LibXR::Topic::Server Class Reference

服务器类，负责解析数据并将其分发到相应的主题 Server class responsible for parsing data and distributing it to corresponding topics More...

#include <message.hpp>

Collaboration diagram for LibXR::Topic::Server:

Public Types
enum class	Status : uint8_t { WAIT_START , WAIT_TOPIC , WAIT_DATA_CRC }
	服务器解析状态枚举 Enumeration of server parsing states More...

Public Member Functions
	Server (size_t buffer_length)
	构造函数，初始化服务器并分配缓冲区 Constructor to initialize the server and allocate buffer
void	Register (TopicHandle topic)
	注册一个主题 Registers a topic
size_t	ParseData (ConstRawData data)
	解析接收到的数据 Parses received data

Private Attributes
Status	status_
	服务器的当前解析状态 Current parsing state of the server
uint32_t	data_len_ = 0
	当前数据长度 Current data length
RBTree< uint32_t >	topic_map_
	主题映射表 Topic mapping table
BaseQueue	queue_
	数据队列 Data queue
RawData	parse_buff_
	解析数据缓冲区 Data buffer for parsing
TopicHandle	current_topic_ = nullptr
	当前主题句柄 Current topic handle

Detailed Description

服务器类，负责解析数据并将其分发到相应的主题 Server class responsible for parsing data and distributing it to corresponding topics

Definition at line 761 of file message.hpp.

Member Enumeration Documentation

Status

enum class LibXR::Topic::Server::Status : uint8_t

strong

服务器解析状态枚举 Enumeration of server parsing states

Enumerator
WAIT_START	等待起始标志 Waiting for start flag
WAIT_TOPIC	等待主题信息 Waiting for topic information
WAIT_DATA_CRC	等待数据校验 Waiting for data CRC validation

Definition at line 769 of file message.hpp.

    {
      WAIT_START,    
      WAIT_TOPIC,    
      WAIT_DATA_CRC  
    };

Constructor & Destructor Documentation

Server()

Topic::Server::Server

(

size_t

buffer_length

)

构造函数，初始化服务器并分配缓冲区 Constructor to initialize the server and allocate buffer

Parameters

buffer_length

缓冲区长度 Buffer length

Note

包含动态内存分配。 Contains dynamic memory allocation.

Definition at line 403 of file message.cpp.

    : topic_map_([](const uint32_t& a, const uint32_t& b)
                 { return static_cast<int>(a) - static_cast<int>(b); }),
      queue_(1, buffer_length)
{
  /* Minimum size: header8 + crc32 + length24 + crc8 + data +  crc8 = 10 */
  ASSERT(buffer_length > PACK_BASE_SIZE);
  parse_buff_.size_ = buffer_length;
  parse_buff_.addr_ = new uint8_t[buffer_length];
}

Member Function Documentation

ParseData()

size_t Topic::Server::ParseData

(

ConstRawData

data

)

解析接收到的数据 Parses received data

Parameters

data	接收到的原始数据 Received raw data

Returns

接收到的话题数量 Received topic count

Definition at line 420 of file message.cpp.

{
  size_t count = 0;
 
  queue_.PushBatch(data.addr_, data.size_);
 
  while (true)
  { /* 1. Check prefix */
    if (status_ == Status::WAIT_START)
    {
      /* Check start frame */
      auto queue_size = queue_.Size();
      for (uint32_t i = 0; i < queue_size; i++)
      {
        uint8_t prefix = 0;
        queue_.Peek(&prefix);
        if (prefix == 0xa5)
        {
          status_ = Status::WAIT_TOPIC;
          break;
        }
        queue_.Pop();
      }
      /* Not found */
      if (status_ == Status::WAIT_START)
      {
        return count;
      }
    }
 
    /* 2. Get topic info */
    if (status_ == Status::WAIT_TOPIC)
    {
      /* Check size&crc */
      if (queue_.Size() >= sizeof(PackedDataHeader))
      {
        queue_.PopBatch(parse_buff_.addr_, sizeof(PackedDataHeader));
        if (CRC8::Verify(parse_buff_.addr_, sizeof(PackedDataHeader)))
        {
          auto header = reinterpret_cast<PackedDataHeader*>(parse_buff_.addr_);
          /* Find topic */
          auto node = topic_map_.Search<TopicHandle>(header->topic_name_crc32);
          if (node)
          {
            data_len_ = header->GetDataLen();
            current_topic_ = *node;
            if (data_len_ + PACK_BASE_SIZE >= queue_.length_)
            {
              status_ = Status::WAIT_START;
              continue;
            }
            status_ = Status::WAIT_DATA_CRC;
          }
          else
          {
            status_ = Status::WAIT_START;
            continue;
          }
        }
        else
        {
          status_ = Status::WAIT_START;
          continue;
        }
      }
      else
      {
        return count;
      }
    }
 
    /* 3. Get data */
    if (status_ == Status::WAIT_DATA_CRC)
    {
      /* Check size&crc */
      if (queue_.Size() >= data_len_ + sizeof(uint8_t))
      {
        uint8_t* data =
            reinterpret_cast<uint8_t*>(parse_buff_.addr_) + sizeof(PackedDataHeader);
        queue_.PopBatch(data, data_len_ + sizeof(uint8_t));
        if (CRC8::Verify(parse_buff_.addr_,
                         data_len_ + sizeof(PackedDataHeader) + sizeof(uint8_t)))
        {
          status_ = Status::WAIT_START;
          auto data =
              reinterpret_cast<uint8_t*>(parse_buff_.addr_) + sizeof(PackedDataHeader);
          if (data_len_ > current_topic_->data_.max_length)
          {
            data_len_ = current_topic_->data_.max_length;
          }
          Topic(current_topic_).Publish(data, data_len_);
 
          count++;
 
          continue;
        }
        else
        {
          status_ = Status::WAIT_START;
          continue;
        }
      }
      else
      {
        return count;
      }
    }
  }
  return count;
}

Register()

void Topic::Server::Register

(

TopicHandle

topic

)

注册一个主题 Registers a topic

Parameters

topic

需要注册的主题句柄 The topic handle to register

Note

包含动态内存分配。 Contains dynamic memory allocation.

Definition at line 414 of file message.cpp.

{
  auto node = new RBTree<uint32_t>::Node<TopicHandle>(topic);
  topic_map_.Insert(*node, topic->key);
}

Field Documentation

current_topic_

TopicHandle LibXR::Topic::Server::current_topic_ = nullptr

private

当前主题句柄 Current topic handle

Definition at line 811 of file message.hpp.

data_len_

uint32_t LibXR::Topic::Server::data_len_ = 0

private

当前数据长度 Current data length

Definition at line 807 of file message.hpp.

parse_buff_

RawData LibXR::Topic::Server::parse_buff_

private

解析数据缓冲区 Data buffer for parsing

Definition at line 810 of file message.hpp.

queue_

BaseQueue LibXR::Topic::Server::queue_

private

数据队列 Data queue

Definition at line 809 of file message.hpp.

status_

Status LibXR::Topic::Server::status_

private

Initial value:

=
        Status::WAIT_START

服务器的当前解析状态 Current parsing state of the server

Definition at line 805 of file message.hpp.

topic_map_

RBTree<uint32_t> LibXR::Topic::Server::topic_map_

private

主题映射表 Topic mapping table

Definition at line 808 of file message.hpp.

---

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

• src/middleware/message.hpp
• src/middleware/message.cpp