mvsim::Server Class Reference

#include <Server.h>

Inheritance diagram for mvsim::Server:

Classes
struct	InfoPerNode
struct	InfoPerPublisher
struct	InfoPerService
struct	InfoPerSubscriber
struct	InfoPerTopic

Public Member Functions
unsigned int	listenningPort () const
void	listenningPort (unsigned int port)
	Server ()
	~Server ()
Main mvsim Server API
void	start ()
void	shutdown () noexcept

Private Member Functions
void	internalServerThread ()
void	requestMainThreadTermination ()

Private Attributes
std::thread	mainThread_
std::atomic< zmq::context_t * >	mainThreadZMQcontext_ = nullptr
unsigned int	serverPortNo_ = MVSIM_PORTNO_MAIN_REP

Database (db_*) about connected nodes, topics, etc.
using	node_name_t = std::string
using	endpoint_t = std::string
using	topic_name_t = std::string
using	service_name_t = std::string
std::shared_mutex	dbMutex
std::map< node_name_t, InfoPerNode >	connectedNodes_
std::map< topic_name_t, InfoPerTopic >	knownTopics_
std::map< service_name_t, InfoPerService >	knownServices_
void	db_remove_node (const std::string &nodeName)
void	db_register_node (const std::string &nodeName)
void	db_advertise_topic (const std::string &topicName, const std::string &topicTypeName, const std::string &publisherEndpoint, const std::string &nodeName)
void	db_advertise_service (const std::string &serviceName, const std::string &inputTypeName, const std::string &outputTypeName, const std::string &publisherEndpoint, const std::string &nodeName)
bool	db_get_service_info (const std::string &serviceName, std::string &publisherEndpoint, std::string &nodeName) const
void	db_add_topic_subscriber (const std::string &topicName, const std::string &updatesEndPoint)

Detailed Description

This class creates a parallel thread and listens for incoming connections from clients. This is the main hub for advertising and subscribing to topics. Users should instance a class mvsim::Client (C++) or mvsim.Client (Python) to interface with this server.

Usage:

• Instantiate a Server object.
• Set all parameters as desired.
• Call start(). It will return immediately.
• The server will be working on the background as long as the object is not destroyed.
• Upon destruction, the server thread will be automatically shut-down.

Messages and topics are described as Protobuf messages, and communications are done via ZMQ sockets.

See: https://mvsimulator.readthedocs.io/

Definition at line 60 of file Server.h.

Member Typedef Documentation

using mvsim::Server::endpoint_t = std::string

private

Definition at line 145 of file Server.h.

using mvsim::Server::node_name_t = std::string

private

Definition at line 142 of file Server.h.

using mvsim::Server::service_name_t = std::string

private

Definition at line 209 of file Server.h.

using mvsim::Server::topic_name_t = std::string

private

Definition at line 189 of file Server.h.

Constructor & Destructor Documentation

Server::Server

(

)

Definition at line 37 of file Server.cpp.

Server::~Server

(

)

Definition at line 39 of file Server.cpp.

Member Function Documentation

void Server::db_add_topic_subscriber ( const std::string &  topicName, const std::string &  updatesEndPoint  )

private

Definition at line 232 of file Server.cpp.

void Server::db_advertise_service ( const std::string &  serviceName, const std::string &  inputTypeName, const std::string &  outputTypeName, const std::string &  publisherEndpoint, const std::string &  nodeName  )

private

Adds a new offer for a service

Definition at line 268 of file Server.cpp.

void Server::db_advertise_topic ( const std::string &  topicName, const std::string &  topicTypeName, const std::string &  publisherEndpoint, const std::string &  nodeName  )

private

Adds a new publisher for a given topic

Definition at line 201 of file Server.cpp.

bool Server::db_get_service_info ( const std::string &  serviceName, std::string &  publisherEndpoint, std::string &  nodeName  ) const

private

Returns

true on success

Definition at line 296 of file Server.cpp.

void Server::db_register_node ( const std::string &  nodeName )

private

Adds the given node

Definition at line 192 of file Server.cpp.

void Server::db_remove_node ( const std::string &  nodeName )

private

Remove all references to a given node name

Definition at line 173 of file Server.cpp.

void Server::internalServerThread ( )

private

Definition at line 77 of file Server.cpp.

unsigned int mvsim::Server::listenningPort ( ) const

inline

Definition at line 76 of file Server.h.

void mvsim::Server::listenningPort ( unsigned int  port )

inline

Definition at line 77 of file Server.h.

void Server::requestMainThreadTermination ( )

private

Definition at line 157 of file Server.cpp.

void Server::shutdown ( )

noexcept

Shutdowns the server. Blocks until the thread is stopped. There is no need to manually call this method, it is called upon destruction.

Definition at line 59 of file Server.cpp.

void Server::start

(

)

Launches the server in a parallel thread and returns immediately.

Definition at line 41 of file Server.cpp.

Member Data Documentation

std::map<node_name_t, InfoPerNode> mvsim::Server::connectedNodes_

private

Definition at line 143 of file Server.h.

std::shared_mutex mvsim::Server::dbMutex

mutableprivate

Adquired by all db_* functions; must be locked whenever any of the variables in this block is read/write.

Definition at line 103 of file Server.h.

std::map<service_name_t, InfoPerService> mvsim::Server::knownServices_

private

Definition at line 210 of file Server.h.

std::map<topic_name_t, InfoPerTopic> mvsim::Server::knownTopics_

private

Definition at line 190 of file Server.h.

std::thread mvsim::Server::mainThread_

private

Definition at line 80 of file Server.h.

std::atomic<zmq::context_t*> mvsim::Server::mainThreadZMQcontext_ = nullptr

private

Definition at line 81 of file Server.h.

unsigned int mvsim::Server::serverPortNo_ = MVSIM_PORTNO_MAIN_REP

private

Definition at line 214 of file Server.h.

---

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

• Server.h
• Server.cpp