proxy_server.h 文件参考

Daemon-side half of the VLink proxy subsystem – one server per process. 更多...

#include <cstdint>
#include <memory>
#include <string>
#include <vector>
#include "../base/message_loop.h"

proxy_server.h 的引用(Include)关系图:

浏览源代码.

类
class	vlink::ProxyServer
	In-process VLink proxy daemon backed by a MessageLoop. 更多...
struct	vlink::ProxyServer::Config
	Construction-time configuration aggregate for ProxyServer. 更多...

命名空间
	vlink

宏定义
#define	VLINK_PROXY_SERVER_EXPORT   __attribute__((visibility("default")))

详细描述

Daemon-side half of the VLink proxy subsystem – one server per process.

ProxyServer is the in-process daemon that mediates between the VLink core (publishers, subscribers, setters, getters on the local DDS domain) and one or more ProxyAPI clients. It derives from MessageLoop, so once async_run() is called all scheduled work, timers, and asynchronous relays run inside the inherited loop's worker thread.

Behaviourally the server is responsible for the following duties:

1. Hosts an internal DiscoveryViewer that enumerates every active publisher and subscriber on the DDS domain.
2. Accepts Control messages from ProxyAPI clients over a security-authenticated DDS channel and dispatches them to the discovery layer.
3. Broadcasts a 1-second Time heartbeat carrying CPU/memory usage, the VLink version string, hostname, machine ID, and wall-clock plus boot-time.
4. Publishes per-topic statistics – freq, rate, loss, latency – once per second through a security-authenticated InfoList channel.
5. Relays raw payload bytes from observed publishers and setters back to connected ProxyAPI listeners. In direct mode the data pubs/subs are created by the API side and the server stays exclusively on the control/discovery path; setter endpoints are observed with getter semantics so field last-value delivery is preserved.
6. Optionally launches an embedded Iceoryx RouDi daemon when Config::use_iox is true.
7. Loads RunablePluginInterface shared-library plugins listed in Config::runnable_list at construction and drives their lifecycle from the inherited MessageLoop callbacks.

Singleton Constraint

Only one ProxyServer may exist per operating-system process. A second construction logs a fatal message and throws before any DDS channels are wired up; running multiple servers in the same process is not supported and not safe.

Architecture Diagram

+-----------------------+              +---------------------+
| ProxyAPI (Controller) |              | ProxyAPI (Listener) |
+-----------+-----------+              +----------+----------+
            |                                     |
            |  HandshakeCli  ---[DDS secure]---> HandshakeSrv (issues token)
            |<--------------- token --------------|
            |  ControlPub    ---[DDS secure]---> ControlSub  (token-stamped)
            v                                     v
+-------------------------------------------------------------+
|                       ProxyServer (this)                    |
|  +-------------------+   +-------------------------------+  |
|  | DiscoveryViewer   |   | Heartbeat / Info / Data path |   |
|  +-------------------+   +-------------------------------+  |
|       ^                          |          |               |
+-------|--------------------------|----------|---------------+
        |                          v          v
   [VLink core nodes]         TimePub /   InfoPub  ---[DDS secure]--->
                              DataPub               ---[DDS / SHM]--->

Authentication Token

At construction the server generates a 128-bit hex session token via vlink::Uuid::random_hex() and exposes it through get_token(). The token is a process-lifetime protocol nonce, not a long-term cryptographic key. Clients fetch it by invoking the handshake RPC over the security-authenticated DDS channel; subsequent Control messages without a matching token are dropped server-side. Restarting the server invalidates every previously-issued token. Clients re-handshake after a same-identity token mismatch heartbeat, an identity-mismatch heartbeat that also carries a different token, or a local reset, before they will accept further heartbeats or publish new controls.

Runnable Plugin Lifecycle

Plugins named in Config::runnable_list are loaded inside the constructor. When the inherited MessageLoop starts (on_begin), each plugin's on_init() and async_run() are invoked in list order. On loop stop (on_end) each plugin's on_deinit(), quit(), and wait_for_quit() are invoked in the same order.

Environment Variables

Variable	Meaning
VLINK_INTRA_BIND	When set to any value, also subscribe to intra:// topics.

Example

vlink::ProxyServer::Config cfg;
cfg.dds_impl  = "dds";
cfg.domain_id = 0;
cfg.reliable  = false;
cfg.async     = true;
cfg.use_iox   = false;
 
vlink::ProxyServer server(cfg);
server.async_run();          // start the inherited MessageLoop in a background thread
// ... application runs ...
server.quit(true);
server.wait_for_quit();

注解

• Construction must happen on the main thread, before any ProxyAPI client connects on the same domain.
• Destruction stops every timer, joins the DiscoveryViewer, and releases each DDS handle in a deterministic order so no dangling callback can fire after teardown.

宏定义说明

VLINK_PROXY_SERVER_EXPORT

#define VLINK_PROXY_SERVER_EXPORT   __attribute__((visibility("default")))