An exception that occurred whenever a channel does not exist. More...

#include <fw/ChannelManager.h>

Classes
struct	ChannelInfo
	Informations about a channel that also provides ordering of channels by id. More...

Public Member Functions
	ChannelManager ()

	~ChannelManager ()

template<typename Reflector >
void	reflect (Reflector &r)
	Reflect method for serialization. More...

template<typename T >
ConcreteChannel< T > *	publish (const std::string &channelID, const std::string &publisherID, bool internal, const Typename &type, bool noAutoPromoteCheck=false)
	Publishes a channel with the given id. More...

void	enableAutoPromoteChannels (bool enable)
	Enable/disable automatic promotion of channel to typed in publish<void>(...) More...

bool	autoPromoteChannelsEnabled ()
	Query if automatic promotion of channel to typed in publish<void>(...) is enabled. More...

void	enableCheckChannelRegistrations (bool enable)
	Enable/disable check for registration of channel types in publish<T>(...) (T!=void) More...

bool	checkChannelRegistrationsEnabled ()
	Query if check for channel registrations in publish<T>(...) is enabled. More...

template<typename T >
ConcreteChannel< T > *	subscribe (const std::string &channelID, const std::string &subscriberID, const Duration &storageDuration, bool internal)
	Subscribes to a channel with the given id. More...

void	removePublisherFromAllChannels (const std::string &publisherID, bool internal)
	Remove a publisher from the publisher lists of all channels it has published. More...

void	removePublisher (const std::string &channelID, const std::string &publisherID, bool internal)
	Remove a publisher from the list of publishers of the given channel. More...

void	removeSubscriberFromAllChannels (const std::string &subscriberID)
	Remove a subscriber from the subscriber lists of all channels it is subscribed on. More...

void	removeSubscriber (const std::string &channelID, const std::string &subscriberID)
	Remove a subscriber from the subscriber list of channel channelID. More...

void	deductNumSubscribers (const std::string &channelID)
	Reduce the number of registered subscribers (subscribed without callback) on the channel by 1, by calling AbstractChannel::removeSubscriber() More...

template<typename T >
ConcreteChannel< T > *	getConcreteChannel (const std::string &channelID)
	Returns the existing channel with the given id. More...

std::set< std::string >	getChannels () const
	Get a list of all channels managed by this manager. More...

std::set< std::string >	getChannelList (bool publishedOnly=false, bool subscribedOnly=false) const
	Get a list of all channels managed by this manager, can be filtered for only those that have subscribers and/or publishers (any combination is possible). More...

std::set< std::string >	getSubscribedChannels (bool includeInternal=false) const
	Get a list of all channels we have subscriptions on. More...

std::set< std::string >	getSubscribedChannelsBy (const std::string &subscriberID) const
	Get a list of all channels that the given subscriber has subscribed on. More...

bool	isSubscribedOn (const std::string &subscriberID, const std::string &channelID) const
	Returns true if the subscriber is subscribed to the given channel. More...

std::map< std::string, Typename >	getPublishedChannels (bool includeInternal=false) const
	Get a list of all channels and their types we have publishers for. More...

std::set< std::string >	getPublishedChannelsBy (const std::string &publisherID) const
	Get a list of all channels that are currently published by the given publisher. More...

bool	hasPublished (const std::string &publisherID, const std::string &channelID) const
	Returns true if the publisher has published the given channel. More...

std::list< std::pair< std::string, Typename > >	getChannelsOfType (const Typename &type) const
	Returns a list of all channels that match the specified type. More...

template<typename T >
std::list< std::pair< std::string, Typename > >	getChannelsOfType () const
	Returns a list of all channels that match the specified type. More...

bool	hasSubscriber (const std::string &channelID) const
	Returns if we have at least one subscriber (including internal ones) for the given channel. More...

bool	hasPublisher (const std::string &channelID, bool includeInternal) const
	Returns if we have a publisher for a given channel. More...

uint32	getNrPublishers (const std::string &channelID) const
	Get the number of publishers for that channel. More...

std::set< std::string >	getPublishers (const std::string &channelID, bool includeInternal=false) const
	Get all publishers for that channel. More...

uint32	getNrSubscribers (const std::string &channelID) const
	Get the number of subscribers to that channel. More...

std::set< std::string >	getSubscribers (const std::string &channelID, bool includeInternal=false) const
	Get all subscribers for that channel. More...

bool	hasChannel (const std::string &channelID) const
	Returns true, if the specified channel with the fully qualified channelID exits. More...

int	getTypeId (const std::string &channelID) const
	Returns the type id of the specified channel with the fully qualified channelID or -1, if the channel is untyped. More...

void	setTypename (const std::string &channelID, const Typename &typenam)
	Sets the typename of the specified channel. More...

Typename	getTypename (const std::string &channelID) const
	Returns the typename of the specified channel with the fully qualified channelID. More...

void	setTypeMeta (const std::string &channelID, TypeMetaPtr meta)
	Sets the type meta information for the slots of the underlying channel buffer. More...

TypeMetaPtr	getTypeMeta (const std::string &channelID) const
	Returns the type meta information of the channel. More...

Time	getLastSlotTime (const std::string &channelID) const
	Returns the timestamp of the data in the slot that was last written to the channel with the fully qualified channelID or an invalid time when there was no data written at all. More...

std::size_t	getNrOfSlots (const std::string &channelID) const
	Returns the number of slots in the channel. More...

uint64	getNrOfDataChanges (const std::string &channelID) const
	Returns the number of times data was written to the channel with the fully qualified channelID or an invalid time. More...

void	ensureChannel (const std::string &channelID)
	Just make sure the specified channel exists (by creating it if needed), without changing any attributes. More...

void	setStorageDuration (const std::string &channelID, const Duration &storageDuration)
	Sets storage duration for the specified channel. More...

void	setAutoIncreaseStorageDuration (const std::string &channelID, bool increase)
	Sets whether to auto-increase storage duration for the specified channel. More...

void	setMinSlots (const std::string &channelID, std::size_t minSlots)
	Sets desired minimum number of slots for the specified channel. More...

void	setMaxSlots (const std::string &channelID, std::size_t maxSlots)
	Sets the maximum number of slots for the specified channel. More...

Duration	getStorageDuration (const std::string &channelID)
	Query storage duration for the specified channel. More...

bool	isAutoIncreasingStorageDuration (const std::string &channelID)
	Query whether specified channel is auto-increasing storage duration. More...

std::size_t	getMinSlots (const std::string &channelID)
	Query desired minimum number of slots for the specified channel. More...

std::size_t	getMaxSlots (const std::string &channelID)
	Query desired maximum number of slots for the specified channel. More...

void	writeChannel (const std::string &channelID, const json::Value &value, Time time, std::string frameID, uint32 sequenceID)
	Writes a json value to the channel with given id. More...

void	writeChannel (const std::string &channelID, const json::Value &value, Time time=Time::now())
	Writes a json value to the channel with given id. More...

void	writeChannel (const std::string &channelID, const json::Value &value, std::string frameID, Time time=Time::now())
	Writes a json value to the channel with given id. More...

json::Value	readChannel (const std::string &channelID)
	Reads data from the channel with given id. More...

Detailed Description

An exception that occurred whenever a channel does not exist.

This manager provides functionality to create, obtain and manage the channels in the framework. Channels provide a time ordered queue (history) of data slots (timestamp, value pairs).

Constructor & Destructor Documentation

◆ ChannelManager()

ChannelManager ( )

◆ ~ChannelManager()

~ChannelManager ( )

Member Function Documentation

◆ reflect()

void reflect ( Reflector & r )

inline

Reflect method for serialization.

◆ publish()

ConcreteChannel<T>* publish	(	const std::string &	channelID,
		const std::string &	publisherID,
		bool	internal,
		const Typename &	type,
		bool	noAutoPromoteCheck = `false`
	)

inline

Publishes a channel with the given id.

If the channel does not exist it will be created. If the channel is a polymorphic channel (i.e. T is a pointer type of a polymorphic type) then publishing the channel will fixate the channels type and future publish() calls with different types will result in a XBadCast exception.

Exceptions

XBadCast if the channel exists but the types do not match.

Parameters

[in]	channelID	The channel id
[in]	publisherID	The id of the publisher. If empty the channel will not be visible in a call to getPublishedChannels().
[in]	internal	The internal flag specifies if the publisher counts not as a public publisher to that channel (e.g. remote publishers)
[in]	type	The typename of the channel's type
[in]	noAutoPromoteCheck	If true, suppress checking for existence of a promoter for a typed channel

Returns: A concrete Channel object that the caller can convert to a channel by providing access flags

◆ enableAutoPromoteChannels()

void enableAutoPromoteChannels ( bool enable )

inline

Enable/disable automatic promotion of channel to typed in publish<void>(...)

◆ autoPromoteChannelsEnabled()

bool autoPromoteChannelsEnabled ( )

inline

Query if automatic promotion of channel to typed in publish<void>(...) is enabled.

◆ enableCheckChannelRegistrations()

void enableCheckChannelRegistrations ( bool enable )

inline

Enable/disable check for registration of channel types in publish<T>(...) (T!=void)

◆ checkChannelRegistrationsEnabled()

bool checkChannelRegistrationsEnabled ( )

inline

Query if check for channel registrations in publish<T>(...) is enabled.

◆ subscribe()

ConcreteChannel<T>* subscribe	(	const std::string &	channelID,
		const std::string &	subscriberID,
		const Duration &	storageDuration,
		bool	internal
	)

inline

Subscribes to a channel with the given id.

The channel is created if not exists.

Exceptions

XBadCast if the channel exists but the types do not match.

Parameters

[in]	channelID	The id of the data channel to subscribe to
[in]	subscriberID	The id of the subscriber. If empty the channel will not be visible in a call to getSubscribedChannels().
[in]	storageDuration	The requested duration of how long data is stored in the channel (history). Note that the real history length may differ from this request because the number of slots in the channel is limited by its maximum length. Assuming we have only one writer to the channel that updates the channel each T milliseconds the real storage duration D can be computed by D = (maxSlots-1) * T.
[in]	internal	The internal flag specifies if the subscriber counts not as a public subscriber to that channel (e.g. remote subscribers)

Returns: A concrete Channel object that the caller can convert to a channel by providing access flags

◆ removePublisherFromAllChannels()

void removePublisherFromAllChannels	(	const std::string &	publisherID,
		bool	internal
	)

Remove a publisher from the publisher lists of all channels it has published.

Parameters

[in]	publisherID	The id of the publisher.
[in]	internal	Is the publisher an internal one that does not count as a global publisher (only local in this framework)

◆ removePublisher()

void removePublisher	(	const std::string &	channelID,
		const std::string &	publisherID,
		bool	internal
	)

Remove a publisher from the list of publishers of the given channel.

Parameters

[in]	channelID	The channel ID
[in]	publisherID	The id of the publisher.
[in]	internal	Is the publisher an internal one that does not count as a global publisher (only local in this framework)

◆ removeSubscriberFromAllChannels()

void removeSubscriberFromAllChannels ( const std::string & subscriberID )

Remove a subscriber from the subscriber lists of all channels it is subscribed on.

◆ removeSubscriber()

void removeSubscriber	(	const std::string &	channelID,
		const std::string &	subscriberID
	)

Remove a subscriber from the subscriber list of channel channelID.

Parameters

[in]	channelID	The channel ID
[in]	subscriberID	The id of the subscriber.

◆ deductNumSubscribers()

void deductNumSubscribers ( const std::string & channelID )

Reduce the number of registered subscribers (subscribed without callback) on the channel by 1, by calling AbstractChannel::removeSubscriber()

Parameters

[in] channelID The channel ID

◆ getConcreteChannel()

ConcreteChannel<T>* getConcreteChannel ( const std::string & channelID )

inline

Returns the existing channel with the given id.

Parameters

[in] channelID The channel ID

Returns: Pointer to the channel

Exceptions

XBadCast	if the channel exists but the types do not match.
XUnknownChannel	if the channel does not exist.

◆ getChannels()

std::set<std::string> getChannels ( ) const

Get a list of all channels managed by this manager.

◆ getChannelList()

std::set<std::string> getChannelList	(	bool	publishedOnly = `false`,
		bool	subscribedOnly = `false`
	)		const

Get a list of all channels managed by this manager, can be filtered for only those that have subscribers and/or publishers (any combination is possible).

Parameters

[in]	publishedOnly	Only return channels that have (local) publishers. If false, this will not exclude any channels.
[in]	subscribedOnly	Only return channels that have (local) subscribers (excluding internal subscribers). If false, this will not exclude any channels.

Returns: List of channels matching the requested criteria.

◆ getSubscribedChannels()

std::set<std::string> getSubscribedChannels ( bool includeInternal = false ) const

Get a list of all channels we have subscriptions on.

Parameters

[in] includeInternal If set to false (default) the returned list excludes channels that have only internal subscribers

Returns: List of subscribed channels

◆ getSubscribedChannelsBy()

std::set<std::string> getSubscribedChannelsBy ( const std::string & subscriberID ) const

Get a list of all channels that the given subscriber has subscribed on.

Parameters

[in] subscriberID Subscriber name

Returns: List of subscribed channels

Note: only works correctly for subscribers in the local framework. For remote subscribers, use AbstractAuthority::getSubscribedChannels (access the Authority e.g. using AuthorityManager).

◆ isSubscribedOn()

bool isSubscribedOn	(	const std::string &	subscriberID,
		const std::string &	channelID
	)		const

Returns true if the subscriber is subscribed to the given channel.

◆ getPublishedChannels()

std::map<std::string, Typename> getPublishedChannels ( bool includeInternal = false ) const

Get a list of all channels and their types we have publishers for.

Parameters

[in] includeInternal If set to false (default) the returned list excludes channels that have only internal publishers

Returns: List of published channels

◆ getPublishedChannelsBy()

std::set<std::string> getPublishedChannelsBy ( const std::string & publisherID ) const

Get a list of all channels that are currently published by the given publisher.

Parameters

[in] publisherID Publisher name

Returns: List of published channels

Note: only works correctly for publishers in the local framework. For remote publishers, use AbstractAuthority::getPublishedChannels (access the Authority e.g. using AuthorityManager).

◆ hasPublished()

bool hasPublished	(	const std::string &	publisherID,
		const std::string &	channelID
	)		const

Returns true if the publisher has published the given channel.

◆ getChannelsOfType() [1/2]

std::list<std::pair<std::string, Typename> > getChannelsOfType ( const Typename & type ) const

Returns a list of all channels that match the specified type.

Each list item is a pair where the first entry specifies the full qualified name of the channel and the second entry specifies the type of the channel.

◆ getChannelsOfType() [2/2]

std::list<std::pair<std::string, Typename> > getChannelsOfType ( ) const

inline

Returns a list of all channels that match the specified type.

Each list item is a pair where the first entry specifies the full qualified name of the channel and the second entry specifies the type of the channel.

◆ hasSubscriber()

bool hasSubscriber ( const std::string & channelID ) const

Returns if we have at least one subscriber (including internal ones) for the given channel.

Parameters

[in] channelID The channel id

Returns: true if we have a subscriber for this channel, false otherwise or if channel does not exist

◆ hasPublisher()

bool hasPublisher	(	const std::string &	channelID,
		bool	includeInternal
	)		const

Returns if we have a publisher for a given channel.

Parameters

[in]	channelID	The channel id
[in]	includeInternal	If true also internal publishers will count as a publisher for that channel.

Returns: true if channel has at least one publisher, false if not

◆ getNrPublishers()

uint32 getNrPublishers ( const std::string & channelID ) const

Get the number of publishers for that channel.

◆ getPublishers()

std::set<std::string> getPublishers	(	const std::string &	channelID,
		bool	includeInternal = `false`
	)		const

Get all publishers for that channel.

◆ getNrSubscribers()

uint32 getNrSubscribers ( const std::string & channelID ) const

Get the number of subscribers to that channel.

◆ getSubscribers()

std::set<std::string> getSubscribers	(	const std::string &	channelID,
		bool	includeInternal = `false`
	)		const

Get all subscribers for that channel.

◆ hasChannel()

bool hasChannel ( const std::string & channelID ) const

Returns true, if the specified channel with the fully qualified channelID exits.

◆ getTypeId()

int getTypeId ( const std::string & channelID ) const

Returns the type id of the specified channel with the fully qualified channelID or -1, if the channel is untyped.

◆ setTypename()

void setTypename	(	const std::string &	channelID,
		const Typename &	typenam
	)

Sets the typename of the specified channel.

◆ getTypename()

Typename getTypename ( const std::string & channelID ) const

Returns the typename of the specified channel with the fully qualified channelID.

◆ setTypeMeta()

void setTypeMeta	(	const std::string &	channelID,
		TypeMetaPtr	meta
	)

Sets the type meta information for the slots of the underlying channel buffer.

◆ getTypeMeta()

TypeMetaPtr getTypeMeta ( const std::string & channelID ) const

Returns the type meta information of the channel.

◆ getLastSlotTime()

Time getLastSlotTime ( const std::string & channelID ) const

Returns the timestamp of the data in the slot that was last written to the channel with the fully qualified channelID or an invalid time when there was no data written at all.

◆ getNrOfSlots()

std::size_t getNrOfSlots ( const std::string & channelID ) const

Returns the number of slots in the channel.

◆ getNrOfDataChanges()

uint64 getNrOfDataChanges ( const std::string & channelID ) const

Returns the number of times data was written to the channel with the fully qualified channelID or an invalid time.

◆ ensureChannel()

void ensureChannel ( const std::string & channelID )

inline

Just make sure the specified channel exists (by creating it if needed), without changing any attributes.

◆ setStorageDuration()

void setStorageDuration	(	const std::string &	channelID,
		const Duration &	storageDuration
	)

Sets storage duration for the specified channel.

Sets the desired storage duration (the history). This method can increase the duration only. If the specified duration is smaller than a previous set duration the call will be ignored.

Note: Duration can only be increased until the maximum number of slots is reached. Use setMaxSlots() to increase maximum number of slots.

◆ setAutoIncreaseStorageDuration()

void setAutoIncreaseStorageDuration	(	const std::string &	channelID,
		bool	increase
	)

Sets whether to auto-increase storage duration for the specified channel.

Sets whether the storage duration is automatically increased on read accesses. If true, any read access specifying a timestamp will automatically increase the storage duration to the time difference between the timestamp and the most recent data (trying to ensure data is kept long enough for further such requests). The default is true.

◆ setMinSlots()

void setMinSlots	(	const std::string &	channelID,
		std::size_t	minSlots
	)

Sets desired minimum number of slots for the specified channel.

Sets the desired min. number of slots for storing the history of a channel. This method can increase the min. number of slots only. Instead of specifying the min. number of slots you can also specify the desired storage duration using the setStorageDuration() method.

Note: The desired number of slots can be increased until the maximum number of slots is reached. Use setMaxSlots() to increase maximum number of slots.

◆ setMaxSlots()

void setMaxSlots	(	const std::string &	channelID,
		std::size_t	maxSlots
	)

Sets the maximum number of slots for the specified channel.

Sets the max. number of slots that are used for storing the history of a channel. maxSlots must at least be 1. The default is 100.

Note: There will only be as many slots as needed depending on the number of publishers and subscribers. The number of slots will also grow (history) if a storage duration is specified via setStorageDuration()

◆ getStorageDuration()

Duration getStorageDuration ( const std::string & channelID )

Query storage duration for the specified channel.

◆ isAutoIncreasingStorageDuration()

bool isAutoIncreasingStorageDuration ( const std::string & channelID )

Query whether specified channel is auto-increasing storage duration.

◆ getMinSlots()

std::size_t getMinSlots ( const std::string & channelID )

Query desired minimum number of slots for the specified channel.

◆ getMaxSlots()

std::size_t getMaxSlots ( const std::string & channelID )

Query desired maximum number of slots for the specified channel.

◆ writeChannel() [1/3]

void writeChannel	(	const std::string &	channelID,
		const json::Value &	value,
		Time	time,
		std::string	frameID,
		uint32	sequenceID
	)

Writes a json value to the channel with given id.

◆ writeChannel() [2/3]

void writeChannel	(	const std::string &	channelID,
		const json::Value &	value,
		Time	time = `Time::now()`
	)

Writes a json value to the channel with given id.

If data was published to the channel before, the frameID of the latest data is copied, and the sequenceID is incremented.

◆ writeChannel() [3/3]

void writeChannel	(	const std::string &	channelID,
		const json::Value &	value,
		std::string	frameID,
		Time	time = `Time::now()`
	)

Writes a json value to the channel with given id.

If data was published to the channel before, the sequenceID is incremented.

◆ readChannel()

json::Value readChannel ( const std::string & channelID )

Reads data from the channel with given id.

If channel has type T it returns the json representation of T.

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

framework/include/fw/ChannelManager.h

Classes

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ChannelManager()

◆ ~ChannelManager()

Member Function Documentation

◆ reflect()

◆ publish()

◆ enableAutoPromoteChannels()

◆ autoPromoteChannelsEnabled()

◆ enableCheckChannelRegistrations()

◆ checkChannelRegistrationsEnabled()

◆ subscribe()

◆ removePublisherFromAllChannels()

◆ removePublisher()

◆ removeSubscriberFromAllChannels()

◆ removeSubscriber()

◆ deductNumSubscribers()

◆ getConcreteChannel()

◆ getChannels()

◆ getChannelList()

◆ getSubscribedChannels()

◆ getSubscribedChannelsBy()

◆ isSubscribedOn()

◆ getPublishedChannels()

◆ getPublishedChannelsBy()

◆ hasPublished()

◆ getChannelsOfType() [1/2]

◆ getChannelsOfType() [2/2]

◆ hasSubscriber()

◆ hasPublisher()

◆ getNrPublishers()

◆ getPublishers()

◆ getNrSubscribers()

◆ getSubscribers()

◆ hasChannel()

◆ getTypeId()

◆ setTypename()

◆ getTypename()

◆ setTypeMeta()

◆ getTypeMeta()

◆ getLastSlotTime()

◆ getNrOfSlots()

◆ getNrOfDataChanges()

◆ ensureChannel()

◆ setStorageDuration()

◆ setAutoIncreaseStorageDuration()

◆ setMinSlots()

◆ setMaxSlots()

◆ getStorageDuration()

◆ isAutoIncreasingStorageDuration()

◆ getMinSlots()

◆ getMaxSlots()

◆ writeChannel() [1/3]

◆ writeChannel() [2/3]

◆ writeChannel() [3/3]

◆ readChannel()