node.h 文件参考

Base CRTP template for all VLink communication nodes. 更多...

#include <atomic>
#include <memory>
#include <mutex>
#include <optional>
#include <string>
#include "./extension/security.h"
#include "./impl/node_impl.h"
#include "./internal/node-inl.h"

node.h 的引用(Include)关系图:

此图展示该文件被哪些文件直接或间接地引用了:

浏览该文件的源代码.

类
class	vlink::Node< ImplT, SecT >
	Transport-agnostic CRTP base for all VLink communication nodes. 更多...

命名空间
namespace	vlink

详细描述

Base CRTP template for all VLink communication nodes.

Node<ImplT, SecT> is the common base class inherited by Publisher, Subscriber, Server, Client, Setter, and Getter. It owns the transport-specific implementation pointer (impl_), drives the node lifecycle, and provides the shared services described below.

Architecture Overview

+---------------------------------------------------+
|               User Application                    |
|  Publisher<T>  Subscriber<T>  Client<Req,Resp>    |
|  Server<Req,Resp>  Getter<T>  Setter<T>           |
+-------------------+-------------------------------+
                    |  inherits
+-------------------v-------------------------------+
|         Node<ImplT, SecT>                         |
|  lifecycle  loans  security  properties  profiler |
+-------------------+-------------------------------+
                    |  owns (unique_ptr)
+-------------------v-------------------------------+
|    ImplT  (PublisherImpl / SubscriberImpl / ...)  |
+-------------------+-------------------------------+
                    |  creates / calls
+-------------------v-------------------------------+
|         Transport Back-end                        |
|   intra   shm   shm2   dds   ddsc   zenoh  ...    |
+---------------------------------------------------+

Lifecycle

Step	Method	Notes
Construction	constructor	Parses URL, creates impl via Conf factory.
Initialisation	init()	Calls impl init + init_ext, sets loan flag.
Use	publish/listen/invoke	Normal operation.
Interrupt	interrupt()	Unblocks any blocking wait immediately.
De-initialisation	deinit()	Calls interrupt(), then impl deinit.
Destruction	destructor	Calls deinit() automatically.

Deferred Initialisation

Publisher<MyMsg> pub("dds://topic", InitType::kWithoutInit);
pub.set_ser_type("my.custom.Type");   // configure before init
pub.init();

Security

Enable per-message encryption by using SecurityType::kWithSecurity:

SecurityPublisher<MyMsg> pub("shm://topic");
pub.set_security_key("my-secret");

注解

intra:// and dds:// with CDR serialisation do NOT support security.

Zero-copy Loans

On shm:// (Iceoryx) and shm2:// (Iceoryx2) transports, a loaned buffer avoids extra copies:

if (pub.is_support_loan()) {
    Bytes buf = pub.loan(sizeof(MyStruct));
    // fill buf ...
    pub.publish(buf);   // loan is returned automatically
}

模板参数

ImplT	Concrete transport implementation (must inherit NodeImpl).
SecT	Security mode: kWithoutSecurity (default) or kWithSecurity.