Client-side proxy monitoring and control surface backed by a MessageLoop. More...

#include <proxy_api.h>

Inheritance diagram for vlink::ProxyAPI:

Collaboration diagram for vlink::ProxyAPI:

Classes
struct	Config
	Construction-time configuration aggregate for `ProxyAPI`. More...

struct	Control
	Control message sent from a `kController` instance to `ProxyServer`. More...

struct	Data
	Raw message payload delivered via `DataCallback` or sent via `send_data()`. More...

struct	Info
	Statistics and metadata describing one discovered topic endpoint. More...

struct	Process
	Description of a VLink node process attached to a topic endpoint. More...

struct	UrlMeta
	Pairs a topic URL with its serialisation type and node role. More...

Public Types
enum	Mode : uint8_t { kOffline = 0 , kObserveOne = 1 , kObserveAll = 2 , kRecord = 3 , kPlay = 4 , kEdit = 5 , kAuto = 6 , kAutoAndObserveAll = 7 }
	Proxy operation modes published via `send_control()`. More...

enum	Error : uint8_t { kNoError = 0 , kModeError = 1 , kControlError = 2 , kReliableCompError = 3 , kTcpCompError = 4 , kDirectCompError = 5 , kMultiProxyError = 7 , kVersionCompError = 8 , kTokenError = 9 , kUnknownError = 10 }
	Compatibility and protocol error codes reported through `ErrorCallback`. More...

enum	Status : uint8_t { kActive = 0 , kInActive = 1 , kPending = 2 , kInvalid = 3 }
	Per-topic activity status reported inside `Info` records. More...

enum	Role : uint8_t { kController = 0 , kListener }
	Role this `ProxyAPI` instance plays towards the `ProxyServer`. More...

using	ConnectCallback = MoveFunction< void(bool connected)>
	Callback fired when the connection state with `ProxyServer` changes. More...

using	ErrorCallback = MoveFunction< void(Error error)>
	Callback fired on each error-state transition. More...

using	TimeCallback = MoveFunction< void(uint64_t sys_time, uint64_t boot_time)>
	Callback delivering the server's wall-clock and boot-time from each heartbeat. More...

using	InfoCallback = MoveFunction< void(const std::vector< Info > &info_list)>
	Callback delivering the per-topic statistics list once per second. More...

using	DataCallback = MoveFunction< void(const Data &data)>
	Callback delivering raw message data from the active proxy data path. More...

Public Types inherited from vlink::MessageLoop
enum	Type : uint8_t { kNormalType = 0 , kLockfreeType = 1 , kPriorityType = 2 }
	Internal queue implementation type. More...

enum	Strategy : uint8_t { kOptimizationStrategy = 0 , kPopStrategy = 1 , kBlockStrategy = 2 }
	Back-pressure strategy applied when the bounded queue is at capacity. More...

enum	Priority : uint16_t { kNoPriority = 0 , kLowestPriority = 1 , kTimerPriority = 50 , kNormalPriority = 100 , kHighestPriority = std::numeric_limits<uint16_t>::max() }
	Built-in priority levels for `kPriorityType` loops; higher values dispatch first. More...

using	Callback = MoveFunction< void()>
	Callback type for tasks and event handlers. More...

Public Member Functions
	ProxyAPI (const Config &config)
	Constructs a `ProxyAPI` using the supplied configuration. More...

	~ProxyAPI () override
	Destroys the `ProxyAPI` and releases every transport handle. More...

void	register_connect_callback (ConnectCallback &&callback)
	Registers a callback for connection-state changes. More...

void	register_error_callback (ErrorCallback &&callback)
	Registers a callback for error-state transitions. More...

void	register_time_callback (TimeCallback &&callback)
	Registers a callback for heartbeat timestamp delivery. More...

void	register_info_callback (InfoCallback &&callback)
	Registers a callback for per-topic statistics updates. More...

void	register_data_callback (DataCallback &&callback)
	Registers a callback for raw message data relayed by the server. More...

bool	send_control (const Control &control, bool async=true)
	Publishes a `Control` message to the `ProxyServer`. More...

bool	send_data (const Data &data)
	Injects raw message data into the proxy data path. More...

const Config &	get_current_config () const
	Returns the configuration supplied at construction. More...

Mode	get_current_mode () const
	Returns the most recently requested proxy operation mode. More...

Error	get_current_error () const
	Returns the current error state. More...

std::string	get_current_hostname () const
	Returns the hostname of the connected `ProxyServer`. More...

std::string	get_current_machine_id () const
	Returns the machine ID of the connected `ProxyServer`. More...

uint64_t	get_current_sys_time () const
	Returns the best estimate of the server's current wall-clock time. More...

uint64_t	get_current_boot_time () const
	Returns the best estimate of the server's current boot time. More...

double	get_current_cpu_usage () const
	Returns the server's most recently reported CPU utilisation. More...

double	get_current_memory_usage () const
	Returns the server's most recently reported memory utilisation. More...

int64_t	get_latency () const
	Returns the latest backend-reported latency on the data channel. More...

SampleLostInfo	get_lost () const
	Returns the sample-loss statistics on the data channel. More...

bool	is_connected () const
	Returns whether a valid connection to `ProxyServer` exists. More...

std::string	get_proxy_version () const
	Returns the `VLINK_VERSION` string reported by the server. More...

std::unordered_set< std::string >	get_proxy_hostnames () const
	Returns every server hostname observed during this session. More...

std::unordered_set< std::string >	get_proxy_machine_ids () const
	Returns every server machine ID observed during this session. More...

Public Member Functions inherited from vlink::MessageLoop
	MessageLoop ()
	Constructs a loop with the default `kNormalType` queue. More...

	MessageLoop (Type type)
	Constructs a loop with the given queue type. More...

virtual	~MessageLoop ()
	Destructor; requests quit and joins the dispatcher thread if needed. More...

void	set_name (const std::string &name)
	Sets a human-readable name visible to profiling tools. More...

const std::string &	get_name () const
	Returns the loop name set via `set_name`. More...

Type	get_type () const
	Returns the queue type this loop was constructed with. More...

Strategy	get_strategy () const
	Returns the active back-pressure strategy. More...

void	set_strategy (Strategy strategy)
	Replaces the back-pressure strategy. More...

void	register_begin_handler (Callback &&callback)
	Registers a callback fired once at loop thread startup. More...

void	register_end_handler (Callback &&callback)
	Registers a callback fired once when the loop thread exits. More...

void	register_idle_handler (Callback &&callback)
	Registers a callback fired every time the queue becomes empty. More...

bool	run ()
	Runs the loop on the calling thread until `quit` is requested. More...

bool	async_run ()
	Starts the loop on a new background thread. More...

bool	spin ()
	Alias of `run` blocking the calling thread. More...

bool	spin_once (bool block=true)
	Processes one batch of pending tasks and timers on the calling thread. More...

bool	quit (bool force=false)
	Requests the loop to exit. More...

bool	wait_for_quit (int ms=Timer::kInfinite, bool check=true)
	Waits until the loop has fully exited. More...

bool	post_task (Callback &&callback)
	Posts a task for execution on the loop thread. More...

TaskHandle	post_task_handle (Callback &&callback, const PostTaskOptions &options={})
	Tracked variant of `post_task` returning a `TaskHandle`. More...

bool	post_task_with_priority (Callback &&callback, uint16_t priority)
	Posts a task with an explicit priority on a `kPriorityType` loop. More...

TaskHandle	post_task_with_priority_handle (Callback &&callback, uint16_t priority, const PostTaskOptions &options={})
	Tracked variant of `post_task_with_priority` returning a `TaskHandle`. More...

template<typename CallbackT , typename = std::enable_if_t<!std::is_convertible_v<CallbackT, Schedule::RetCallback>>>
Schedule::Status	exec_task (const Schedule::Config &config, CallbackT &&callback)
	Schedules a `void-returning` callable and returns a chainable `Schedule::Status`. More...

template<typename CallbackT , typename = std::enable_if_t<std::is_convertible_v<CallbackT, Schedule::RetCallback>>>
Schedule::RetStatus	exec_task (const Schedule::Config &config, CallbackT &&callback)
	Schedules a `bool-returning` callable and returns a chainable `Schedule::RetStatus`. More...

bool	wakeup ()
	Wakes the loop thread if it is suspended in its idle wait. More...

void	reset_lockfree_capacity ()
	Recreates the lock-free queue, clearing all queued tasks and counters. More...

bool	is_running () const
	Reports whether the loop is currently running. More...

bool	is_ready_to_quit () const
	Reports whether `quit` has been requested and the loop is winding down. More...

bool	is_busy () const
	Reports whether the loop is currently executing a task. More...

size_t	get_task_count () const
	Returns the current pending task count. More...

virtual bool	wait_for_idle (int ms=Timer::kInfinite, bool check=true)
	Waits until the loop has drained its queue and is not executing a task. More...

virtual size_t	get_max_timer_count () const
	Returns the maximum number of timers that can be attached. More...

virtual bool	is_in_same_thread () const
	Reports whether the calling thread is owned by this loop. More...

std::shared_ptr< AliveState >	get_alive_state () const
	Returns the shared lifetime flag used by cross-thread bridges. More...

template<class FunctionT , class... ArgsT, typename ResultT = std::invoke_result_t<FunctionT, ArgsT...>>
std::future< ResultT >	invoke_task (FunctionT &&function, ArgsT &&... args)
	Dispatches a callable to the loop thread and returns a `std::future` for the result. More...

template<class FunctionT , class... ArgsT, typename ResultT = std::invoke_result_t<FunctionT, ArgsT...>>
std::future< ResultT >	invoke_task_with_priority (FunctionT &&function, uint16_t priority, ArgsT &&... args)
	Priority variant of `invoke_task`; requires a `kPriorityType` loop. More...

Static Public Member Functions
static bool	is_support_shm ()
	Returns `true` when the build includes SHM (Iceoryx) support. More...

static bool	is_enable_filter ()
	Returns `true` when topic filtering support is compiled in. More...

static std::string	get_format_sys_time (uint64_t time, bool enable_utc=false)
	Formats a microsecond wall-clock timestamp as a human-readable string. More...

static std::string	get_format_boot_time (uint64_t time)
	Formats a microsecond boot-time duration as a human-readable string. More...

Protected Member Functions
size_t	get_max_task_count () const override
	Returns the maximum queue depth. More...

uint32_t	get_max_elapsed_time () const override
	Returns the maximum allowed task execution time in milliseconds. More...

void	on_begin () override
	Hook invoked once on the loop thread before the first task runs. More...

void	on_end () override
	Hook invoked once on the loop thread after the last task runs. More...

Protected Member Functions inherited from vlink::MessageLoop
virtual void	on_idle ()
	Hook invoked on the loop thread each time the queue becomes empty. More...

virtual void	on_task_changed (Callback &&callback, uint32_t start_time)
	Dispatches a ready task on the loop thread. More...

virtual void	on_task_timeout (Callback &&callback, uint32_t elapsed_time)
	Hook invoked when a task exceeds `get_max_elapsed_time()`. More...

Detailed Description

Client-side proxy monitoring and control surface backed by a MessageLoop.

Connects to a ProxyServer over security-authenticated DDS control channels and exposes registration entry points for connection state, error transitions, heartbeat timestamps, per-topic statistics, and raw data payloads. In direct mode data payloads ride on locally-created SHM channels instead of the server-relayed data channel. Inherits MessageLoop; start the loop with run() or async_run() so the handshake retries, heartbeat timer, handle reset, and async control posts can execute.

Member Typedef Documentation

◆ ConnectCallback

using vlink::ProxyAPI::ConnectCallback = MoveFunction<void(bool connected)>

Callback fired when the connection state with ProxyServer changes.

connected becomes true on the first valid heartbeat and false after five seconds of heartbeat silence or when the control channel reports disconnection.

◆ DataCallback

using vlink::ProxyAPI::DataCallback = MoveFunction<void(const Data& data)>

Callback delivering raw message data from the active proxy data path.

Fires for every message forwarded in observe, record, or auto modes. In non-direct mode the bytes are relayed by ProxyServer; in direct mode they come from local direct subscribers. Data::raw is shallow-borrowed – copy it if you must retain it past the callback.

◆ ErrorCallback

using vlink::ProxyAPI::ErrorCallback = MoveFunction<void(Error error)>

Callback fired on each error-state transition.

Only invoked when Error changes – for instance from kNoError to kVersionCompError, or back to kNoError.

◆ InfoCallback

using vlink::ProxyAPI::InfoCallback = MoveFunction<void(const std::vector<Info>& info_list)>

Callback delivering the per-topic statistics list once per second.

Parameters

info_list Filtered discovery records relevant to the current mode, including their status fields.

◆ TimeCallback

using vlink::ProxyAPI::TimeCallback = MoveFunction<void(uint64_t sys_time, uint64_t boot_time)>

Callback delivering the server's wall-clock and boot-time from each heartbeat.

Parameters

sys_time	Server system time in microseconds since the Unix epoch.
boot_time	Server uptime in microseconds since boot.

Member Enumeration Documentation

◆ Error

enum vlink::ProxyAPI::Error : uint8_t

Compatibility and protocol error codes reported through ErrorCallback.

Errors are produced when the client parses an incoming Time heartbeat or a handshake response; the callback fires only when the error state changes.

Enumerator
kNoError	No error; the connection is healthy.
kModeError	Reserved legacy code; unsupported modes are ignored server-side.
kControlError	Server responded with a different `control_id`.
kReliableCompError	`reliable` setting differs between client and server.
kTcpCompError	`enable_tcp` setting differs between client and server.
kDirectCompError	`direct` setting differs between client and server.
kMultiProxyError	Multiple proxy servers, or Time identity differs from the handshake.
kVersionCompError	`VLINK_VERSION` string differs between client and server.
kTokenError	Handshake refused/empty token or identity-matching token mismatch.
kUnknownError	Unknown or unclassified error.

◆ Mode

enum vlink::ProxyAPI::Mode : uint8_t

Proxy operation modes published via send_control().

The mode governs what the ProxyServer observes or what the controller may inject. Only a kController instance may switch the mode.

Enumerator
kOffline	Disconnected; server releases every subscription.
kObserveOne	Observe a single topic taken from the URL list.
kObserveAll	Observe every discovered topic on the network.
kRecord	Record data from topics in the URL list.
kPlay	Injection/playback mode, usually fed by recorded data.
kEdit	Forward data injected by the controller.
kAuto	Observe specified URLs and accept controller injection.
kAutoAndObserveAll	Observe every topic and accept controller injection.

◆ Role

enum vlink::ProxyAPI::Role : uint8_t

Role this ProxyAPI instance plays towards the ProxyServer.

kController may call send_control() and send_data(). kListener is a passive observer; send calls return false immediately.

Enumerator
kController
kListener

◆ Status

enum vlink::ProxyAPI::Status : uint8_t

Per-topic activity status reported inside Info records.

Enumerator
kActive	Topic is actively receiving data.
kInActive	Topic exists but has not produced data recently.
kPending	Topic was just discovered; statistics are still accumulating.
kInvalid	Topic type does not support observation (e.g. subscriber-only).

Constructor & Destructor Documentation

◆ ProxyAPI()

vlink::ProxyAPI::ProxyAPI ( const Config & config )

explicit

Constructs a ProxyAPI using the supplied configuration.

Stores config, starts the internal heartbeat timer, and derives a unique control_id from the CPU timestamp so the server can distinguish concurrent controllers. Transport handles are created by reset_handle(), which runs when the inherited MessageLoop starts and again whenever the reconnect logic resets the connection. A controller also caches and posts an initial kAuto Control, but it is only published once the loop, handshake, and transport handles are all ready.

Parameters

config Configuration for the proxy connection.

◆ ~ProxyAPI()

vlink::ProxyAPI::~ProxyAPI ( )

override

Destroys the ProxyAPI and releases every transport handle.

Quits the inherited MessageLoop (if running), waits for it to stop, then releases DDS/SHM handles. For controller instances, normal MessageLoop shutdown publishes kOffline from on_end().

Member Function Documentation

◆ get_current_boot_time()

uint64_t vlink::ProxyAPI::get_current_boot_time ( ) const

Returns the best estimate of the server's current boot time.

Computed as the last received boot_time plus the elapsed microseconds since that heartbeat, extrapolated via an ElapsedTimer.

Returns: Estimated server uptime in microseconds since boot.

◆ get_current_config()

const Config& vlink::ProxyAPI::get_current_config ( ) const

Returns the configuration supplied at construction.

Returns: Const reference to the internal Config aggregate.

◆ get_current_cpu_usage()

double vlink::ProxyAPI::get_current_cpu_usage ( ) const

Returns the server's most recently reported CPU utilisation.

Returns: CPU usage percentage in the range [0, 100]; 0 when disconnected.

◆ get_current_error()

Error vlink::ProxyAPI::get_current_error ( ) const

Returns the current error state.

Returns: Current Error value; kNoError when no error is active.

◆ get_current_hostname()

std::string vlink::ProxyAPI::get_current_hostname ( ) const

Returns the hostname of the connected ProxyServer.

With handshake enabled, initialised from the successful handshake response and cross-checked against Time heartbeats. Without handshake, populated from the first valid heartbeat. Empty before any server identity is accepted and after disconnection.

Returns: Server hostname, or empty when unavailable.

◆ get_current_machine_id()

std::string vlink::ProxyAPI::get_current_machine_id ( ) const

Returns the machine ID of the connected ProxyServer.

With handshake enabled, initialised from the successful handshake response and cross-checked against Time heartbeats. Without handshake, populated from the first valid heartbeat. Empty before any server identity is accepted and after disconnection.

Returns: Server machine ID, or empty when unavailable.

◆ get_current_memory_usage()

double vlink::ProxyAPI::get_current_memory_usage ( ) const

Returns the server's most recently reported memory utilisation.

Returns: Memory usage percentage in the range [0, 100]; 0 when disconnected.

◆ get_current_mode()

Mode vlink::ProxyAPI::get_current_mode ( ) const

Returns the most recently requested proxy operation mode.

Reflects the mode most recently set through send_control(). Updated on the calling thread before any async DDS publish.

Returns: Current Mode value.

◆ get_current_sys_time()

uint64_t vlink::ProxyAPI::get_current_sys_time ( ) const

Returns the best estimate of the server's current wall-clock time.

Computed as the last received sys_time plus the elapsed microseconds since that heartbeat, extrapolated via an ElapsedTimer. Returns the raw sys_time field when the timer is not yet running.

Returns: Estimated server system time in microseconds since the Unix epoch.

◆ get_format_boot_time()

static std::string vlink::ProxyAPI::get_format_boot_time ( uint64_t time )

static

Formats a microsecond boot-time duration as a human-readable string.

Converts time (microseconds since boot) into a formatted elapsed string, e.g. "0d 01:23:45.678".

Parameters

time	Microseconds since boot.

Returns: Formatted elapsed-time string.

◆ get_format_sys_time()

static std::string vlink::ProxyAPI::get_format_sys_time	(	uint64_t	time,
		bool	enable_utc = `false`
	)

static

Formats a microsecond wall-clock timestamp as a human-readable string.

Output format: "YYYY/MM/DD HH:MM:SS:mmm" where mmm is milliseconds. Uses localtime_r by default; gmtime_r when enable_utc is true.

Parameters

time	Microseconds since the Unix epoch.
enable_utc	`true` for UTC; `false` for local time (default).

Returns: Formatted timestamp string, or empty on conversion error.

◆ get_latency()

int64_t vlink::ProxyAPI::get_latency ( ) const

Returns the latest backend-reported latency on the data channel.

In direct (SHM) mode, or before the DDS data subscriber is initialised, this returns 0. Otherwise it delegates to the underlying data subscriber's latency tracker. Main backends report one-way/end-to-end data latency in nanoseconds.

Returns: Latency in nanoseconds, or 0 when unavailable.

◆ get_lost()

SampleLostInfo vlink::ProxyAPI::get_lost ( ) const

Returns the sample-loss statistics on the data channel.

In direct (SHM) mode, or before the DDS data subscriber is initialised, this returns a default-constructed (zero) SampleLostInfo. Otherwise it delegates to the underlying data subscriber.

Returns: SampleLostInfo holding total and lost sample counters.

◆ get_max_elapsed_time()

uint32_t vlink::ProxyAPI::get_max_elapsed_time ( ) const

overrideprotectedvirtual

Returns the maximum allowed task execution time in milliseconds.

Tasks exceeding this duration trigger on_task_timeout. Zero disables the check.

Returns: Maximum execution time in milliseconds.

Reimplemented from vlink::MessageLoop.

◆ get_max_task_count()

size_t vlink::ProxyAPI::get_max_task_count ( ) const

overrideprotectedvirtual

Returns the maximum queue depth.

Returns: kMaxTaskSize (10000) by default.

Reimplemented from vlink::MessageLoop.

◆ get_proxy_hostnames()

std::unordered_set<std::string> vlink::ProxyAPI::get_proxy_hostnames ( ) const

Returns every server hostname observed during this session.

Hostnames are accumulated for the lifetime of the connection. They are NOT cleared on disconnect, only when reset_handle() runs.

Returns: Unordered set of observed hostnames.

◆ get_proxy_machine_ids()

std::unordered_set<std::string> vlink::ProxyAPI::get_proxy_machine_ids ( ) const

Returns every server machine ID observed during this session.

Analogous to get_proxy_hostnames(); accumulated for the lifetime of the connection.

Returns: Unordered set of observed machine IDs.

◆ get_proxy_version()

std::string vlink::ProxyAPI::get_proxy_version ( ) const

Returns the VLINK_VERSION string reported by the server.

With handshake enabled, initialised from the successful handshake response and subsequently refreshed from Time metadata after token/control checks. Without handshake, populated from the first valid heartbeat. Empty before any server version is accepted and after a handle reset.

Returns: Server VLink version string, e.g. "2.0.0".

◆ is_connected()

bool vlink::ProxyAPI::is_connected ( ) const

Returns whether a valid connection to ProxyServer exists.

true once the first valid heartbeat arrives; false after five seconds without a heartbeat or when the control channel reports disconnection.

Returns: true if connected, false otherwise.

◆ is_enable_filter()

static bool vlink::ProxyAPI::is_enable_filter ( )

static

Returns true when topic filtering support is compiled in.

Decided at compile time by VLINK_PROXY_ENABLE_FILTER. When false the filter_str and filter_by_process fields in Control are ignored by the server.

Returns: true when filtering is enabled.

◆ is_support_shm()

static bool vlink::ProxyAPI::is_support_shm ( )

static

Returns true when the build includes SHM (Iceoryx) support.

Decided at compile time by VLINK_SUPPORT_SHM. Useful to gate Config::direct.

Returns: true when SHM support is compiled in.

◆ on_begin()

void vlink::ProxyAPI::on_begin ( )

overrideprotectedvirtual

Hook invoked once on the loop thread before the first task runs.

Subclasses override to perform per-thread initialisation.

Reimplemented from vlink::MessageLoop.

◆ on_end()

void vlink::ProxyAPI::on_end ( )

overrideprotectedvirtual

Hook invoked once on the loop thread after the last task runs.

Subclasses override to perform per-thread cleanup.

Reimplemented from vlink::MessageLoop.

◆ register_connect_callback()

void vlink::ProxyAPI::register_connect_callback ( ConnectCallback && callback )

Registers a callback for connection-state changes.

If the API is already connected when the registration runs, the callback is invoked immediately with connected=true inside this call. Callbacks are replaced atomically; only one callback is active at a time.

Parameters

callback Callable with signature void(bool connected).

◆ register_data_callback()

void vlink::ProxyAPI::register_data_callback ( DataCallback && callback )

Registers a callback for raw message data relayed by the server.

There is no immediate invocation at registration time. Data arrives when the server is in a mode that forwards messages: kObserveOne, kObserveAll, kRecord, kAuto, or kAutoAndObserveAll.

Parameters

callback Callable with signature void(const Data& data).

◆ register_error_callback()

void vlink::ProxyAPI::register_error_callback ( ErrorCallback && callback )

Registers a callback for error-state transitions.

If a non-zero error is already active at registration time, the callback fires immediately with the current error inside this call.

Parameters

callback Callable with signature void(Error error).

◆ register_info_callback()

void vlink::ProxyAPI::register_info_callback ( InfoCallback && callback )

Registers a callback for per-topic statistics updates.

Invoked once per second with the full Info list from the server. There is no immediate invocation at registration; data arrives on the next server broadcast cycle.

Parameters

callback Callable with signature void(const std::vector<Info>& info_list).

◆ register_time_callback()

void vlink::ProxyAPI::register_time_callback ( TimeCallback && callback )

Registers a callback for heartbeat timestamp delivery.

If timestamps have already been received (timers active) the callback is invoked immediately with the latest extrapolated values inside this call.

Parameters

callback Callable with signature void(uint64_t sys_time, uint64_t boot_time).

◆ send_control()

bool vlink::ProxyAPI::send_control	(	const Control &	control,
		bool	async = `true`
	)

Publishes a Control message to the ProxyServer.

Valid only for the kController role; returns false immediately for kListener. The control is cached internally and automatically re-sent when the server reconnects after a dropout.

When async is true (default) the DDS Control publish is posted to the MessageLoop thread and the return value reports only whether posting was accepted. When async is false the publish runs synchronously on the calling thread and the return value reports the publish result. In direct mode, direct-map synchronisation is still queued on the MessageLoop, so the return value also depends on whether that enqueue was accepted.

Entries in control.url_meta_list are encoded using their supplied ser and schema verbatim. Proxy no longer back-fills missing routing metadata from discovery caches: entries with an empty ser or unknown schema are ignored by the direct-map sync path and cannot become usable server-side routes.

In direct mode, matching local SHM publishers are created or destroyed to mirror the publisher entries. Direct subscribers are synchronised either from subscriber entries in url_meta_list or, for kObserveAll and kAutoAndObserveAll, from the latest Info list reported by the server. Setter endpoints are observed with getter semantics so field updates keep their last-value behaviour.

Parameters

control	Control message to send.
async	`true` to post asynchronously (default); `false` to block.

Returns: When async=false, true means the DDS publish succeeded and any direct-map sync was queued. When async=true, true means the publish task was accepted. false on listener role, shutdown, or enqueue/publish failure.

Note: Thread-safe. The control is also stored as the last-known control for automatic resend on reconnect.

◆ send_data()

bool vlink::ProxyAPI::send_data ( const Data & data )

Injects raw message data into the proxy data path.

Valid only for the kController role; returns false for kListener. In direct mode the data is published through the local SHM publisher matching data.url and ProxyServer is not on the data relay path. In non-direct mode the payload is wrapped in a ProxyData envelope and forwarded over the DDS data channel. Returns false if no subscribers are listening on the target channel.

The caller must provide both data.ser and a known data.schema. Proxy no longer guesses the decode stack from cached discovery metadata.

Parameters

data	Data to inject: URL, serialisation type, schema family, raw bytes, timestamp, and sequence number.

Returns: In non-direct mode, true only if the underlying data publish succeeds. In direct mode, true means a matching local direct publisher and subscriber were found, metadata matched, and the publish attempt was made (backend result is not surfaced). false otherwise.

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

include/vlink/external/proxy_api.h

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Detailed Description

Member Typedef Documentation

◆ ConnectCallback

◆ DataCallback

◆ ErrorCallback

◆ InfoCallback

◆ TimeCallback

Member Enumeration Documentation

◆ Error

◆ Mode

◆ Role

◆ Status

Constructor & Destructor Documentation

◆ ProxyAPI()

◆ ~ProxyAPI()

Member Function Documentation

◆ get_current_boot_time()

◆ get_current_config()

◆ get_current_cpu_usage()

◆ get_current_error()

◆ get_current_hostname()

◆ get_current_machine_id()

◆ get_current_memory_usage()

◆ get_current_mode()

◆ get_current_sys_time()

◆ get_format_boot_time()

◆ get_format_sys_time()

◆ get_latency()

◆ get_lost()

◆ get_max_elapsed_time()

◆ get_max_task_count()

◆ get_proxy_hostnames()

◆ get_proxy_machine_ids()

◆ get_proxy_version()

◆ is_connected()

◆ is_enable_filter()

◆ is_support_shm()

◆ on_begin()

◆ on_end()

◆ register_connect_callback()

◆ register_data_callback()

◆ register_error_callback()

◆ register_info_callback()

◆ register_time_callback()

◆ send_control()

◆ send_data()