Description

Derived communicator used to establish and facilitate communication between nodes.

Uses the Data Distribution Service (DDS) standard

#include <SynDDSCommunicator.h>

Inheritance diagram for chrono::synchrono::SynDDSCommunicator:

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Collaboration diagram for chrono::synchrono::SynDDSCommunicator:

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Public Member Functions
	SynDDSCommunicator (int node_id, const std::string &prefix=default_prefix)

	SynDDSCommunicator (const std::string &name, const std::string &prefix=default_prefix)
	Default constructor. More...

	SynDDSCommunicator (eprosima::fastdds::dds::DomainParticipantQos &qos, const std::string &prefix=default_prefix)
	Set the QoS directly from the constructor. More...

virtual	~SynDDSCommunicator ()
	Destructor. More...

virtual void	Initialize () override
	Initialization function typically responsible for establishing a connection. More...

virtual void	Synchronize () override
	This function is responsible for continuous synchronization steps This function, depending on it's implementation, could be blocking or non-blocking. More...

virtual void	Barrier () override
	This function is responsible for blocking until an action is received or done. More...

void	Barrier (unsigned int num_participants)
	This function is responsible for blocking until the passed number of participants has been matched. More...

std::vector< std::string >	GetMatchedParticipantNames ()
	Get the matched participant's names A matched participant is defined as a DDSParticipant Entity that has matched with the participant created on this node. More...

std::shared_ptr< SynDDSTopic >	CreateTopic (const std::string &topic_name, eprosima::fastdds::dds::TopicDataType *data_type, const std::string &topic_prefix)
	Create a topic The topic will be registered with the participant, if desired. More...

std::shared_ptr< SynDDSTopic >	CreateTopic (const std::string &topic_name, eprosima::fastdds::dds::TopicDataType *data_type)
	Create a topic using the communicator's prefix The topic will be registered with the participant, if desired. More...

std::shared_ptr< SynDDSSubscriber >	CreateSubscriber (std::shared_ptr< SynDDSTopic > topic, std::function< void(void )> callback, void message, bool is_synchronous=true, bool is_managed=false, eprosima::fastdds::dds::DataReaderQos *read_qos=nullptr)
	Create a subscription to the specified topic Will call the callback when a subscription is received Takes a SynDDSTopic object (see CreateTopic) More...

std::shared_ptr< SynDDSSubscriber >	CreateSubscriber (const std::string &topic_name, eprosima::fastdds::dds::TopicDataType data_type, std::function< void(void )> callback, void *message, bool is_synchronous=true, bool is_managed=false)
	Create a subscription to the specified topic Will call the callback when a subscription is received Takes a string and TopicDataType and creates a topic (see CreateTopic) More...

std::shared_ptr< SynDDSPublisher >	CreatePublisher (std::shared_ptr< SynDDSTopic > topic, bool is_managed=false, eprosima::fastdds::dds::DataWriterQos *write_qos=nullptr)
	Create a Publisher Returns a publisher handle to be used to publish information Takes a SynDDSTopic object (see CreateTopic) More...

std::shared_ptr< SynDDSPublisher >	CreatePublisher (const std::string &topic_name, eprosima::fastdds::dds::TopicDataType *data_type, bool is_managed=false)
	Create a Publisher Returns a publisher handle to be used to publish information Takes a string and TopicDataType and creates a topic (see CreateTopic) More...

Public Member Functions inherited from chrono::synchrono::SynCommunicator
	SynCommunicator ()
	Default constructor. More...

virtual	~SynCommunicator ()
	Destructor. More...

void	Reset ()
	Reset the communicator Will clear out message buffers. More...

void	AddOutgoingMessages (SynMessageList &messages)
	Add the messages to the outgoing message buffer. More...

void	AddQuitMessage ()
	Adds a quit message to the queue telling other nodes to end the simulation.

void	AddIncomingMessages (SynMessageList &messages)
	Add the messages to the incoming message buffer. More...

void	ProcessBuffer (std::vector< uint8_t > &data)
	Process a data buffer by passing it to the underlying FlatBuffersManager. More...

virtual SynMessageList &	GetMessages ()
	Get the messages received by the communicator. More...

Public Attributes
std::string	m_prefix

Additional Inherited Members
Protected Attributes inherited from chrono::synchrono::SynCommunicator
bool	m_initialized
	whether the communicator has been initialized

SynMessageList	m_incoming_messages
	Incoming messages.

SynFlatBuffersManager	m_flatbuffers_manager
	flatbuffer manager for this rank

Constructor & Destructor Documentation

◆ SynDDSCommunicator() [1/2]

chrono::synchrono::SynDDSCommunicator::SynDDSCommunicator	(	const std::string &	name,
		const std::string &	prefix = `default_prefix`
	)

Default constructor.

Parameters

name	The name to set to the qos
prefix	prefix to use for the participant

◆ SynDDSCommunicator() [2/2]

chrono::synchrono::SynDDSCommunicator::SynDDSCommunicator	(	eprosima::fastdds::dds::DomainParticipantQos &	qos,
		const std::string &	prefix = `default_prefix`
	)

Set the QoS directly from the constructor.

Parameters

qos	the Quality of Service to set for the participant
prefix	prefix to use for the participant

◆ ~SynDDSCommunicator()

chrono::synchrono::SynDDSCommunicator::~SynDDSCommunicator ( )

virtual

Destructor.

Member Function Documentation

◆ Barrier() [1/2]

void chrono::synchrono::SynDDSCommunicator::Barrier ( )

overridevirtual

This function is responsible for blocking until an action is received or done.

For example, a process may call Barrier to wait until another process has established certain classes and initialized certain quantities. This functionality should be implemented in this function.

Implements chrono::synchrono::SynCommunicator.

◆ Barrier() [2/2]

void chrono::synchrono::SynDDSCommunicator::Barrier ( unsigned int num_participants )

This function is responsible for blocking until the passed number of participants has been matched.

Parameters

num_participants number of participants to block until matched

◆ CreatePublisher() [1/2]

std::shared_ptr< SynDDSPublisher > chrono::synchrono::SynDDSCommunicator::CreatePublisher	(	const std::string &	topic_name,
		eprosima::fastdds::dds::TopicDataType *	data_type,
		bool	is_managed = `false`
	)

Create a Publisher Returns a publisher handle to be used to publish information Takes a string and TopicDataType and creates a topic (see CreateTopic)

Parameters

topic_name	The name associated with the topic
data_type	The topic data type
is_managed	Whether the SynDDSCommunicator is responsible for using the sending/receiving function calls

◆ CreatePublisher() [2/2]

std::shared_ptr< SynDDSPublisher > chrono::synchrono::SynDDSCommunicator::CreatePublisher	(	std::shared_ptr< SynDDSTopic >	topic,
		bool	is_managed = `false`,
		eprosima::fastdds::dds::DataWriterQos *	write_qos = `nullptr`
	)

Create a Publisher Returns a publisher handle to be used to publish information Takes a SynDDSTopic object (see CreateTopic)

Parameters

topic	Topic object describing the DDS topic
is_managed	Whether the SynDDSCommunicator is responsible for using the sending/receiving function calls
write_qos	Data Writer Quality of Service. Falls back to default if nullptr

◆ CreateSubscriber() [1/2]

std::shared_ptr< SynDDSSubscriber > chrono::synchrono::SynDDSCommunicator::CreateSubscriber	(	const std::string &	topic_name,
		eprosima::fastdds::dds::TopicDataType *	data_type,
		std::function< void(void *)>	callback,
		void *	message,
		bool	is_synchronous = `true`,
		bool	is_managed = `false`
	)

Create a subscription to the specified topic Will call the callback when a subscription is received Takes a string and TopicDataType and creates a topic (see CreateTopic)

Parameters

topic_name	The name associated with the topic
data_type	The topic data type
callback	The callback called when data is received
message	The message that is used to parse the returned message
is_synchronous	Whether the subscriber synchronously receives data (default: true)
is_managed	Whether the SynDDSCommunicator is responsible for using the sending/receiving function calls

◆ CreateSubscriber() [2/2]

std::shared_ptr<SynDDSSubscriber> chrono::synchrono::SynDDSCommunicator::CreateSubscriber	(	std::shared_ptr< SynDDSTopic >	topic,
		std::function< void(void *)>	callback,
		void *	message,
		bool	is_synchronous = `true`,
		bool	is_managed = `false`,
		eprosima::fastdds::dds::DataReaderQos *	read_qos = `nullptr`
	)

Create a subscription to the specified topic Will call the callback when a subscription is received Takes a SynDDSTopic object (see CreateTopic)

Parameters

topic	Topic object describing the DDS topic
callback	The callback called when data is received
message	The message that is used to parse the returned message
is_synchronous	Whether the subscriber synchronously receives data (default: true)
is_managed	Whether the SynDDSCommunicator is responsible for using the sending/receiving function calls
read_qos	Data Reader Quality of Service. Falls back to default if nullptr

◆ CreateTopic() [1/2]

std::shared_ptr< SynDDSTopic > chrono::synchrono::SynDDSCommunicator::CreateTopic	(	const std::string &	topic_name,
		eprosima::fastdds::dds::TopicDataType *	data_type
	)

Create a topic using the communicator's prefix The topic will be registered with the participant, if desired.

Parameters

topic_name	The name associated with the topic
data_type	The topic data type

◆ CreateTopic() [2/2]

std::shared_ptr< SynDDSTopic > chrono::synchrono::SynDDSCommunicator::CreateTopic	(	const std::string &	topic_name,
		eprosima::fastdds::dds::TopicDataType *	data_type,
		const std::string &	topic_prefix
	)

Create a topic The topic will be registered with the participant, if desired.

The SynDDSCommunicator maintains a list of topics instantiated in the simulation. A topic can only by constructed through this function or indirectly through the CreateSubscriber/CreatePublisher functions

Parameters

topic_name	The name associated with the topic
data_type	The topic data type
topic_prefix	The prefix to use

◆ GetMatchedParticipantNames()

std::vector< std::string > chrono::synchrono::SynDDSCommunicator::GetMatchedParticipantNames ( )

Get the matched participant's names A matched participant is defined as a DDSParticipant Entity that has matched with the participant created on this node.

◆ Initialize()

void chrono::synchrono::SynDDSCommunicator::Initialize ( )

overridevirtual

Initialization function typically responsible for establishing a connection.

Although not mandatory, this function should handle initial peer-to-peer communication. This could mean a simple handshake or an actual exchange of information used during the simulation.

Reimplemented from chrono::synchrono::SynCommunicator.

◆ Synchronize()

void chrono::synchrono::SynDDSCommunicator::Synchronize ( )

overridevirtual

This function is responsible for continuous synchronization steps This function, depending on it's implementation, could be blocking or non-blocking.

As in, depending on the derived class implementation, this function could use synchronous or asynchronous function calls to implement a communication interface.

Synchronize will serialize the underlying message buffer if it hasn't yet

Implements chrono::synchrono::SynCommunicator.

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

/builds/uwsbel/chrono/src/chrono_synchrono/communication/dds/SynDDSCommunicator.h
/builds/uwsbel/chrono/src/chrono_synchrono/communication/dds/SynDDSCommunicator.cpp

Description

Public Member Functions

Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ SynDDSCommunicator() [1/2]

◆ SynDDSCommunicator() [2/2]

◆ ~SynDDSCommunicator()

Member Function Documentation

◆ Barrier() [1/2]

◆ Barrier() [2/2]

◆ CreatePublisher() [1/2]

◆ CreatePublisher() [2/2]

◆ CreateSubscriber() [1/2]

◆ CreateSubscriber() [2/2]

◆ CreateTopic() [1/2]

◆ CreateTopic() [2/2]

◆ GetMatchedParticipantNames()

◆ Initialize()

◆ Synchronize()