先 StartWaiting()，再自己来取数据的订阅者 / Subscriber that first calls StartWaiting() and later pulls the data itself More...

#include <async.hpp>

Collaboration diagram for LibXR::Topic::ASyncSubscriber< Data >:

Public Member Functions
	ASyncSubscriber (const char name, Domain domain=nullptr)
	通过主题名称构造异步订阅者 / Construct an asynchronous subscriber by topic name

	ASyncSubscriber (Topic topic)
	通过 `Topic` 句柄构造异步订阅者 / Construct an asynchronous subscriber from a `Topic` handle

	ASyncSubscriber (const ASyncSubscriber &other)=delete
	禁止拷贝异步订阅者 / Copy construction is disabled for asynchronous subscribers

ASyncSubscriber &	operator= (const ASyncSubscriber &other)=delete
	禁止拷贝赋值异步订阅者 / Copy assignment is disabled for asynchronous subscribers

	ASyncSubscriber (ASyncSubscriber &&other) noexcept
	移动构造异步订阅者 / Move-construct one asynchronous subscriber

ASyncSubscriber &	operator= (ASyncSubscriber &&other) noexcept
	移动赋值异步订阅者 / Move-assign one asynchronous subscriber

bool	Available ()
	检查数据是否可用 / Check whether data is available

Data &	GetData ()
	获取当前数据 / Retrieve the current data

MicrosecondTimestamp	GetTimestamp () const
	获取最近一次接收的消息时间戳 / Get the latest received message timestamp

void	StartWaiting ()
	开始等待数据更新 / Start waiting for a data update

Data Fields
LockFreeList::Node< ASyncBlock > *	block_ = nullptr
	订阅者数据块。Subscriber data block.

Detailed Description

template<typename Data>
class LibXR::Topic::ASyncSubscriber< Data >

先 StartWaiting()，再自己来取数据的订阅者 / Subscriber that first calls StartWaiting() and later pulls the data itself

先等待再主动取数据的异步订阅者 / Asynchronous subscriber that waits first and then pulls data explicitly

Template Parameters

Data	订阅的数据类型 / Subscribed data type

Definition at line 247 of file topic.hpp.

Constructor & Destructor Documentation

◆ ASyncSubscriber() [1/4]

template<typename Data >

LibXR::Topic::ASyncSubscriber< Data >::ASyncSubscriber	(	const char *	name,
		Domain *	domain = nullptr )

inline

通过主题名称构造异步订阅者 / Construct an asynchronous subscriber by topic name

Parameters

name	订阅的主题名称 / Name of the subscribed topic
domain	可选的域指针 / Optional domain pointer

Note: 包含初始化期动态内存分配，订阅者应长期存在 / Contains initialization-time dynamic allocation; subscribers are expected to be long-lived

Definition at line 48 of file async.hpp.

      : ASyncSubscriber(Topic(WaitTopic(name, UINT32_MAX, domain)))
  {
  }

◆ ASyncSubscriber() [2/4]

template<typename Data >

LibXR::Topic::ASyncSubscriber< Data >::ASyncSubscriber ( Topic topic )

inline

通过 Topic 句柄构造异步订阅者 / Construct an asynchronous subscriber from a Topic handle

Parameters

topic 订阅的主题 / Subscribed topic

Note: 包含初始化期动态内存分配，订阅者应长期存在 / Contains initialization-time dynamic allocation; subscribers are expected to be long-lived

Definition at line 59 of file async.hpp.

  {
    Topic::CheckSubscriberType<Data>(topic);
 
    block_ = new LockFreeList::Node<ASyncBlock>;
    block_->data_.type = SuberType::ASYNC;
    block_->data_.timestamp = MicrosecondTimestamp();
    block_->data_.buff_addr = Topic::AllocateSubscriberBuffer<Data>();
    block_->data_.copy_payload = &Topic::CopyPayload<Data>;
    topic.block_->data_.subers.Add(*block_);
  }

◆ ASyncSubscriber() [3/4]

template<typename Data >

LibXR::Topic::ASyncSubscriber< Data >::ASyncSubscriber ( const ASyncSubscriber< Data > & other )

delete

禁止拷贝异步订阅者 / Copy construction is disabled for asynchronous subscribers

Parameters

other 待拷贝的异步订阅者 / Asynchronous subscriber to copy from

◆ ASyncSubscriber() [4/4]

template<typename Data >

LibXR::Topic::ASyncSubscriber< Data >::ASyncSubscriber ( ASyncSubscriber< Data > && other )

inlinenoexcept

移动构造异步订阅者 / Move-construct one asynchronous subscriber

Parameters

other 被转移的异步订阅者 / Asynchronous subscriber to move from

Note: 这里只移动本地句柄指针；底层订阅块仍留在 topic 的订阅链表里，other 会被清成空句柄 / This moves only the local handle pointer; the underlying subscriber block stays registered in the topic list and other becomes empty

Definition at line 94 of file async.hpp.

                                                    : block_(other.block_)
  {
    other.block_ = nullptr;
  }

Member Function Documentation

◆ Available()

template<typename Data >

bool LibXR::Topic::ASyncSubscriber< Data >::Available ( )

inline

检查数据是否可用 / Check whether data is available

Returns: 数据已准备好返回 true，否则返回 false / Returns true if data is ready, otherwise false

Definition at line 123 of file async.hpp.

  {
    return block_->data_.state.load(std::memory_order_acquire) ==
           ASyncSubscriberState::DATA_READY;
  }

◆ GetData()

template<typename Data >

Data & LibXR::Topic::ASyncSubscriber< Data >::GetData ( )

inline

获取当前数据 / Retrieve the current data

Returns: 当前数据引用 / Returns a reference to the current data

Note: 若当前缓冲区处于 DATA_READY，本次读取会把状态清回 IDLE；之后新的发布需要重新调用 StartWaiting() 才会继续接收 / If the local buffer is currently DATA_READY, this read clears the state back to IDLE; later publishes are ignored again until StartWaiting() is called

Definition at line 139 of file async.hpp.

  {
    if (block_->data_.state.load(std::memory_order_acquire) ==
        ASyncSubscriberState::DATA_READY)
    {
      block_->data_.state.store(ASyncSubscriberState::IDLE, std::memory_order_release);
    }
    return *reinterpret_cast<Data*>(block_->data_.buff_addr);
  }

◆ GetTimestamp()

template<typename Data >

MicrosecondTimestamp LibXR::Topic::ASyncSubscriber< Data >::GetTimestamp ( ) const

inline

获取最近一次接收的消息时间戳 / Get the latest received message timestamp

Returns: 最近一次接收的消息时间戳 / Returns the latest received message timestamp

Definition at line 153 of file async.hpp.

153{ return block_->data_.timestamp; }

◆ operator=() [1/2]

template<typename Data >

ASyncSubscriber & LibXR::Topic::ASyncSubscriber< Data >::operator= ( ASyncSubscriber< Data > && other )

inlinenoexcept

移动赋值异步订阅者 / Move-assign one asynchronous subscriber

Parameters

other 被转移的异步订阅者 / Asynchronous subscriber to move from

Returns: 当前异步订阅者 / Returns the current asynchronous subscriber

Note: 这里只改当前包装对象指向的订阅块，不会注销旧块；底层订阅块仍留在 topic 的订阅链表里，other 会被清成空句柄 / This only changes which subscriber block the current wrapper points to and does not unregister the old block; the underlying subscriber blocks stay in the topic list and other becomes empty

Definition at line 109 of file async.hpp.

  {
    if (this != &other)
    {
      block_ = other.block_;
      other.block_ = nullptr;
    }
    return *this;
  }

◆ operator=() [2/2]

template<typename Data >

ASyncSubscriber & LibXR::Topic::ASyncSubscriber< Data >::operator= ( const ASyncSubscriber< Data > & other )

delete

禁止拷贝赋值异步订阅者 / Copy assignment is disabled for asynchronous subscribers

Parameters

other 待拷贝的异步订阅者 / Asynchronous subscriber to copy from

Returns: 当前异步订阅者 / Returns the current asynchronous subscriber

◆ StartWaiting()

template<typename Data >

void LibXR::Topic::ASyncSubscriber< Data >::StartWaiting ( )

inline

开始等待数据更新 / Start waiting for a data update

Note: 异步订阅者只接收 WAITING 状态下的下一次发布；IDLE 或 DATA_READY 状态下的新发布会被忽略 / Async subscribers only capture the next publish while in WAITING state; new publishes in IDLE or DATA_READY state are ignored

Definition at line 161 of file async.hpp.

  {
    if (block_->data_.state.load(std::memory_order_acquire) ==
        ASyncSubscriberState::IDLE)
    {
      block_->data_.state.store(ASyncSubscriberState::WAITING,
                                std::memory_order_release);
    }
  }

Field Documentation

◆ block_

template<typename Data >

LockFreeList::Node<ASyncBlock>* LibXR::Topic::ASyncSubscriber< Data >::block_ = nullptr

订阅者数据块。Subscriber data block.

Definition at line 171 of file async.hpp.

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

src/middleware/message/subscriber/async.hpp
src/middleware/message/topic.hpp

Public Member Functions

Data Fields

Detailed Description

Constructor & Destructor Documentation

◆ ASyncSubscriber() [1/4]

◆ ASyncSubscriber() [2/4]

◆ ASyncSubscriber() [3/4]

◆ ASyncSubscriber() [4/4]

Member Function Documentation

◆ Available()

◆ GetData()

◆ GetTimestamp()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ StartWaiting()

Field Documentation

◆ block_