntimeName_t iox::runtime::PoshRuntime::getInstanceName ( ) const

noexcept

get the name that was used to register with RouDi

Returns: name of the registered application

◆ getMiddlewareApplication()

popo::ApplicationPortData* iox::runtime::PoshRuntime::getMiddlewareApplication ( )

noexcept

request the RouDi daemon to create an application port

Returns: pointer to a created application port data

◆ getMiddlewareConditionVariable()

popo::ConditionVariableData* iox::runtime::PoshRuntime::getMiddlewareConditionVariable ( )

noexcept

request the RouDi daemon to create a condition variable

Returns: pointer to a created condition variable data

◆ getMiddlewareInterface()

popo::InterfacePortData* iox::runtime::PoshRuntime::getMiddlewareInterface	(	const capro::Interfaces	interface,
		const NodeName_t &	nodeName = `{""}`
	)

noexcept

request the RouDi daemon to create an interface port

Parameters

[in]	interface	interface to create
[in]	nodeName	name of the node where the interface should belong to

Returns: pointer to a created interface port data

◆ getMiddlewarePublisher()

PublisherPortUserType::MemberType_t* iox::runtime::PoshRuntime::getMiddlewarePublisher	(	const capro::ServiceDescription &	service,
		const popo::PublisherOptions &	publisherOptions = `popo::PublisherOptions()`,
		const PortConfigInfo &	portConfigInfo = `PortConfigInfo()`
	)

noexcept

request the RouDi daemon to create a publisher port

Parameters

[in]	serviceDescription	service description for the new publisher port
[in]	publisherOptions	like the history capacity of a publisher
[in]	portConfigInfo	configuration information for the port (i.e. what type of port is requested, device where its payload memory is located on etc.)

Returns: pointer to a created publisher port user

◆ getMiddlewareSubscriber()

SubscriberPortUserType::MemberType_t* iox::runtime::PoshRuntime::getMiddlewareSubscriber	(	const capro::ServiceDescription &	service,
		const popo::SubscriberOptions &	subscriberOptions = `popo::SubscriberOptions()`,
		const PortConfigInfo &	portConfigInfo = `PortConfigInfo()`
	)

noexcept

request the RouDi daemon to create a subscriber port

Parameters

[in]	serviceDescription	service description for the new subscriber port
[in]	subscriberOptions	like the queue capacity and history requested by a subscriber
[in]	portConfigInfo	configuration information for the port (what type of port is requested, device where its payload memory is located on etc.)

Returns: pointer to a created subscriber port data

◆ getRuntimeFactory()

static factory_t& iox::runtime::PoshRuntime::getRuntimeFactory ( )

staticprotectednoexcept

gets current runtime factory. If the runtime factory is not yet initialized it is set to defaultRuntimeFactory.

Returns: current runtime factory

◆ getServiceRegistryChangeCounter()

const std::atomic<uint64_t>* iox::runtime::PoshRuntime::getServiceRegistryChangeCounter ( )

noexcept

requests the serviceRegistryChangeCounter from the shared memory

Returns: pointer to the serviceRegistryChangeCounter

◆ initRuntime()

static PoshRuntime& iox::runtime::PoshRuntime::initRuntime ( const RuntimeName_t & name )

staticnoexcept

creates the runtime with given name

Parameters

[in] name used for registering the process with the RouDi daemon

Returns: active runtime

◆ offerService()

bool iox::runtime::PoshRuntime::offerService ( const capro::ServiceDescription & serviceDescription )

noexcept

offer the provided service, sends the offer from application to RouDi daemon

Parameters

[in] serviceDescription service to offer

Returns: bool, if service is offered returns true else false

◆ sendRequestToRouDi()

bool iox::runtime::PoshRuntime::sendRequestToRouDi	(	const IpcMessage &	msg,
		IpcMessage &	answer
	)

noexcept

send a request to the RouDi daemon and get the response currently each request is followed by a response

Parameters

[in]	msg	request message to send
[out]	response	from the RouDi daemon

Returns: true if sucessful request/response, false on error

◆ setRuntimeFactory()

static void iox::runtime::PoshRuntime::setRuntimeFactory ( const factory_t & factory )

staticprotectednoexcept

sets runtime factory, terminates if given factory is empty

Parameters

[in] factory std::function to which the runtime factory should be set

◆ stopOfferService()

void iox::runtime::PoshRuntime::stopOfferService ( const capro::ServiceDescription & serviceDescription )

noexcept

stop offering the provided service

Parameters

[in] serviceDescription of the service that shall be no more offered

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

iceoryx_posh/runtime/posh_runtime.hpp

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Static Protected Member Functions

Friends

Detailed Description

Member Function Documentation

◆ createNode()

◆ findService()

◆ getInstance() [1/2]

◆ getInstance() [2/2]

◆ getInstanceName()

◆ getMiddlewareApplication()

◆ getMiddlewareConditionVariable()

◆ getMiddlewareInterface()

◆ getMiddlewarePublisher()

◆ getMiddlewareSubscriber()

◆ getRuntimeFactory()

◆ getServiceRegistryChangeCounter()

◆ initRuntime()

◆ offerService()

◆ sendRequestToRouDi()

◆ setRuntimeFactory()

◆ stopOfferService()