vlink 命名空间参考

命名空间
namespace	Exception
	Container namespace for all VLink exception types.
namespace	format
	Lightweight header-only {} placeholder formatter.
namespace	Helpers
	Stateless string, number, hash and formatting helper functions.
namespace	NameDetector
	Compile-time type-name and enum-name detection utilities.
namespace	Traits
	Collection of compile-time type-trait helpers for VLink.
namespace	Utils
	Platform-agnostic system utility functions.
namespace	QosProfile
	Pre-built Qos constant instances covering common communication patterns.
namespace	Status
	DDS-compatible status type enumeration, base class, and type-safe cast utilities.
namespace	Serializer
namespace	zerocopy

类
class	Bytes
	Versatile 128-byte byte buffer with SBO, five ownership modes and compression helpers. 更多...
class	CachedTimestamp
	Cached, thread-safe formatted timestamp generator. 更多...
class	CpuProfiler
	Tracks CPU active time as a percentage of total elapsed wall-clock time. 更多...
class	CpuProfilerGuard
	RAII scope guard that brackets a CpuProfiler active interval. 更多...
class	DeadlineTimer
	Atomic absolute-deadline timer for lock-free timeout detection. 更多...
class	ElapsedTimer
	Atomic, high-resolution elapsed-time timer. 更多...
class	FastStream
	High-performance std::ostream with an embedded resizable string buffer. 更多...
class	GraphTask
	Node in a directed acyclic task graph supporting condition branching and parallel execution. 更多...
class	Logger
	Global singleton logger supporting three output styles and configurable log levels. 更多...
class	LoggerPluginInterface
	Pure-virtual interface for a custom logger backend loaded as a dynamic plugin. 更多...
class	MessageLoop
	Single-threaded serial task dispatcher with integrated timer support. 更多...
class	MpmcQueue
	Fixed-capacity, lock-free, cache-line-aligned MPMC ring buffer. 更多...
class	MultiLoop
	Multi-threaded variant of MessageLoop running tasks on a worker-thread pool. 更多...
class	ObjectPool
	Thread-safe object pool for type T with RAII acquisition and configurable reset policy. 更多...
class	Plugin
	Type-safe dynamic plugin loader with version verification and lifecycle management. 更多...
class	Process
	Cross-platform child process with async I/O and state notification. 更多...
struct	Schedule
	Non-constructible utility struct providing task scheduling primitives. 更多...
class	Semaphore
	In-process counting semaphore with optional acquire timeout. 更多...
class	SpinLock
	Adaptive, cache-line-aligned spin lock. 更多...
class	SpinLockGuard
	RAII guard that acquires a SpinLock on construction and releases it on destruction. 更多...
class	SysSemaphore
	Named cross-process counting semaphore. 更多...
class	SysSharemem
	Named cross-process shared memory backed by the OS IPC layer. 更多...
class	ThreadPool
	Fixed-size thread pool for parallel task execution. 更多...
class	Timer
	Event-loop-driven repeating or one-shot timer. 更多...
class	Uint128
	128-bit unsigned integer stored as two 64-bit halves with full operator support. 更多...
class	WheelTimer
	O(1) hash-wheel timer backed by a fixed-size circular slot array. 更多...
class	Client
	Type-safe client for the VLink method (RPC) communication model. 更多...
class	SecurityClient
	Convenience alias for Client with message security enabled. 更多...
class	BagReader
	Abstract VLink bag file player with time control, seeking, and integrity tools. 更多...
class	BagReaderPluginInterface
	Abstract plugin interface for custom bag reading, URL conversion, and message relay. 更多...
class	BagReaderProcessor
	Time-sorted message relay that buffers and orders messages before delivery. 更多...
class	BagWriter
	Abstract asynchronous message recorder backed by a MessageLoop event queue. 更多...
class	DatabaseReader
	Concrete SQLite-backed bag file player. 更多...
class	DatabaseWriter
	Concrete SQLite-backed bag file recorder with transactional write caching. 更多...
class	DiscoveryReporter
	Background MessageLoop that reports active nodes to the discovery subsystem. 更多...
class	DiscoveryViewer
	Background MessageLoop that aggregates live VLink endpoint discovery data. 更多...
class	DynamicData
	Runtime-typed container that serializes any VLink-compatible message type. 更多...
class	McapReader
	Concrete MCAP-format bag file player. 更多...
class	McapWriter
	Concrete MCAP-format bag file recorder. 更多...
struct	WebChannel
	Describes a frontend-advertised publish channel. 更多...
struct	VlinkPublish
	VLink publish destination resolved for an inbound frontend message. 更多...
class	MessageConvertPlugin
	Abstract interface for VLink/webviz message conversion plugins supporting multiple visualization backends. 更多...
struct	Qos
	Aggregate Quality of Service policy for a VLink communication endpoint. 更多...
class	RunablePluginInterface
	Abstract plugin interface that provides its own MessageLoop event thread. 更多...
class	SchemaPluginBase
	Default mixed-schema plugin base class for Protobuf and FlatBuffers. 更多...
class	SchemaPluginInterface
	Abstract interface for runtime schema lookup and dynamic object creation. 更多...
class	SchemaPluginManager
	Singleton manager that owns and provides access to the SchemaPluginInterface. 更多...
class	Security
	Thread-safe AES-128-CBC encryption/decryption utility with custom callback support. 更多...
class	TerminalStream
	Singleton buffered stdout writer with thread-safety and TTY detection. 更多...
class	UrlRemap
	Loads a JSON remap file and translates VLink URL strings at runtime. 更多...
class	ProxyAPI
	Client-side proxy monitoring and control API backed by a MessageLoop. 更多...
class	ProxyServer
	VLink proxy server daemon backed by a MessageLoop. 更多...
class	Getter
	Type-safe field reader for the VLink field communication model. 更多...
class	SecurityGetter
	Convenience alias for Getter with message security enabled. 更多...
class	AbstractObject
	Per-topic registry of NodeImpl instances and their associated callbacks. 更多...
class	AbstractFactory
	Topic-keyed factory that creates and caches AbstractObject instances. 更多...
class	AckManager
	Thread-safe request/acknowledgement synchronisation manager. 更多...
class	CalculateSample
	Thread-safe, per-GUID cumulative sample loss counter. 更多...
class	ClientImpl
	Transport-agnostic base for client (RPC caller) node implementations. 更多...
struct	Conf
	Abstract base class for VLink transport configuration objects. 更多...
struct	ConfPluginInterface
	Pure-virtual plugin interface for external transport Conf factories. 更多...
class	GetterImpl
	Transport-agnostic base for getter (field reader) node implementations. 更多...
struct	IntraDataType
	Polymorphic base for all typed in-process message containers. 更多...
class	AbstractNode
	Minimal interface for accessing the underlying native transport handle. 更多...
class	NodeImpl
	Abstract base for all VLink transport backend node implementations. 更多...
class	PublisherImpl
	Transport-agnostic base for publisher node implementations. 更多...
class	ServerImpl
	Transport-agnostic base for server (RPC responder) node implementations. 更多...
class	SetterImpl
	Transport-agnostic base for setter (field writer) node implementations. 更多...
struct	SslOptions
	Aggregate of SSL/TLS settings for transport-layer encryption. 更多...
class	SubscriberImpl
	Transport-agnostic base for subscriber node implementations. 更多...
struct	Timeout
	Compile-time timeout constants used by blocking wait methods. 更多...
struct	SampleLostInfo
	Cumulative sample delivery statistics for a subscriber or getter. 更多...
struct	SchemaData
	Carries one serialized schema blob for runtime registration or embedding. 更多...
struct	Version
	Semantic version number with comparison and string conversion utilities. 更多...
struct	Protocol
	Parsed URL components used to select and configure a transport Conf. 更多...
struct	Url
	URL-based Conf dispatcher that routes to the correct transport backend. 更多...
class	UrlParser
	Immutable RFC-3986 URL parser. 更多...
class	Node
	Transport-agnostic CRTP base for all VLink communication nodes. 更多...
class	Publisher
	Type-safe publisher for the VLink event communication model. 更多...
class	SecurityPublisher
	Convenience alias for Publisher with message security enabled. 更多...
class	Server
	Type-safe server for the VLink method (RPC) communication model. 更多...
class	SecurityServer
	Convenience alias for Server with message security enabled. 更多...
class	Setter
	Type-safe field writer for the VLink field communication model. 更多...
class	SecuritySetter
	Convenience alias for Setter with message security enabled. 更多...
class	Subscriber
	Type-safe subscriber for the VLink event communication model. 更多...
class	SecuritySubscriber
	Convenience alias for Subscriber with message security enabled. 更多...

类型定义
using	ConditionVariable = std::condition_variable
using	ConditionVariableAny = std::condition_variable_any
using	condition_variable = ConditionVariable
using	condition_variable_any = ConditionVariableAny
using	GraphTaskPtr = std::shared_ptr<GraphTask>
using	uint128_t = Uint128
using	IntraData = std::shared_ptr<IntraDataType>
	Shared-ownership handle for an IntraDataType payload.

枚举
enum class	ConvertTarget : uint8_t { kFoxglove = 0 , kRerun = 1 }
	Identifies the visualization backend that the plugin is converting for. 更多...
enum	ImplType : uint8_t {   kUnknownImplType = 0 , kServer = 16 , kClient = 32 , kPublisher = 1 ,   kSubscriber = 2 , kSetter = 4 , kGetter = 8 }
	Bitmask identifying the role of a VLink node implementation. 更多...
enum class	TransportType : uint8_t {   kUnknown = 0 , kIntra = 1 , kShm = 2 , kShm2 = 3 ,   kZenoh = 4 , kDds = 5 , kDdsc = 6 , kDdsr = 7 ,   kDdst = 8 , kSomeip = 9 , kMqtt = 10 , kFdbus = 11 ,   kQnx = 12 }
	Enumeration of all supported transport backends. 更多...
enum class	InitType : uint8_t { kWithoutInit = 0 , kWithInit = 1 }
	Controls whether a node is initialised immediately at construction. 更多...
enum class	SecurityType : uint8_t { kWithoutSecurity = 0 , kWithSecurity = 1 }
	Controls whether a node uses encrypted/authenticated transport. 更多...
enum class	ActionType : uint8_t {   kUnknownAction = 0 , kClientRequest = 1 , kClientResponse = 2 , kServerRequest = 3 ,   kServerResponse = 4 , kPublish = 5 , kSubscribe = 6 , kSet = 7 ,   kGet = 8 }
	Identifies the type of message action for recording purposes. 更多...
enum class	SchemaType : uint8_t {   kUnknown = 0 , kRaw = 1 , kZeroCopy = 2 , kProtobuf = 3 ,   kFlatbuffers = 4 }
	Coarse runtime schema family used by discovery, bag metadata, and proxy routing. 更多...

类型定义说明

condition_variable

using vlink::condition_variable = ConditionVariable

condition_variable_any

using vlink::condition_variable_any = ConditionVariableAny

ConditionVariable

using vlink::ConditionVariable = std::condition_variable

ConditionVariableAny

using vlink::ConditionVariableAny = std::condition_variable_any

GraphTaskPtr

using vlink::GraphTaskPtr = std::shared_ptr<GraphTask>

IntraData

using vlink::IntraData = std::shared_ptr<IntraDataType>

Shared-ownership handle for an IntraDataType payload.

Passed between the publisher and subscriber in the same process by reference counting, avoiding any serialisation or data copy. Downcast to the concrete declareNameType via std::static_pointer_cast<> or use the typed declare_name wrapper generated by VLINK_INTRA_DATA_DECLARE.

uint128_t

using vlink::uint128_t = Uint128

枚举类型说明

ActionType

enum class vlink::ActionType : uint8_t

strong

Identifies the type of message action for recording purposes.

Used by NodeImpl::try_record() to tag each captured message with its originating operation so that the bag writer can reconstruct message flow during playback.

枚举值
kUnknownAction	Action type not classified.
kClientRequest	RPC request sent by a Client node.
kClientResponse	RPC response received by a Client node.
kServerRequest	RPC request received by a Server node.
kServerResponse	RPC response sent by a Server node.
kPublish	Message published by a Publisher node.
kSubscribe	Message received by a Subscriber node.
kSet	Field value written by a Setter node.
kGet	Field value read by a Getter node.

ConvertTarget

enum class vlink::ConvertTarget : uint8_t

strong

Identifies the visualization backend that the plugin is converting for.

Passed to can_convert(), get_schema_info(), and convert() so that a single plugin implementation can produce the appropriate output format for each backend.

枚举值
kFoxglove	Foxglove Studio (WebSocket + FlatBuffers/Protobuf)
kRerun	Rerun Viewer (gRPC + Arrow IPC, plugin outputs JSON)

ImplType

enum vlink::ImplType : uint8_t

Bitmask identifying the role of a VLink node implementation.

Values can be combined with bitwise-OR to represent compound roles, e.g. (kPublisher | kSubscriber) for a topic that has both publisher and subscriber endpoints. The VLINK_ALLOW_IMPL_TYPE macro uses these combined flags to restrict which node types a transport Conf may serve.

枚举值
kUnknownImplType	Type not yet determined.
kServer	Method server (RPC responder).
kClient	Method client (RPC caller).
kPublisher	Event publisher (N-to-N broadcast).
kSubscriber	Event subscriber (receive broadcast).
kSetter	Field setter (update latest value).
kGetter	Field getter (retrieve latest value).

InitType

enum class vlink::InitType : uint8_t

strong

Controls whether a node is initialised immediately at construction.

Pass kWithoutInit to defer initialisation until init() is called explicitly, allowing properties (e.g. DDS QoS, IP binding) to be set before the underlying transport is started.

枚举值
kWithoutInit	Defer initialisation; call init() manually.
kWithInit	Initialise immediately in the constructor.

SchemaType

enum class vlink::SchemaType : uint8_t

strong

Coarse runtime schema family used by discovery, bag metadata, and proxy routing.

ser_type stores the concrete wire/type identifier (for example a protobuf full name or a FlatBuffers table name), while SchemaType captures only the high-level runtime decoding category so tools can choose the correct decode stack without maintaining a second parallel enum.

枚举值
kUnknown	Decode category is not known.
kRaw	Treat the payload as opaque/raw bytes.
kZeroCopy	Decode using VLink zero-copy message structs.
kProtobuf	Decode using the Protocol Buffers stack.
kFlatbuffers	Decode using the FlatBuffers stack.

SecurityType

enum class vlink::SecurityType : uint8_t

strong

Controls whether a node uses encrypted/authenticated transport.

Selects the security variant at compile time via the template parameter of Publisher<T, SecurityType>, Subscriber<T, SecurityType>, etc. kWithSecurity enables AES-128-CBC encryption on the serialised message payload. Supported on all transports except intra:// and dds:// with CDR serialisation, which trigger a fatal log if security is enabled.

枚举值
kWithoutSecurity	Plain (unauthenticated) transport.
kWithSecurity	Encrypted and authenticated transport.

TransportType

enum class vlink::TransportType : uint8_t

strong

Enumeration of all supported transport backends.

Determined at URL construction time from the transport prefix string. Concrete transport Conf classes use this enum to identify themselves.

枚举值
kUnknown	Unknown or unsupported transport.
kIntra	In-process queue (intra://).
kShm	Iceoryx shared memory (shm://).
kShm2	Iceoryx2 shared memory (shm2://).
kZenoh	Zenoh publish/subscribe (zenoh://).
kDds	Fast-DDS RTPS (dds://).
kDdsc	CycloneDDS (ddsc://).
kDdsr	RTI DDS (ddsr://).
kDdst	TravoDDS (ddst://).
kSomeip	SOME/IP via vsomeip (someip://).
kMqtt	MQTT (mqtt://).
kFdbus	FDBus IPC (fdbus://).
kQnx	QNX IPC (qnx://; QNX only).