Apollo Cyber Study. P11 Transport 2

Apollo

// Study: 是我的筆記

cyber/transport/dispatcher/dispatcher

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/

#ifndef CYBER_TRANSPORT_DISPATCHER_DISPATCHER_H_
#define CYBER_TRANSPORT_DISPATCHER_DISPATCHER_H_

#include <atomic>
#include <functional>
#include <iostream>
#include <memory>
#include <mutex>
#include <string>
#include <unordered_map>

#include "cyber/base/atomic_hash_map.h"
#include "cyber/base/atomic_rw_lock.h"
#include "cyber/common/global_data.h"
#include "cyber/common/log.h"
#include "cyber/proto/role_attributes.pb.h"
#include "cyber/transport/message/listener_handler.h"
#include "cyber/transport/message/message_info.h"

namespace apollo {
namespace cyber {
namespace transport {

using apollo::cyber::base::AtomicHashMap;
using apollo::cyber::base::AtomicRWLock;
using apollo::cyber::base::ReadLockGuard;
using apollo::cyber::base::WriteLockGuard;
using apollo::cyber::common::GlobalData;
using cyber::proto::RoleAttributes;

class Dispatcher;
using DispatcherPtr = std::shared_ptr<Dispatcher>;

template <typename MessageT>
// Study: Fuck this naming, if it is a callback, just name it xxxCallback
//        Name it XXXListener will make people think this is a class instead of function
using MessageListener =
    std::function<void(const std::shared_ptr<MessageT>&, const MessageInfo&)>;

class Dispatcher {
 public:
  Dispatcher();
  virtual ~Dispatcher();

  virtual void Shutdown();

  template <typename MessageT>
  void AddListener(const RoleAttributes& self_attr,
                   const MessageListener<MessageT>& listener);

  template <typename MessageT>
  void AddListener(const RoleAttributes& self_attr,
                   const RoleAttributes& opposite_attr,
                   const MessageListener<MessageT>& listener);

  template <typename MessageT>
  void RemoveListener(const RoleAttributes& self_attr);

  template <typename MessageT>
  void RemoveListener(const RoleAttributes& self_attr,
                      const RoleAttributes& opposite_attr);

  bool HasChannel(uint64_t channel_id);

 protected:
  std::atomic<bool> is_shutdown_;
  // key: channel_id of message
  AtomicHashMap<uint64_t, ListenerHandlerBasePtr> msg_listeners_;
  base::AtomicRWLock rw_lock_;
};

template <typename MessageT>
void Dispatcher::AddListener(const RoleAttributes& self_attr,
                             const MessageListener<MessageT>& listener) {
  if (is_shutdown_.load()) {
    return;
  }
  uint64_t channel_id = self_attr.channel_id();

  // Study: ListenerHandler is just one more layer of abstract
  //        It make the work that can be done in 1 abstract level
  //        into 3 to 4 layer, fuck it
  std::shared_ptr<ListenerHandler<MessageT>> handler;
  ListenerHandlerBasePtr* handler_base = nullptr;
  if (msg_listeners_.Get(channel_id, &handler_base)) {
    handler =
        std::dynamic_pointer_cast<ListenerHandler<MessageT>>(*handler_base);
    if (handler == nullptr) {
      AERROR << "please ensure that readers with the same channel["
             << self_attr.channel_name()
             << "] in the same process have the same message type";
      return;
    }
  } else {
    ADEBUG << "new reader for channel:"
           << GlobalData::GetChannelById(channel_id);
    // Study Do think too much, Just a abstract to maintain all callback
    handler.reset(new ListenerHandler<MessageT>());
    msg_listeners_.Set(channel_id, handler);
  }
  handler->Connect(self_attr.id(), listener);
}

template <typename MessageT>
void Dispatcher::AddListener(const RoleAttributes& self_attr,
                             const RoleAttributes& opposite_attr,
                             const MessageListener<MessageT>& listener) {
  if (is_shutdown_.load()) {
    return;
  }
  uint64_t channel_id = self_attr.channel_id();

  std::shared_ptr<ListenerHandler<MessageT>> handler;
  ListenerHandlerBasePtr* handler_base = nullptr;
  if (msg_listeners_.Get(channel_id, &handler_base)) {
    // Study: Assume all the existing handler for same channel is same type
    handler =
        std::dynamic_pointer_cast<ListenerHandler<MessageT>>(*handler_base);
    if (handler == nullptr) {
      AERROR << "please ensure that readers with the same channel["
             << self_attr.channel_name()
             << "] in the same process have the same message type";
      return;
    }
  } else {
    ADEBUG << "new reader for channel:"
           << GlobalData::GetChannelById(channel_id);
    handler.reset(new ListenerHandler<MessageT>());
    msg_listeners_.Set(channel_id, handler);
  }
  handler->Connect(self_attr.id(), opposite_attr.id(), listener);
}

template <typename MessageT>
void Dispatcher::RemoveListener(const RoleAttributes& self_attr) {
  if (is_shutdown_.load()) {
    return;
  }
  uint64_t channel_id = self_attr.channel_id();

  ListenerHandlerBasePtr* handler_base = nullptr;
  if (msg_listeners_.Get(channel_id, &handler_base)) {
    (*handler_base)->Disconnect(self_attr.id());
  }
}

template <typename MessageT>
void Dispatcher::RemoveListener(const RoleAttributes& self_attr,
                                const RoleAttributes& opposite_attr) {
  if (is_shutdown_.load()) {
    return;
  }
  uint64_t channel_id = self_attr.channel_id();

  ListenerHandlerBasePtr* handler_base = nullptr;
  if (msg_listeners_.Get(channel_id, &handler_base)) {
    (*handler_base)->Disconnect(self_attr.id(), opposite_attr.id());
  }
}

}  // namespace transport
}  // namespace cyber
}  // namespace apollo

#endif  // CYBER_TRANSPORT_DISPATCHER_DISPATCHER_H_

cyber/transport/receiver/receiver

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/

#ifndef CYBER_TRANSPORT_RECEIVER_RECEIVER_H_
#define CYBER_TRANSPORT_RECEIVER_RECEIVER_H_

#include <functional>
#include <memory>

#include "cyber/transport/common/endpoint.h"
#include "cyber/transport/message/history.h"
#include "cyber/transport/message/message_info.h"

namespace apollo {
namespace cyber {
namespace transport {

template <typename M>
class Receiver : public Endpoint {
 public:
  using MessagePtr = std::shared_ptr<M>;
  using MessageListener = std::function<void(
      const MessagePtr&, const MessageInfo&, const RoleAttributes&)>;

  Receiver(const RoleAttributes& attr, const MessageListener& msg_listener);
  virtual ~Receiver();

  virtual void Enable() = 0;
  virtual void Disable() = 0;
  virtual void Enable(const RoleAttributes& opposite_attr) = 0;
  virtual void Disable(const RoleAttributes& opposite_attr) = 0;

 protected:
  void OnNewMessage(const MessagePtr& msg, const MessageInfo& msg_info);

  MessageListener msg_listener_;
};

template <typename M>
Receiver<M>::Receiver(const RoleAttributes& attr,
                      const MessageListener& msg_listener)
    : Endpoint(attr), msg_listener_(msg_listener) {}

template <typename M>
Receiver<M>::~Receiver() {}

template <typename M>
void Receiver<M>::OnNewMessage(const MessagePtr& msg,
                               const MessageInfo& msg_info) {
  if (msg_listener_ != nullptr) {
    msg_listener_(msg, msg_info, attr_);
  }
}

}  // namespace transport
}  // namespace cyber
}  // namespace apollo

#endif  // CYBER_TRANSPORT_RECEIVER_RECEIVER_H_