Backbone of every transport-specific VLink node implementation. 更多...

#include <node_impl.h>

类 vlink::NodeImpl 继承关系图:

vlink::NodeImpl 的协作图:

Public 类型
using	ConnectCallback = Function< void(bool)>
	Callback fired when peer presence changes. 更多...

using	StatusCallback = Function< void(const Status::BasePtr &ptr)>
	Callback fired on DDS-family status notifications (e.g. deadline missed). 更多...

using	SyncCallback = Function< void()>
	Callback fired when a `SetterImpl` completes a late-getter sync. 更多...

using	ReqRespCallback = Function< void(uint64_t, const Bytes &, Bytes *)>
	Request / response handler installed by `ServerImpl::listen()`. 更多...

using	MsgCallback = Function< void(const Bytes &)>
	Callback delivering a serialised payload to a subscriber or getter. 更多...

using	IntraMsgCallback = Function< void(const IntraData &)>
	Callback delivering an in-process payload to an intra:// subscriber. 更多...

Public 成员函数
virtual void	init ()=0
	Brings the underlying transport channel online. 更多...

virtual void	deinit ()=0
	Tears the underlying transport channel down. 更多...

virtual bool	suspend ()
	Pauses message delivery without releasing the channel. 更多...

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

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

virtual void	interrupt ()
	Marks the node interrupted and wakes blocking operations. 更多...

virtual bool	is_support_loan () const
	Indicates whether zero-copy loaning is available on this backend. 更多...

virtual Bytes	loan (int64_t size)
	Borrows a write buffer of `size` bytes from the transport. 更多...

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

virtual void	set_manual_unloan (bool manual_unloan)
	Toggles automatic versus manual release of received loaned buffers. 更多...

virtual const struct Conf *	get_conf () const
	Returns the associated transport `Conf`, or `nullptr` in the base. 更多...

virtual const AbstractNode *	get_abstract_node () const
	Returns the companion `AbstractNode`, when the impl is split. 更多...

virtual Status::BasePtr	get_status (Status::Type type) const
	Retrieves a transport-specific status object. 更多...

virtual bool	check_version (const Version &version)
	Compares `version` with the runtime VLink library version. 更多...

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

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

class MessageLoop *	get_message_loop () const
	Returns the currently attached `MessageLoop`. 更多...

template<typename T >
const T *	get_target_conf () const
	Convenience downcast wrapper around `get_conf()`. 更多...

void	register_status_handler (StatusCallback &&callback)
	Installs a DDS-family status handler. 更多...

bool	has_register_status () const
	Reports whether a status handler has been registered. 更多...

void	call_status (Status::BasePtr ptr)
	Delivers a status notification to the registered handler. 更多...

void	set_property (const std::string &prop, const std::string &value)
	Sets a named property on this node. 更多...

std::string	get_property (const std::string &prop) const
	Retrieves the value of a named property. 更多...

Conf::PropertiesMap	get_all_properties () const
	Returns a copy of every property currently set on this node. 更多...

void	set_discovery_enabled (bool enable)
	Toggles whether this node is reported to the discovery layer. 更多...

bool	get_discovery_enabled () const
	Returns the current discovery-reporting flag. 更多...

void	set_record_path (const std::string &path)
	Configures per-node message recording. 更多...

bool	enable_security (const Security::Config &cfg)
	Installs application-layer security from a const-reference config. 更多...

bool	enable_security (Security::Config &&cfg)
	Installs application-layer security by consuming `cfg`. 更多...

void	set_ssl_options (const SslOptions &options)
	Merges SSL options into the node property map. 更多...

void	try_record (ActionType action_type, const Bytes &data)
	Records a message to the global and / or per-node bag writers. 更多...

void	reset_interrupted ()
	Clears the interrupted flag set by `interrupt()`. 更多...

bool	is_interrupted () const
	Reports whether `interrupt()` has been called and not yet reset. 更多...

void	init_ext ()
	Registers the node with the runtime-owned discovery reporter. 更多...

void	deinit_ext ()
	Deregisters the node from the runtime-owned discovery reporter. 更多...

静态 Public 成员函数
static void	global_init ()
	Initialises process-wide VLink singletons. 更多...

Public 属性
std::string	url
	Full URL string of the node, e.g. `"dds://my/topic"`. 更多...

std::string	ser_type
	Concrete serialisation type tag (e.g. `"demo.proto.PointCloud"`). 更多...

ImplType	impl_type {kUnknownImplType}
	Role of this implementation node. 更多...

SchemaType	schema_type {SchemaType::kUnknown}
	Coarse schema family reported to discovery and bag / proxy paths. 更多...

TransportType	transport_type {TransportType::kUnknown}
	Transport backend identifier for this node. 更多...

bool	is_cdr_type {false}
	`true` when DDS native CDR serialisation is in use. 更多...

bool	is_security_type {false}
	`true` when an authenticated transport is enabled. 更多...

bool	is_discovery_enabled {true}
	Whether the node is reported to the discovery layer. 更多...

std::atomic_bool	has_suspend {false}
	Atomic suspend flag (currently unused by the default impls). 更多...

std::unique_ptr< CpuProfiler >	profiler
	Optional per-node CPU profiler activated under global profiling. 更多...

std::unique_ptr< Security >	security
	Installed per-node message-security context, or `nullptr`. 更多...

Protected 成员函数
	NodeImpl (ImplType type)

virtual	~NodeImpl ()

详细描述

Backbone of every transport-specific VLink node implementation.

Every concrete transport backend ultimately derives from NodeImpl. The class centralises lifecycle, instrumentation and observability so that subclass authors only need to focus on transport mechanics. The contract table at file scope summarises which knobs the base owns and which require a transport override.

注解: suspend() and resume() are optional capabilities; the base implementation logs a warning and returns false so that backends lacking the operation can be detected gracefully.; register_status_handler() and call_status() are only meaningful on DDS-family transports (kDds, kDdsc, kDdsr, kDdst); other backends log a warning and treat them as no-ops.

成员类型定义说明

◆ ConnectCallback

using vlink::NodeImpl::ConnectCallback = Function<void(bool)>

Callback fired when peer presence changes.

The boolean argument is true when the peer becomes reachable and false when it disappears.

◆ IntraMsgCallback

using vlink::NodeImpl::IntraMsgCallback = Function<void(const IntraData&)>

Callback delivering an in-process payload to an intra:// subscriber.

IntraData is a shared_ptr to the payload type, so no copy occurs as the callback is dispatched.

◆ MsgCallback

using vlink::NodeImpl::MsgCallback = Function<void(const Bytes&)>

Callback delivering a serialised payload to a subscriber or getter.

参数

bytes Payload bytes; lifetime is scoped to the callback.

◆ ReqRespCallback

using vlink::NodeImpl::ReqRespCallback = Function<void(uint64_t, const Bytes&, Bytes*)>

Request / response handler installed by ServerImpl::listen().

Parameters are (req_id, request_bytes, response_bytes_ptr). The handler writes the response into *response_bytes_ptr; when the pointer is nullptr the server is running in fire-and-forget mode.

◆ StatusCallback

using vlink::NodeImpl::StatusCallback = Function<void(const Status::BasePtr& ptr)>

Callback fired on DDS-family status notifications (e.g. deadline missed).

参数

ptr	Polymorphic status object; downcast to the concrete subtype.

◆ SyncCallback

using vlink::NodeImpl::SyncCallback = Function<void()>

Callback fired when a SetterImpl completes a late-getter sync.

构造及析构函数说明

◆ NodeImpl()

vlink::NodeImpl::NodeImpl ( ImplType type )

explicitprotected

◆ ~NodeImpl()

virtual vlink::NodeImpl::~NodeImpl ( )

protectedvirtual

成员函数说明

◆ attach()

virtual bool vlink::NodeImpl::attach ( class MessageLoop * message_loop )

virtual

Attaches the node to a MessageLoop for callback dispatch.

Records message_loop atomically; subsequent call_status() posts onto the loop thread. When another non-null loop is already attached the call is rejected. Passing nullptr does not establish a usable binding even though it may succeed when the node was already detached.

参数

message_loop Loop to bind to.

返回: true when the pointer was stored; false on conflict.

◆ call_status()

void vlink::NodeImpl::call_status ( Status::BasePtr ptr )

Delivers a status notification to the registered handler.

Posts the call onto the attached MessageLoop when one exists; otherwise invokes the handler synchronously.

参数

ptr	Status object to forward.

◆ check_version()

virtual bool vlink::NodeImpl::check_version ( const Version & version )

virtual

Compares version with the runtime VLink library version.

Logs a warning (once per process) on the first mismatch. Version checks are advisory and do not block node creation.

参数

version Compile-time version constants embedded by the caller.

返回: true when the versions agree.

◆ deinit()

virtual void vlink::NodeImpl::deinit ( )

pure virtual

Tears the underlying transport channel down.

Called by the Node<> template destructor; releases all transport-owned resources.

◆ deinit_ext()

void vlink::NodeImpl::deinit_ext ( )

Deregisters the node from the runtime-owned discovery reporter.

Mirrors init_ext(); called after deinit() to release the discovery entry and restart the global profiler if it had been paused.

◆ detach()

virtual bool vlink::NodeImpl::detach ( )

virtual

Detaches the node from its MessageLoop.

Clears the cached pointer and, when called from a thread different from the loop, blocks until the previous loop becomes idle so no callback is still in flight on return.

返回: true on success; false if no loop was attached.

◆ enable_security() [1/2]

bool vlink::NodeImpl::enable_security ( const Security::Config & cfg )

Installs application-layer security from a const-reference config.

Performs the wire-metadata validation and AAD-context plumbing, then forwards a fully prepared Security::Config into a Security instance stored in security. Unsupported transports return false without installing anything.

参数

cfg	Security configuration supplied by the public node wrapper.

返回: true once a usable Security instance is installed.

◆ enable_security() [2/2]

bool vlink::NodeImpl::enable_security ( Security::Config && cfg )

Installs application-layer security by consuming cfg.

Same validation path as the const-reference overload, but avoids copying callback targets and key material when the caller owns the config. The AAD context may be filled before the config is moved into Security.

参数

cfg	Security configuration to consume.

返回: true once a usable Security instance is installed.

◆ get_abstract_node()

virtual const AbstractNode* vlink::NodeImpl::get_abstract_node ( ) const

virtual

Returns the companion AbstractNode, when the impl is split.

返回: Pointer to the abstract node, or nullptr.

◆ get_all_properties()

Conf::PropertiesMap vlink::NodeImpl::get_all_properties ( ) const

Returns a copy of every property currently set on this node.

返回: Snapshot of the internal PropertiesMap.

◆ get_conf()

virtual const struct Conf* vlink::NodeImpl::get_conf ( ) const

virtual

Returns the associated transport Conf, or nullptr in the base.

Concrete backends override the method to expose their typed Conf so the public node templates can resolve transport-specific options.

返回: Pointer to the owning Conf.

这是这个函数的调用关系图:

◆ get_discovery_enabled()

bool vlink::NodeImpl::get_discovery_enabled ( ) const

Returns the current discovery-reporting flag.

返回: true when the node will be visible to discovery.

◆ get_message_loop()

class MessageLoop* vlink::NodeImpl::get_message_loop ( ) const

Returns the currently attached MessageLoop.

返回: Loop pointer or nullptr when none is bound.

◆ get_property()

std::string vlink::NodeImpl::get_property ( const std::string & prop ) const

Retrieves the value of a named property.

参数

prop	Property key.

返回: Value, or empty string when no entry exists.

◆ get_status()

virtual Status::BasePtr vlink::NodeImpl::get_status ( Status::Type type ) const

virtual

Retrieves a transport-specific status object.

Only meaningful on DDS-family transports; the base logs a warning and returns Status::Unknown.

参数

type	Requested status category.

返回: Polymorphic status object; never nullptr.

◆ get_target_conf()

template<typename T >

const T * vlink::NodeImpl::get_target_conf

inline

Convenience downcast wrapper around get_conf().

Details

模板参数

T	Expected concrete `Conf` subclass.

返回: Typed pointer; nullptr when get_conf() returns nullptr.

函数调用图:

◆ global_init()

static void vlink::NodeImpl::global_init ( )

static

Initialises process-wide VLink singletons.

Brings the logger, memory pool, and global bag writer online, and prepares the runtime-owned discovery reporter holder without starting the reporter until a discoverable node is registered. Safe to call multiple times; only the first call has an effect. The base constructor invokes this automatically.

这是这个函数的调用关系图:

◆ has_register_status()

bool vlink::NodeImpl::has_register_status ( ) const

Reports whether a status handler has been registered.

返回: true when a non-null status handler exists.

◆ init()

virtual void vlink::NodeImpl::init ( )

pure virtual

Brings the underlying transport channel online.

Called by the public Node<> template after properties have been wired in. Backends create their DDS entities, shared-memory channels or any other resources here.

◆ init_ext()

void vlink::NodeImpl::init_ext ( )

Registers the node with the runtime-owned discovery reporter.

Invoked at the end of init() by every public Node<> template. Also starts the per-node CpuProfiler when global profiling is enabled. Skips registration for CDR, security, and (by default) intra nodes.

◆ interrupt()

virtual void vlink::NodeImpl::interrupt ( )

virtual

Marks the node interrupted and wakes blocking operations.

Sets the internal interrupted flag and is overridden by subclasses to signal additional condition variables (e.g. wait_for_subscribers()). Pair with reset_interrupted() before reusing blocking helpers.

被 vlink::PublisherImpl , 以及 vlink::ClientImpl 重载.

◆ is_interrupted()

bool vlink::NodeImpl::is_interrupted ( ) const

Reports whether interrupt() has been called and not yet reset.

返回: true when the interrupted flag is set.

◆ is_support_loan()

virtual bool vlink::NodeImpl::is_support_loan ( ) const

virtual

Indicates whether zero-copy loaning is available on this backend.

返回: true when loan() / return_loan() can be used.

◆ is_suspend()

virtual bool vlink::NodeImpl::is_suspend ( ) const

virtual

Reports whether the node is currently suspended.

Default implementation logs a warning and returns false. Override alongside suspend() / resume() when relevant.

返回: true when the node is paused.

◆ loan()

virtual Bytes vlink::NodeImpl::loan ( int64_t size )

virtual

Borrows a write buffer of size bytes from the transport.

Backends that support zero-copy override this method to return a Bytes view onto pre-allocated transport memory. The default returns an empty Bytes.

参数

size	Requested buffer size in bytes.

返回: Borrowed Bytes; empty when loaning is unsupported or failed.

◆ register_status_handler()

void vlink::NodeImpl::register_status_handler ( StatusCallback && callback )

Installs a DDS-family status handler.

No-op on non-DDS transports. When a MessageLoop is attached the callback is invoked on the loop thread.

参数

callback Handler invoked for each status notification.

◆ reset_interrupted()

void vlink::NodeImpl::reset_interrupted ( )

Clears the interrupted flag set by interrupt().

Required before re-running a blocking helper such as wait_for_subscribers() after a prior interruption.

◆ resume()

virtual bool vlink::NodeImpl::resume ( )

virtual

Resumes message delivery after suspend().

Default no-op returns false. Override in backends that support suspension.

返回: true on success; false otherwise.

◆ return_loan()

virtual bool vlink::NodeImpl::return_loan ( const Bytes & bytes )

virtual

Returns a previously loaned buffer to the transport.

Must be called whenever loan() succeeded but the caller decided not to publish (for example because serialisation failed).

参数

bytes Buffer previously obtained via loan().

返回: true on success; false when loaning is unsupported.

◆ set_discovery_enabled()

void vlink::NodeImpl::set_discovery_enabled ( bool enable )

Toggles whether this node is reported to the discovery layer.

Must be called before init_ext(). Disabling discovery hides the node from DiscoveryReporter / DiscoveryViewer; the proxy implementation uses this to keep its internal channels off topology views.

参数

enable true to report to discovery (default); false to hide.

◆ set_manual_unloan()

virtual void vlink::NodeImpl::set_manual_unloan ( bool manual_unloan )

virtual

Toggles automatic versus manual release of received loaned buffers.

With manual_unloan set to true the backend does not release loaned buffers after callback dispatch; the application must call return_loan() itself.

参数

manual_unloan true for manual release; false for automatic.

◆ set_property()

void vlink::NodeImpl::set_property	(	const std::string &	prop,
		const std::string &	value
	)

Sets a named property on this node.

Properties are key / value strings consumed during init(). The underlying map is guarded by a shared mutex for thread safety.

参数

prop	Property key.
value	Property value.

◆ set_record_path()

void vlink::NodeImpl::set_record_path ( const std::string & path )

Configures per-node message recording.

A non-empty path acquires (or shares) a BagWriter so that subsequent try_record() calls capture frames. An empty path turns recording off.

参数

path	File path; empty or unsupported suffix disables recording.

◆ set_ssl_options()

void vlink::NodeImpl::set_ssl_options ( const SslOptions & options )

Merges SSL options into the node property map.

Acquires the helper mutex and delegates to SslOptions::parse_to() so the transport factory reads the resulting ssl.* entries during connection setup.

参数

options SSL / TLS configuration to merge.

参见: SslOptions::parse_to(), Node::set_ssl_options()

◆ suspend()

virtual bool vlink::NodeImpl::suspend ( )

virtual

Pauses message delivery without releasing the channel.

The base implementation logs a warning and returns false. Only a few backends implement true suspension; others should leave the default.

返回: true on success; false when the operation is unsupported.

◆ try_record()

void vlink::NodeImpl::try_record	(	ActionType	action_type,
		const Bytes &	data
	)

Records a message to the global and / or per-node bag writers.

Skips DDS CDR payloads and (when the ignore-intra filter is on) intra messages. Used by every node role to feed BagWriter pipelines.

参数

action_type	Logical role under which the message is being recorded.
data	Raw serialised payload bytes.

类成员变量说明

◆ has_suspend

std::atomic_bool vlink::NodeImpl::has_suspend {false}

Atomic suspend flag (currently unused by the default impls).

◆ impl_type

ImplType vlink::NodeImpl::impl_type {kUnknownImplType}

Role of this implementation node.

◆ is_cdr_type

bool vlink::NodeImpl::is_cdr_type {false}

true when DDS native CDR serialisation is in use.

◆ is_discovery_enabled

bool vlink::NodeImpl::is_discovery_enabled {true}

Whether the node is reported to the discovery layer.

◆ is_security_type

bool vlink::NodeImpl::is_security_type {false}

true when an authenticated transport is enabled.

◆ profiler

std::unique_ptr<CpuProfiler> vlink::NodeImpl::profiler

Optional per-node CPU profiler activated under global profiling.

◆ schema_type

SchemaType vlink::NodeImpl::schema_type {SchemaType::kUnknown}

Coarse schema family reported to discovery and bag / proxy paths.

◆ security

std::unique_ptr<Security> vlink::NodeImpl::security

Installed per-node message-security context, or nullptr.

◆ ser_type

std::string vlink::NodeImpl::ser_type

Concrete serialisation type tag (e.g. "demo.proto.PointCloud").

◆ transport_type

TransportType vlink::NodeImpl::transport_type {TransportType::kUnknown}

Transport backend identifier for this node.

◆ url

std::string vlink::NodeImpl::url

Full URL string of the node, e.g. "dds://my/topic".

该类的文档由以下文件生成:

include/vlink/impl/node_impl.h

Public 类型

Public 成员函数

静态 Public 成员函数

Public 属性

Protected 成员函数

详细描述

成员类型定义说明

◆ ConnectCallback

◆ IntraMsgCallback

◆ MsgCallback

◆ ReqRespCallback

◆ StatusCallback

◆ SyncCallback

构造及析构函数说明

◆ NodeImpl()

◆ ~NodeImpl()

成员函数说明

◆ attach()

◆ call_status()

◆ check_version()

◆ deinit()

◆ deinit_ext()

◆ detach()

◆ enable_security() [1/2]

◆ enable_security() [2/2]

◆ get_abstract_node()

◆ get_all_properties()

◆ get_conf()

◆ get_discovery_enabled()

◆ get_message_loop()

◆ get_property()

◆ get_status()

◆ get_target_conf()

◆ global_init()

◆ has_register_status()

◆ init()

◆ init_ext()

◆ interrupt()

◆ is_interrupted()

◆ is_support_loan()

◆ is_suspend()

◆ loan()

◆ register_status_handler()

◆ reset_interrupted()

◆ resume()

◆ return_loan()

◆ set_discovery_enabled()

◆ set_manual_unloan()

◆ set_property()

◆ set_record_path()

◆ set_ssl_options()

◆ suspend()

◆ try_record()

类成员变量说明

◆ has_suspend

◆ impl_type

◆ is_cdr_type

◆ is_discovery_enabled

◆ is_security_type

◆ profiler

◆ schema_type

◆ security

◆ ser_type

◆ transport_type

◆ url