#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)

void	send_topic_publishers_to_subscribed_clients (const std::string &topicName, const std::optional< std::string > &updatesEndPoint=std::nullopt)

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

◆ endpoint_t

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

private

Definition at line 151 of file Server.h.

◆ node_name_t

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

private

Definition at line 148 of file Server.h.

◆ service_name_t

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

private

Definition at line 215 of file Server.h.

◆ topic_name_t

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

private

Definition at line 195 of file Server.h.

Constructor & Destructor Documentation

◆ Server()

Server::Server ( )

Definition at line 37 of file Server.cpp.

◆ ~Server()

Server::~Server ( )

Definition at line 39 of file Server.cpp.

Member Function Documentation

◆ db_add_topic_subscriber()

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

private

Definition at line 228 of file Server.cpp.

◆ db_advertise_service()

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 310 of file Server.cpp.

◆ db_advertise_topic()

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 199 of file Server.cpp.

◆ db_get_service_info()

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 339 of file Server.cpp.

◆ db_register_node()

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

private

Adds the given node

Definition at line 192 of file Server.cpp.

◆ db_remove_node()

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.

◆ internalServerThread()

void Server::internalServerThread ( )

private

Definition at line 77 of file Server.cpp.

◆ listenningPort() [1/2]

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

inline

Definition at line 76 of file Server.h.

◆ listenningPort() [2/2]

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

inline

Definition at line 77 of file Server.h.

◆ requestMainThreadTermination()

void Server::requestMainThreadTermination ( )

private

Definition at line 157 of file Server.cpp.

◆ send_topic_publishers_to_subscribed_clients()

void Server::send_topic_publishers_to_subscribed_clients	(	const std::string &	topicName,
		const std::optional< std::string > &	updatesEndPoint = `std::nullopt`
	)

private

Send to updatesEndPoint only, if given; otherwise, send to all subscribers

Definition at line 243 of file Server.cpp.

◆ shutdown()

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.

◆ start()

void Server::start ( )

Launches the server in a parallel thread and returns immediately.

Definition at line 41 of file Server.cpp.

Member Data Documentation

◆ connectedNodes_

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

private

Definition at line 149 of file Server.h.

◆ dbMutex

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.

◆ knownServices_

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

private

Definition at line 216 of file Server.h.

◆ knownTopics_

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

private

Definition at line 196 of file Server.h.

◆ mainThread_

std::thread mvsim::Server::mainThread_

private

Definition at line 80 of file Server.h.

◆ mainThreadZMQcontext_

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

private

Definition at line 81 of file Server.h.

◆ serverPortNo_

unsigned int mvsim::Server::serverPortNo_ = MVSIM_PORTNO_MAIN_REP

private

Definition at line 220 of file Server.h.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Database (db_*) about connected nodes, topics, etc.

Detailed Description

Member Typedef Documentation

◆ endpoint_t

◆ node_name_t

◆ service_name_t

◆ topic_name_t

Constructor & Destructor Documentation

◆ Server()

◆ ~Server()

Member Function Documentation

◆ db_add_topic_subscriber()

◆ db_advertise_service()

◆ db_advertise_topic()

◆ db_get_service_info()

◆ db_register_node()

◆ db_remove_node()

◆ internalServerThread()

◆ listenningPort() [1/2]

◆ listenningPort() [2/2]

◆ requestMainThreadTermination()

◆ send_topic_publishers_to_subscribed_clients()

◆ shutdown()

◆ start()

Member Data Documentation

◆ connectedNodes_

◆ dbMutex

◆ knownServices_

◆ knownTopics_

◆ mainThread_

◆ mainThreadZMQcontext_

◆ serverPortNo_