base_subscriber.hpp

// Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
// Copyright (c) 2020 - 2022 by Apex.AI Inc. 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.
//
// SPDX-License-Identifier: Apache-2.0
 
#ifndef IOX_POSH_POPO_BASE_SUBSCRIBER_HPP
#define IOX_POSH_POPO_BASE_SUBSCRIBER_HPP
 
#include "iceoryx_hoofs/cxx/expected.hpp"
#include "iceoryx_hoofs/cxx/optional.hpp"
#include "iceoryx_hoofs/cxx/unique_ptr.hpp"
#include "iceoryx_posh/internal/popo/ports/subscriber_port_user.hpp"
#include "iceoryx_posh/popo/enum_trigger_type.hpp"
#include "iceoryx_posh/popo/sample.hpp"
#include "iceoryx_posh/popo/subscriber_options.hpp"
#include "iceoryx_posh/popo/wait_set.hpp"
#include "iceoryx_posh/runtime/posh_runtime.hpp"
 
namespace iox
{
namespace runtime
{
class ServiceDiscovery;
}
namespace popo
{
using uid_t = UniquePortId;
 
enum class SubscriberEvent : EventEnumIdentifier
{
    DATA_RECEIVED
};
 
enum class SubscriberState : StateEnumIdentifier
{
    HAS_DATA
};

template <typename port_t = iox::SubscriberPortUserType>
class BaseSubscriber
{
  public:
    virtual ~BaseSubscriber() noexcept;

    uid_t getUid() const noexcept;

    capro::ServiceDescription getServiceDescription() const noexcept;

    void subscribe() noexcept;

    SubscribeState getSubscriptionState() const noexcept;

    void unsubscribe() noexcept;

    bool hasData() const noexcept;

    bool hasMissedData() noexcept;

    void releaseQueuedData() noexcept;
 
    friend class NotificationAttorney;
    friend class iox::runtime::ServiceDiscovery;
 
  protected:
    using SelfType = BaseSubscriber<port_t>;
    using PortType = port_t;
 
    BaseSubscriber() noexcept; // Required for testing.
    BaseSubscriber(const capro::ServiceDescription& service, const SubscriberOptions& subscriberOptions) noexcept;
 
    BaseSubscriber(const BaseSubscriber& other) = delete;
    BaseSubscriber& operator=(const BaseSubscriber&) = delete;
    BaseSubscriber(BaseSubscriber&& rhs) = delete;
    BaseSubscriber& operator=(BaseSubscriber&& rhs) = delete;

    cxx::expected<const mepoo::ChunkHeader*, ChunkReceiveResult> takeChunk() noexcept;
 
    void invalidateTrigger(const uint64_t trigger) noexcept;

    void enableState(iox::popo::TriggerHandle&& triggerHandle, const SubscriberState subscriberState) noexcept;

    WaitSetIsConditionSatisfiedCallback
    getCallbackForIsStateConditionSatisfied(const SubscriberState subscriberState) const noexcept;

    void disableState(const SubscriberState subscriberState) noexcept;

    void enableEvent(iox::popo::TriggerHandle&& triggerHandle, const SubscriberEvent subscriberState) noexcept;

    void disableEvent(const SubscriberEvent subscriberEvent) noexcept;

    const port_t& port() const noexcept;

    port_t& port() noexcept;
 
  protected:
    port_t m_port{nullptr};
    TriggerHandle m_trigger;
};
 
} // namespace popo
} // namespace iox
 
#include "iceoryx_posh/internal/popo/base_subscriber.inl"
 
#endif // IOX_POSH_POPO_BASE_SUBSCRIBER_HPP