Keeps the mapping between streams and sessions. More...

#include <Dispatcher.h>

Public Member Functions
void	CloseStream (carla::streaming::detail::stream_id_type id)

void	DeregisterSession (std::shared_ptr< Session > session)

void	DisableForROS (stream_id_type sensor_id)

template<typename Protocol , typename EndPointType >
	Dispatcher (const EndPoint< Protocol, EndPointType > &ep)

void	EnableForROS (stream_id_type sensor_id)

std::optional< stream_id_type >	FindStreamAlias (stream_id_type alias)

std::optional< token_type >	FindToken (stream_id_type stream_id)
	Like GetToken(), but returns std::nullopt for an unknown stream_id instead of creating an empty stream for it.

token_type	GetToken (stream_id_type sensor_id)

bool	IsEnabledForROS (stream_id_type sensor_id)

carla::streaming::Stream	MakeStream ()

bool	RegisterSession (std::shared_ptr< Session > session)

void	RemoveStreamAlias (stream_id_type alias)

void	SetROS2TopicVisibilityDefaultEnabled (bool enabled)

void	SetSessionsUseStreamAliases (bool enabled)
	When enabled, a session subscribes through an alias (see SetStreamAlias) and a stream id without an alias is refused, since aliases and local stream ids are separate id spaces that may overlap.

void	SetStreamAlias (stream_id_type alias, stream_id_type stream_id)
	Routes sessions subscribing to alias to the local stream stream_id.

	~Dispatcher ()

Private Member Functions
std::optional< stream_id_type >	ResolveSessionStreamId (stream_id_type session_stream_id) const
	Stream a session subscribing to session_stream_id belongs to.

Private Attributes
token_type	_cached_token

std::mutex	_mutex

std::unordered_map< const Session *, std::weak_ptr< MultiStreamState > >	_session_streams

bool	_sessions_use_stream_aliases {false}

std::unordered_map< stream_id_type, stream_id_type >	_stream_aliases

StreamMap	_stream_map

bool	_topic_visibility_default_enabled {false}

Detailed Description

Keeps the mapping between streams and sessions.

Definition at line 28 of file Dispatcher.h.

Constructor & Destructor Documentation

◆ Dispatcher()

template<typename Protocol , typename EndPointType >

carla::streaming::detail::Dispatcher::Dispatcher ( const EndPoint< Protocol, EndPointType > & ep )

inlineexplicit

Definition at line 32 of file Dispatcher.h.

◆ ~Dispatcher()

carla::streaming::detail::Dispatcher::~Dispatcher ( )

Definition at line 19 of file Dispatcher.cpp.

References _stream_map, and carla::log_error().

Member Function Documentation

◆ CloseStream()

void carla::streaming::detail::Dispatcher::CloseStream ( carla::streaming::detail::stream_id_type id )

Definition at line 63 of file Dispatcher.cpp.

References _mutex, _stream_map, and carla::log_debug().

Referenced by carla::streaming::low_level::Server< T >::CloseStream().

◆ DeregisterSession()

void carla::streaming::detail::Dispatcher::DeregisterSession ( std::shared_ptr< Session > session )

Definition at line 108 of file Dispatcher.cpp.

References _mutex, _session_streams, _stream_map, DEBUG_ASSERT, and carla::log_debug().

Referenced by carla::streaming::low_level::Server< T >::StartServer().

◆ DisableForROS()

void carla::streaming::detail::Dispatcher::DisableForROS ( stream_id_type sensor_id )

inline

Definition at line 78 of file Dispatcher.h.

References _mutex, and _stream_map.

Referenced by carla::streaming::low_level::Server< T >::DisableForROS().

◆ EnableForROS()

void carla::streaming::detail::Dispatcher::EnableForROS ( stream_id_type sensor_id )

inline

Definition at line 70 of file Dispatcher.h.

References _mutex, and _stream_map.

Referenced by carla::streaming::low_level::Server< T >::EnableForROS().

◆ FindStreamAlias()

std::optional< stream_id_type > carla::streaming::detail::Dispatcher::FindStreamAlias ( stream_id_type alias )

Definition at line 184 of file Dispatcher.cpp.

References _mutex, and _stream_aliases.

Referenced by carla::streaming::low_level::Server< T >::FindStreamAlias().

◆ FindToken()

std::optional< token_type > carla::streaming::detail::Dispatcher::FindToken ( stream_id_type stream_id )

Like GetToken(), but returns std::nullopt for an unknown stream_id instead of creating an empty stream for it.

Definition at line 158 of file Dispatcher.cpp.

References _mutex, and _stream_map.

Referenced by carla::streaming::low_level::Server< T >::FindToken().

◆ GetToken()

token_type carla::streaming::detail::Dispatcher::GetToken ( stream_id_type sensor_id )

Definition at line 127 of file Dispatcher.cpp.

References _cached_token, _mutex, _stream_map, _topic_visibility_default_enabled, carla::streaming::detail::token_type::get_port(), carla::streaming::detail::token_type::get_stream_id(), carla::log_debug(), and carla::streaming::detail::token_type::set_stream_id().

Referenced by carla::streaming::low_level::Server< T >::GetToken().

◆ IsEnabledForROS()

bool carla::streaming::detail::Dispatcher::IsEnabledForROS ( stream_id_type sensor_id )

inline

Definition at line 86 of file Dispatcher.h.

References _mutex, and _stream_map.

Referenced by carla::streaming::low_level::Server< T >::IsEnabledForROS().

◆ MakeStream()

carla::streaming::Stream carla::streaming::detail::Dispatcher::MakeStream ( )

Definition at line 37 of file Dispatcher.cpp.

References _cached_token, _mutex, _stream_map, carla::streaming::detail::token_type::_token, _topic_visibility_default_enabled, carla::streaming::detail::token_type::get_stream_id(), carla::log_debug(), carla::streaming::detail::token_data::stream_id, and carla::throw_exception().

Referenced by carla::streaming::low_level::Server< T >::MakeStream(), TEST(), and TEST().

◆ RegisterSession()

bool carla::streaming::detail::Dispatcher::RegisterSession ( std::shared_ptr< Session > session )

Definition at line 88 of file Dispatcher.cpp.

References _mutex, _session_streams, _stream_map, DEBUG_ASSERT, carla::log_debug(), carla::log_error(), and ResolveSessionStreamId().

Referenced by carla::streaming::low_level::Server< T >::StartServer().

◆ RemoveStreamAlias()

void carla::streaming::detail::Dispatcher::RemoveStreamAlias ( stream_id_type alias )

Definition at line 179 of file Dispatcher.cpp.

References _mutex, and _stream_aliases.

Referenced by carla::streaming::low_level::Server< T >::RemoveStreamAlias().

◆ ResolveSessionStreamId()

std::optional< stream_id_type > carla::streaming::detail::Dispatcher::ResolveSessionStreamId ( stream_id_type session_stream_id ) const

private

Stream a session subscribing to session_stream_id belongs to.

Definition at line 77 of file Dispatcher.cpp.

References _sessions_use_stream_aliases, and _stream_aliases.

Referenced by RegisterSession().

◆ SetROS2TopicVisibilityDefaultEnabled()

void carla::streaming::detail::Dispatcher::SetROS2TopicVisibilityDefaultEnabled ( bool enabled )

inline

Definition at line 65 of file Dispatcher.h.

References _mutex, and _topic_visibility_default_enabled.

Referenced by carla::streaming::low_level::Server< T >::SetROS2TopicVisibilityDefaultEnabled().

◆ SetSessionsUseStreamAliases()

void carla::streaming::detail::Dispatcher::SetSessionsUseStreamAliases ( bool enabled )

When enabled, a session subscribes through an alias (see SetStreamAlias) and a stream id without an alias is refused, since aliases and local stream ids are separate id spaces that may overlap.

Definition at line 169 of file Dispatcher.cpp.

References _mutex, and _sessions_use_stream_aliases.

Referenced by carla::streaming::low_level::Server< T >::SetSessionsUseStreamAliases().

◆ SetStreamAlias()

void carla::streaming::detail::Dispatcher::SetStreamAlias	(	stream_id_type	alias,
		stream_id_type	stream_id
	)

Routes sessions subscribing to alias to the local stream stream_id.

Definition at line 174 of file Dispatcher.cpp.

References _mutex, and _stream_aliases.

Referenced by carla::streaming::low_level::Server< T >::SetStreamAlias().

Member Data Documentation

◆ _cached_token

token_type carla::streaming::detail::Dispatcher::_cached_token

private

Definition at line 104 of file Dispatcher.h.

Referenced by GetToken(), and MakeStream().

◆ _mutex

std::mutex carla::streaming::detail::Dispatcher::_mutex

private

Definition at line 102 of file Dispatcher.h.

Referenced by CloseStream(), DeregisterSession(), DisableForROS(), EnableForROS(), FindStreamAlias(), FindToken(), GetToken(), IsEnabledForROS(), MakeStream(), RegisterSession(), RemoveStreamAlias(), SetROS2TopicVisibilityDefaultEnabled(), SetSessionsUseStreamAliases(), and SetStreamAlias().

◆ _session_streams

std::unordered_map<const Session *, std::weak_ptr<MultiStreamState> > carla::streaming::detail::Dispatcher::_session_streams

private

Definition at line 112 of file Dispatcher.h.

Referenced by DeregisterSession(), and RegisterSession().

◆ _sessions_use_stream_aliases

bool carla::streaming::detail::Dispatcher::_sessions_use_stream_aliases {false}

private

Definition at line 108 of file Dispatcher.h.

Referenced by ResolveSessionStreamId(), and SetSessionsUseStreamAliases().

◆ _stream_aliases

std::unordered_map<stream_id_type, stream_id_type> carla::streaming::detail::Dispatcher::_stream_aliases

private

Definition at line 110 of file Dispatcher.h.

Referenced by FindStreamAlias(), RemoveStreamAlias(), ResolveSessionStreamId(), and SetStreamAlias().

◆ _stream_map

StreamMap carla::streaming::detail::Dispatcher::_stream_map

private

Definition at line 106 of file Dispatcher.h.

Referenced by CloseStream(), DeregisterSession(), DisableForROS(), EnableForROS(), FindToken(), GetToken(), IsEnabledForROS(), MakeStream(), RegisterSession(), and ~Dispatcher().

◆ _topic_visibility_default_enabled

bool carla::streaming::detail::Dispatcher::_topic_visibility_default_enabled {false}

private

Definition at line 116 of file Dispatcher.h.

Referenced by GetToken(), MakeStream(), and SetROS2TopicVisibilityDefaultEnabled().

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Dispatcher()

◆ ~Dispatcher()

Member Function Documentation

◆ CloseStream()

◆ DeregisterSession()

◆ DisableForROS()

◆ EnableForROS()

◆ FindStreamAlias()

◆ FindToken()

◆ GetToken()

◆ IsEnabledForROS()

◆ MakeStream()

◆ RegisterSession()

◆ RemoveStreamAlias()

◆ ResolveSessionStreamId()

◆ SetROS2TopicVisibilityDefaultEnabled()

◆ SetSessionsUseStreamAliases()

◆ SetStreamAlias()

Member Data Documentation

◆ _cached_token

◆ _mutex

◆ _session_streams

◆ _sessions_use_stream_aliases

◆ _stream_aliases

◆ _stream_map

◆ _topic_visibility_default_enabled