Type-safe latest-value reader for the VLink field communication model. 更多...

#include <getter.h>

类 vlink::Getter< ValueT, SecT > 继承关系图:

vlink::Getter< ValueT, SecT > 的协作图:

Public 类型
using	UniquePtr = std::unique_ptr< Getter< ValueT, SecT > >
	Owning unique-pointer alias. 更多...

using	SharedPtr = std::shared_ptr< Getter< ValueT, SecT > >
	Owning shared-pointer alias. 更多...

using	MsgCallback = Function< void(const ValueT &)>
	User callback signature for value updates. 更多...

Public 类型继承自 vlink::Node< GetterImpl, SecurityType::kWithoutSecurity >
using	StatusCallback = NodeImpl::StatusCallback
	Handler signature for status-change notifications. 更多...

Public 成员函数
template<typename ConfT , typename = std::enable_if_t<std::is_base_of_v<Conf, ConfT>>>
	Getter (const ConfT &conf, InitType type=InitType::kWithInit)
	Constructs a getter from a typed transport configuration object. 更多...

	Getter (const std::string &url_str, InitType type=InitType::kWithInit)
	Constructs a getter from a URL string. 更多...

	~Getter () override
	Destroys the getter and drains in-flight transport callbacks. 更多...

std::optional< ValueT >	get () const
	Returns the most recent cached value, if any has been received. 更多...

bool	wait_for_value (std::chrono::milliseconds timeout=Timeout::kDefaultInterval)
	Blocks until a value is received or `timeout` expires. 更多...

bool	listen (MsgCallback &&callback)
	Installs a callback invoked whenever a new value arrives. 更多...

void	set_change_reporting (bool enable)
	Toggles change-only reporting (duplicate suppression). 更多...

void	set_manual_unloan (bool manual_unloan) override
	Enables or disables manual-unloan mode for zero-copy receives. 更多...

void	set_latency_and_lost_enabled (bool enable)
	Toggles per-value latency and sample-loss measurement. 更多...

bool	is_latency_and_lost_enabled () const
	Reports whether latency and sample-loss tracking is currently active. 更多...

int64_t	get_latency () const
	Returns the most recent end-to-end latency measurement. 更多...

SampleLostInfo	get_lost () const
	Returns cumulative sample-delivery statistics. 更多...

bool	get_change_reporting () const
	Reports whether change-only reporting is currently active. 更多...

bool	init () override
	Initialises the getter and installs the internal delivery hook. 更多...

void	interrupt () override
	Aborts any blocking `wait_for_value()` call. 更多...

void	mark_as_subscriber ()
	Promotes this getter to behave as a `Subscriber` at the transport layer. 更多...

Public 成员函数继承自 vlink::Node< GetterImpl, SecurityType::kWithoutSecurity >
virtual bool	deinit ()
	Tears the node down and releases all transport resources. 更多...

bool	has_inited () const
	Reports whether `init()` has been successfully called. 更多...

bool	is_support_loan () const
	Reports whether the transport supports zero-copy loaned buffers. 更多...

Bytes	loan (int64_t size)
	Allocates a loaned buffer from the transport memory pool. 更多...

bool	return_loan (const Bytes &bytes)
	Returns a previously loaned buffer to the transport pool. 更多...

virtual bool	is_manual_unloan () const
	Reports whether manual-unloan mode is currently active. 更多...

bool	suspend ()
	Suspends message delivery on this node. 更多...

bool	resume ()
	Resumes message delivery after a prior `suspend()`. 更多...

bool	is_suspend () const
	Reports whether the node is currently suspended. 更多...

bool	attach (class MessageLoop *message_loop)
	Attaches the node to a `MessageLoop` for callback dispatch. 更多...

bool	detach ()
	Detaches the node from its current `MessageLoop`. 更多...

class MessageLoop *	get_message_loop () const
	Returns the `MessageLoop` this node is currently attached to. 更多...

const AbstractNode *	get_abstract_node () const
	Returns the abstract-graph handle for runtime topology inspection. 更多...

Status::BasePtr	get_status (Status::Type type) const
	Retrieves the current status object for the requested category. 更多...

void	register_status_handler (StatusCallback &&callback)
	Registers a handler invoked whenever the node's status changes. 更多...

void	set_property (const std::string &prop, const std::string &value)
	Sets a transport-specific string-keyed property. 更多...

std::string	get_property (const std::string &prop) const
	Retrieves a previously set transport-specific property value. 更多...

TransportType	get_transport_type () const
	Returns the `TransportType` this node is bound to. 更多...

const std::string &	get_url () const
	Returns the URL string used to construct this node. 更多...

void	set_record_path (const std::string &path)
	Enables recording of inbound or outbound messages to a bag file. 更多...

void	set_ser_type (const std::string &ser_type, SchemaType schema_type=SchemaType::kUnknown)
	Overrides the runtime wire-metadata identifiers for this node. 更多...

const std::string &	get_ser_type () const
	Returns the current concrete runtime type identifier. 更多...

SchemaType	get_schema_type () const
	Returns the current coarse schema family. 更多...

void	set_discovery_enabled (bool enable)
	Toggles peer-discovery on this node. 更多...

bool	get_discovery_enabled () const
	Reports whether peer-discovery is currently enabled. 更多...

void	bind_proto_arena (void *proto_arena)
	Binds a Protobuf Arena for arena-allocated message objects. 更多...

double	get_cpu_usage () const
	Returns the cumulative CPU-usage ratio sampled by the profiler. 更多...

bool	get_safety_quit () const
	Reports whether safe-quit mode is currently active. 更多...

void	set_safety_quit (bool safety_quit)
	Enables or disables safe-quit mode. 更多...

void	set_ssl_options (const SslOptions &options)
	Configures transport-layer SSL/TLS encryption for this node. 更多...

静态 Public 成员函数
static UniquePtr	create_unique (const std::string &url_str, InitType type=InitType::kWithInit)
	Heap-allocates a `Getter` and wraps it in a `std::unique_ptr`. 更多...

static SharedPtr	create_shared (const std::string &url_str, InitType type=InitType::kWithInit)
	Heap-allocates a `Getter` and wraps it in a `std::shared_ptr`. 更多...

静态 Public 属性
static constexpr ImplType	kImplType = kGetter
	Node role tag (`kGetter`). 更多...

static constexpr Serializer::Type	kValueType = Serializer::get_type_of<ValueT>()
	Codec resolved from `ValueT`. 更多...

额外继承的成员函数
Protected 成员函数继承自 vlink::Node< GetterImpl, SecurityType::kWithoutSecurity >
	Node ()

virtual	~Node ()

bool	enable_security (const Security::Config &cfg)
	Installs a `Security` configuration before transport initialisation. 更多...

bool	enable_security (Security::Config &&cfg)
	Move overload for construction-time security installation. 更多...

void	invoke_callback (const CallbackT &callback, ArgsT &&... args)

TypeT	get_default_value ()

Protected 属性继承自 vlink::Node< GetterImpl, SecurityType::kWithoutSecurity >
void *	proto_arena_

bool	is_support_loan_

bool	is_manual_unloan_

std::atomic_bool	has_inited_

std::optional< std::mutex >	quit_mtx_

std::unique_ptr< GetterImpl >	impl_

详细描述

template<typename ValueT, SecurityType SecT = SecurityType::kWithoutSecurity>
class vlink::Getter< ValueT, SecT >

Type-safe latest-value reader for the VLink field communication model.

Inherits the full Node API and adds field-specific operations: cached get(), blocking wait_for_value(), single-shot listen() callback, change-reporting filter, and latency / sample-loss tracking.

模板参数

ValueT	C++ value type. Must satisfy `Serializer::is_supported()`.
SecT	Security mode; defaults to `SecurityType::kWithoutSecurity`.

成员类型定义说明

◆ MsgCallback

template<typename ValueT , SecurityType SecT = SecurityType::kWithoutSecurity>

using vlink::Getter< ValueT, SecT >::MsgCallback = Function<void(const ValueT&)>

User callback signature for value updates.

◆ SharedPtr

template<typename ValueT , SecurityType SecT = SecurityType::kWithoutSecurity>

using vlink::Getter< ValueT, SecT >::SharedPtr = std::shared_ptr<Getter<ValueT, SecT> >

Owning shared-pointer alias.

◆ UniquePtr

template<typename ValueT , SecurityType SecT = SecurityType::kWithoutSecurity>

using vlink::Getter< ValueT, SecT >::UniquePtr = std::unique_ptr<Getter<ValueT, SecT> >

Owning unique-pointer alias.

构造及析构函数说明

◆ Getter() [1/2]

template<typename ValueT , SecurityType SecT>

template<typename ConfT , typename >

vlink::Getter< ValueT, SecT >::Getter	(	const ConfT &	conf,
		InitType	type = `InitType::kWithInit`
	)

inlineexplicit

Constructs a getter from a typed transport configuration object.

模板参数

ConfT Concrete configuration type derived from Conf.

参数

conf	Populated configuration aggregate.
type	Whether to call `init()` inline; default is `InitType::kWithInit`.

◆ Getter() [2/2]

template<typename ValueT , SecurityType SecT>

vlink::Getter< ValueT, SecT >::Getter	(	const std::string &	url_str,
		InitType	type = `InitType::kWithInit`
	)

inlineexplicit

Constructs a getter from a URL string.

参数

url_str	Field URL such as `"shm://vehicle/gear"`.
type	Whether to call `init()` inline; default is `InitType::kWithInit`.

◆ ~Getter()

template<typename ValueT , SecurityType SecT>

vlink::Getter< ValueT, SecT >::~Getter

inlineoverride

Destroys the getter and drains in-flight transport callbacks.

Required so the internal delivery callback installed by init() cannot fire on the transport thread after this getter's mutex and value have already been destroyed.

成员函数说明

◆ create_shared()

template<typename ValueT , SecurityType SecT>

Getter< ValueT, SecT >::SharedPtr vlink::Getter< ValueT, SecT >::create_shared	(	const std::string &	url_str,
		InitType	type = `InitType::kWithInit`
	)

inlinestatic

Heap-allocates a Getter and wraps it in a std::shared_ptr.

参数

url_str	Field URL string.
type	Whether to call `init()` inline; default is `InitType::kWithInit`.

返回: Owning SharedPtr to the new getter.

◆ create_unique()

template<typename ValueT , SecurityType SecT>

Getter< ValueT, SecT >::UniquePtr vlink::Getter< ValueT, SecT >::create_unique	(	const std::string &	url_str,
		InitType	type = `InitType::kWithInit`
	)

inlinestatic

Heap-allocates a Getter and wraps it in a std::unique_ptr.

参数

url_str	Field URL such as `"shm://vehicle/gear"`.
type	Whether to call `init()` inline; default is `InitType::kWithInit`.

返回: Owning UniquePtr to the new getter.

◆ get()

template<typename ValueT , SecurityType SecT>

std::optional< ValueT > vlink::Getter< ValueT, SecT >::get

inline

Returns the most recent cached value, if any has been received.

Thread-safe. Returns std::nullopt before the first matching Setter write reaches this getter.

返回: std::optional<ValueT> – the latest value, or empty.

◆ get_change_reporting()

template<typename ValueT , SecurityType SecT>

bool vlink::Getter< ValueT, SecT >::get_change_reporting

inline

Reports whether change-only reporting is currently active.

返回: true if duplicate suppression is enabled.

◆ get_latency()

template<typename ValueT , SecurityType SecT>

int64_t vlink::Getter< ValueT, SecT >::get_latency

inline

Returns the most recent end-to-end latency measurement.

返回: Latency in nanoseconds; 0 if tracking is disabled.

◆ get_lost()

template<typename ValueT , SecurityType SecT>

SampleLostInfo vlink::Getter< ValueT, SecT >::get_lost

inline

Returns cumulative sample-delivery statistics.

返回: SampleLostInfo with total expected and total lost counts.

◆ init()

template<typename ValueT , SecurityType SecT>

bool vlink::Getter< ValueT, SecT >::init

inlineoverridevirtual

Initialises the getter and installs the internal delivery hook.

Overrides Node::init() to additionally register a bytes-level callback that deserialises each delivery, invokes the user listen() callback (if installed), then updates value_ and wakes the condition variable used by wait_for_value().

返回: true on first successful initialisation; false otherwise.

重载 vlink::Node< GetterImpl, SecurityType::kWithoutSecurity > .

◆ interrupt()

template<typename ValueT , SecurityType SecT>

void vlink::Getter< ValueT, SecT >::interrupt

inlineoverridevirtual

Aborts any blocking wait_for_value() call.

Overrides Node::interrupt() to additionally notify the local condition variable so that the blocking wait returns false promptly.

重载 vlink::Node< GetterImpl, SecurityType::kWithoutSecurity > .

◆ is_latency_and_lost_enabled()

template<typename ValueT , SecurityType SecT>

bool vlink::Getter< ValueT, SecT >::is_latency_and_lost_enabled

inline

Reports whether latency and sample-loss tracking is currently active.

返回: true if set_latency_and_lost_enabled(true) was invoked.

◆ listen()

template<typename ValueT , SecurityType SecT>

bool vlink::Getter< ValueT, SecT >::listen ( MsgCallback && callback )

inline

Installs a callback invoked whenever a new value arrives.

The callback receives a deserialised ValueT reference. It runs for every setter write unless set_change_reporting(true) is active, in which case duplicate consecutive payloads are filtered out. Internally the getter first fires the callback, then updates value_ and wakes wait_for_value().

注解: Calling listen() more than once is fatal.

参数

callback void(const ValueT&) invoked on each new value.

返回: true on successful installation; a second call is fatal and never returns.

◆ mark_as_subscriber()

template<typename ValueT , SecurityType SecT>

void vlink::Getter< ValueT, SecT >::mark_as_subscriber

inline

Promotes this getter to behave as a Subscriber at the transport layer.

Switches impl_type from kGetter to kSubscriber so that event-style semantics (no latest-value retention) are applied. Reinitialises the transport extension if called post-init(). Used when bridging a getter through event-only transports.

◆ set_change_reporting()

template<typename ValueT , SecurityType SecT>

void vlink::Getter< ValueT, SecT >::set_change_reporting ( bool enable )

inline

Toggles change-only reporting (duplicate suppression).

When enabled, incoming payloads whose raw serialised bytes match the previous delivery are dropped before any caching or callback dispatch. Useful when a Setter repeatedly writes the same value.

参数

enable true to suppress duplicates; false (default) to deliver all.

◆ set_latency_and_lost_enabled()

template<typename ValueT , SecurityType SecT>

void vlink::Getter< ValueT, SecT >::set_latency_and_lost_enabled ( bool enable )

inline

Toggles per-value latency and sample-loss measurement.

参数

enable true to begin tracking; false to stop.

◆ set_manual_unloan()

template<typename ValueT , SecurityType SecT>

void vlink::Getter< ValueT, SecT >::set_manual_unloan ( bool manual_unloan )

inlineoverridevirtual

Enables or disables manual-unloan mode for zero-copy receives.

参数

manual_unloan true to enable manual return; false for auto-return.

重载 vlink::Node< GetterImpl, SecurityType::kWithoutSecurity > .

◆ wait_for_value()

template<typename ValueT , SecurityType SecT>

bool vlink::Getter< ValueT, SecT >::wait_for_value ( std::chrono::milliseconds timeout = Timeout::kDefaultInterval )

inline

Blocks until a value is received or timeout expires.

Returns immediately if a value is already cached. A timeout of 0 is treated as infinite (with a warning). interrupt() causes the wait to abort and return false. Use get() afterwards to retrieve the value when this method returns true.

参数

timeout Maximum wait duration. Default: Timeout::kDefaultInterval.

返回: true if a value was received; false on timeout or interrupt.

类成员变量说明

◆ kImplType

template<typename ValueT , SecurityType SecT = SecurityType::kWithoutSecurity>

constexpr ImplType vlink::Getter< ValueT, SecT >::kImplType = kGetter

staticconstexpr

Node role tag (kGetter).

◆ kValueType

template<typename ValueT , SecurityType SecT = SecurityType::kWithoutSecurity>

constexpr Serializer::Type vlink::Getter< ValueT, SecT >::kValueType = Serializer::get_type_of<ValueT>()

staticconstexpr

Codec resolved from ValueT.

该类的文档由以下文件生成:

include/vlink/getter.h
include/vlink/internal/getter-inl.h

Public 类型

Public 成员函数

静态 Public 成员函数

静态 Public 属性

额外继承的成员函数

详细描述

template<typename ValueT, SecurityType SecT = SecurityType::kWithoutSecurity> class vlink::Getter< ValueT, SecT >

成员类型定义说明

◆ MsgCallback

◆ SharedPtr

◆ UniquePtr

构造及析构函数说明

◆ Getter() [1/2]

◆ Getter() [2/2]

◆ ~Getter()

成员函数说明

◆ create_shared()

◆ create_unique()

◆ get()

◆ get_change_reporting()

◆ get_latency()

◆ get_lost()

◆ init()

◆ interrupt()

◆ is_latency_and_lost_enabled()

◆ listen()

◆ mark_as_subscriber()

◆ set_change_reporting()

◆ set_latency_and_lost_enabled()

◆ set_manual_unloan()

◆ wait_for_value()

类成员变量说明

◆ kImplType

◆ kValueType

template<typename ValueT, SecurityType SecT = SecurityType::kWithoutSecurity>
class vlink::Getter< ValueT, SecT >