The resolver node. More...

#include <b0/resolver/resolver.h>

Inheritance diagram for b0::resolver::Resolver:

Public Member Functions
	Resolver ()
	Construct a resolver node.

virtual	~Resolver ()
	Resolver node destructor.

void	init () override
	Perform node initialization.

void	shutdown () override
	Shutdown this node (set a flag such that Node::shutdownRequested() returns true)

virtual std::string	getXPUBSocketAddress () const override
	Retrieve address of the proxy's XPUB socket.

virtual std::string	getXSUBSocketAddress () const override
	Retrieve address of the proxy's XSUB socket.

virtual void	announceNode () override
	Hijack announceNode step.

virtual void	notifyShutdown () override
	Hijack notifyShutdown step.

void	onNodeConnected (std::string name)

void	onNodeDisconnected (std::string name)

void	onNodeTopicPublishStart (std::string node_name, std::string topic_name)

void	onNodeTopicPublishStop (std::string node_name, std::string topic_name)

void	onNodeTopicSubscribeStart (std::string node_name, std::string topic_name)

void	onNodeTopicSubscribeStop (std::string node_name, std::string topic_name)

void	onNodeServiceOfferStart (std::string node_name, std::string service_name)

void	onNodeServiceOfferStop (std::string node_name, std::string service_name)

void	onNodeServiceUseStart (std::string node_name, std::string service_name)

void	onNodeServiceUseStop (std::string node_name, std::string service_name)

void	pubProxy (int xsub_proxy_port, int xpub_proxy_port)
	The XSUB/XPUB proxy (will be started in a separate thread)

bool	nodeNameExists (std::string name)
	Checks wether a node with this name exists in the connected nodes list.

virtual void	setResolverPort (int port)
	Set a specific port number to use (otherwise B0_RESOLVER_PORT will be used).

virtual std::string	address (std::string host, int port)
	Format a tcp:// address.

virtual std::string	address (int port)
	Format a tcp:// bind address.

virtual resolver::NodeEntry *	nodeByName (std::string node_name)
	Get the NodeEntry given the node name.

virtual resolver::ServiceEntry *	serviceByName (std::string service_name)
	Get the ServiceEntry given the service name.

virtual void	heartBeat (resolver::NodeEntry *node_entry)
	Update the NodeEntry timestamp.

virtual void	handle (const b0::resolver_msgs::Request &req, b0::resolver_msgs::Response &resp)
	Handle a service on the resolv service.

std::string	makeUniqueNodeName (std::string nodeName)
	Adjust nodeName such that it is unique in the network (amongst the list of connected nodes)

virtual void	handleAnnounceNode (const b0::resolver_msgs::AnnounceNodeRequest &rq, b0::resolver_msgs::AnnounceNodeResponse &rsp)
	Handle the AnnounceNode request.

virtual void	handleShutdownNode (const b0::resolver_msgs::ShutdownNodeRequest &rq, b0::resolver_msgs::ShutdownNodeResponse &rsp)
	Handle the ShutdownNode request.

virtual void	handleAnnounceService (const b0::resolver_msgs::AnnounceServiceRequest &rq, b0::resolver_msgs::AnnounceServiceResponse &rsp)
	Handle the AnnounceService request.

virtual void	handleResolveService (const b0::resolver_msgs::ResolveServiceRequest &rq, b0::resolver_msgs::ResolveServiceResponse &rsp)
	Handle the ResolveService request.

virtual void	handleHeartBeat (const b0::resolver_msgs::HeartBeatRequest &rq, b0::resolver_msgs::HeartBeatResponse &rsp)
	Handle the HeartBeat request.

void	handleNodeTopic (const b0::resolver_msgs::NodeTopicRequest &req, b0::resolver_msgs::NodeTopicResponse &resp)
	Handle the NodeTopic request.

void	handleNodeService (const b0::resolver_msgs::NodeServiceRequest &req, b0::resolver_msgs::NodeServiceResponse &resp)
	Handle the NodeService request.

void	handleGetGraph (const b0::resolver_msgs::GetGraphRequest &req, b0::resolver_msgs::GetGraphResponse &resp)
	Handle the GetGraph request.

void	getGraph (b0::resolver_msgs::Graph &graph)

void	onGraphChanged ()
	Called when the global graph changes. More...

void	heartBeatSweeper ()
	Code to run in the heartbeat sweeper thread.

void	setOnlineMonitoring (bool enabled)
	Enable or diable online node monitoring. More...

Public Member Functions inherited from b0::Node
	Node (std::string nodeName="")
	Create a node with a given name. More...

virtual	~Node ()
	Destruct this node. More...

void	setResolverAddress (const std::string &addr)
	Specify a different value for the resolver address. Otherwise B0_RESOLVER env var is used.

bool	shutdownRequested () const
	Return wether shutdown has requested (by Node::shutdown() method or by pressing CTRL-C)

virtual void	spinOnce ()
	Read all available messages from the various ZeroMQ sockets, and dispatch them to callbacks. More...

virtual void	spin (double spinRate=10.0)
	Run the spin loop (continuously call spinOnce(), at the specified rate, and call cleanup() at the end) More...

virtual void	cleanup ()
	Node cleanup: stop all threads, send a shutdown notification to resolver, and so on...

void	log (LogLevel level, std::string message) const override
	Log a message to the default logger of this node.

std::string	getName () const
	Get the name assigned by resolver to this node.

NodeState	getState () const
	Get the state of this node.

void *	getContext ()
	Get the ZeroMQ Context.

virtual std::string	hostname ()
	Return the public address (IP or hostname) to reach this node on the network.

virtual int	pid ()
	Return the process id of this node.

virtual std::string	threadID ()
	Return the thread identifier of this node.

virtual int	freeTCPPort ()
	Find and return an available TCP port.

virtual void	notifyTopic (std::string topic_name, bool reverse, bool active)
	Notify topic publishing/subscription start or end.

virtual void	notifyService (std::string service_name, bool reverse, bool active)
	Notify service advertising/use start or end.

virtual void	announceService (std::string service_name, std::string addr)
	Announce service address.

virtual void	resolveService (std::string service_name, std::string &addr)
	Resolve service address by name.

virtual void	setAnnounceTimeout (int timeout=-1)
	Set the timeout for the announce phase. See b0::resolver::Client::setAnnounceTimeout()

int64_t	hardwareTimeUSec () const
	Return this computer's clock time in microseconds.

int64_t	timeUSec ()
	Return the adjusted time in microseconds. See Time Synchronization for details.

Public Member Functions inherited from b0::logger::LogInterface
template<typename... Arguments>
void	log (LogLevel level, std::string const &fmt, Arguments &&... args) const
	Log a message using a format string.

Protected Attributes
ResolverServiceServer	resolv_server_
	The ServiceServer serving the requests for the resolv protocol.

std::string	xsub_proxy_addr_
	Public address of the XSUB socket of the ZeroMQ proxy.

std::string	xpub_proxy_addr_
	Public address of the XPUB socket of the ZeroMQ proxy.

boost::thread	pub_proxy_thread_
	The thread running the ZeroMQ XSUB/XPUB proxy.

boost::thread	heartbeat_sweeper_thread_
	The heartbeat sweeper thread.

std::map< std::string, resolver::NodeEntry * >	nodes_by_name_
	Map of nodes by name.

std::map< std::string, resolver::NodeEntry * >	nodes_by_key_
	Map of nodes by key.

std::map< std::string, resolver::ServiceEntry * >	services_by_name_
	Map of services by name.

std::set< std::pair< std::string, std::string > >	node_publishes_topic_
	Graph edges node –> topic.

std::set< std::pair< std::string, std::string > >	node_subscribes_topic_
	Graph edges node <– topic.

std::set< std::pair< std::string, std::string > >	node_offers_service_
	Graph edges node –> service.

std::set< std::pair< std::string, std::string > >	node_uses_service_
	Graph edges node <– service.

b0::protobuf::Publisher< b0::resolver_msgs::Graph >	graph_pub_
	Publisher of the Graph message.

bool	online_monitoring_
	If false, silent nodes (i.e. More...

Protected Attributes inherited from b0::Node
std::string	resolv_addr_
	Target address of resolver client.

logger::LogInterface *	p_logger_
	The logger of this node.

Additional Inherited Members
Public Types inherited from b0::logger::LogInterface
enum	LogLevel { trace = 0, debug = 10, info = 20, warn = 30, error = 40, fatal = 50 }

Protected Member Functions inherited from b0::Node
virtual void	startHeartbeatThread ()
	Start the heartbeat thread. More...

virtual std::string	freeTCPAddress ()
	Find and return an available tcp address, e.g. tcp://hostname:portnumber.

virtual void	heartbeatLoop ()
	The heartbeat message loop (run in its own thread)

Detailed Description

The resolver node.

Member Function Documentation

◆ getGraph()

void b0::resolver::Resolver::getGraph ( b0::resolver_msgs::Graph & graph )

Retrieve the current Graph

◆ onGraphChanged()

void b0::resolver::Resolver::onGraphChanged ( )

Called when the global graph changes.

Due to a node publishing or subscribing a topic, or offering or using a service.

◆ onNodeConnected()

void b0::resolver::Resolver::onNodeConnected ( std::string name )

Called when a new node has connected

◆ onNodeDisconnected()

void b0::resolver::Resolver::onNodeDisconnected ( std::string name )

Called when a node disconnects (detected with heartbeat timeout)

◆ onNodeServiceOfferStart()

void b0::resolver::Resolver::onNodeServiceOfferStart	(	std::string	node_name,
		std::string	service_name
	)

Called when a node starts offering a service

◆ onNodeServiceOfferStop()

void b0::resolver::Resolver::onNodeServiceOfferStop	(	std::string	node_name,
		std::string	service_name
	)

Called when a node stops offering a service

◆ onNodeServiceUseStart()

void b0::resolver::Resolver::onNodeServiceUseStart	(	std::string	node_name,
		std::string	service_name
	)

Called when a node starts using a service

◆ onNodeServiceUseStop()

void b0::resolver::Resolver::onNodeServiceUseStop	(	std::string	node_name,
		std::string	service_name
	)

Called when a node stops using a service

◆ onNodeTopicPublishStart()

void b0::resolver::Resolver::onNodeTopicPublishStart	(	std::string	node_name,
		std::string	topic_name
	)

Called when a node starts publishing to a topic

◆ onNodeTopicPublishStop()

void b0::resolver::Resolver::onNodeTopicPublishStop	(	std::string	node_name,
		std::string	topic_name
	)

Called when a node stops publishing to a topic

◆ onNodeTopicSubscribeStart()

void b0::resolver::Resolver::onNodeTopicSubscribeStart	(	std::string	node_name,
		std::string	topic_name
	)

Called when a node starts subscribing to a topic

◆ onNodeTopicSubscribeStop()

void b0::resolver::Resolver::onNodeTopicSubscribeStop	(	std::string	node_name,
		std::string	topic_name
	)

Called when a node stops subscribing to a topic

◆ setOnlineMonitoring()

void b0::resolver::Resolver::setOnlineMonitoring ( bool enabled )

Enable or diable online node monitoring.

When disabled, silent nodes (i.e. node not sending a heartbeat withing the required time window) will not be regarded as "dead" and will not be purged.

Member Data Documentation

◆ online_monitoring_

bool b0::resolver::Resolver::online_monitoring_

protected

If false, silent nodes (i.e.

not sending heartbeats) will not be considered as dead and will not be purged.

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

include/b0/resolver/resolver.h

Public Member Functions

Protected Attributes

Additional Inherited Members