| | |
| | | #include "dmod_socket.h" |
| | | |
| | | |
| | | void DModSocket::foreach_subscripters(std::function<void(SHMKeySet *, SHMKeySet::iterator)> cb) { |
| | | void DModSocket::foreach_subscripters(std::function<void(SHMKeySet *, int)> cb) { |
| | | SHMTopicSubMap *topic_sub_map = mem_pool_attach<SHMTopicSubMap>(BUS_MAP_KEY); |
| | | SHMKeySet *subscripter_set; |
| | | SHMKeySet::iterator set_iter; |
| | |
| | | subscripter_set = map_iter->second; |
| | | if(subscripter_set != NULL) { |
| | | for(set_iter = subscripter_set->begin(); set_iter != subscripter_set->end(); set_iter++) { |
| | | cb(subscripter_set, set_iter); |
| | | cb(subscripter_set, *set_iter); |
| | | } |
| | | } |
| | | } |
| | |
| | | } |
| | | |
| | | size_t DModSocket::remove_subscripters(int keys[], size_t length) { |
| | | size_t count; |
| | | foreach_subscripters([keys, length, &count](SHMKeySet *subscripter_set, SHMKeySet::iterator set_iter){ |
| | | if (include_in_keys(*set_iter, keys, length)) { |
| | | subscripter_set->erase(set_iter); |
| | | count++; |
| | | size_t count = 0; |
| | | int key; |
| | | for(int i = 0; i < length; i++) { |
| | | key = keys[i]; |
| | | SHMTopicSubMap *topic_sub_map = mem_pool_attach<SHMTopicSubMap>(BUS_MAP_KEY); |
| | | SHMKeySet *subscripter_set; |
| | | SHMKeySet::iterator set_iter; |
| | | SHMTopicSubMap::iterator map_iter; |
| | | |
| | | if(topic_sub_map != NULL) { |
| | | for (map_iter = topic_sub_map->begin(); map_iter != topic_sub_map->end(); map_iter++) { |
| | | subscripter_set = map_iter->second; |
| | | if(subscripter_set != NULL && (set_iter = subscripter_set->find(key) ) != subscripter_set->end()) { |
| | | subscripter_set->erase(set_iter); |
| | | // printf("remove_subscripter %s, %d\n", map_iter->first, key); |
| | | count++; |
| | | } |
| | | } |
| | | } |
| | | }); |
| | | } |
| | | return count; |
| | | // foreach_subscripters([keys, length, &count](SHMKeySet *subscripter_set, int key){ |
| | | // printf("foreach===========\n"); |
| | | // if (include_in_keys(key, keys, length)) { |
| | | |
| | | // //subscripter_set->erase(key); |
| | | // printf("remove_subscripter %d\n", key); |
| | | // count++; |
| | | // } |
| | | // }); |
| | | // printf("remove_subscripters count = %d\n", count); |
| | | |
| | | } |
| | | |
| | | |
| | |
| | | * @size 主题长度 |
| | | * @port 总线端口 |
| | | */ |
| | | int DModSocket::sub( void *topic, int size, int port){ |
| | | int DModSocket::sub(char *topic, int size, int port){ |
| | | return _sub_( topic, size, port, NULL, 0); |
| | | } |
| | | // 超时返回。 @sec 秒 , @nsec 纳秒 |
| | | int DModSocket::sub_timeout(void *topic, int size, int port, struct timespec *timeout){ |
| | | int DModSocket::sub_timeout(char *topic, int size, int port, struct timespec *timeout){ |
| | | return _sub_(topic, size, port, timeout, 0); |
| | | } |
| | | int DModSocket::sub_nowait(void *topic, int size, int port) { |
| | | int DModSocket::sub_nowait(char *topic, int size, int port) { |
| | | return _sub_(topic, size, port, NULL, (int)SHM_MSG_NOWAIT); |
| | | } |
| | | |
| | |
| | | * @size 主题长度 |
| | | * @port 总线端口 |
| | | */ |
| | | int DModSocket::desub( void *topic, int size, int port){ |
| | | int DModSocket::desub(char *topic, int size, int port){ |
| | | return _desub_( topic, size, port, NULL, 0); |
| | | } |
| | | // 超时返回。 @sec 秒 , @nsec 纳秒 |
| | | int DModSocket::desub_timeout(void *topic, int size, int port, struct timespec *timeout){ |
| | | int DModSocket::desub_timeout(char *topic, int size, int port, struct timespec *timeout){ |
| | | return _desub_(topic, size, port, timeout, 0); |
| | | } |
| | | int DModSocket::desub_nowait(void *topic, int size, int port) { |
| | | int DModSocket::desub_nowait(char *topic, int size, int port) { |
| | | return _desub_(topic, size, port, NULL, (int)SHM_MSG_NOWAIT); |
| | | } |
| | | |
| | |
| | | * @content 主题内容 |
| | | * @port 总线端口 |
| | | */ |
| | | int DModSocket::pub(void *topic, int topic_size, void *content, int content_size, int port){ |
| | | int DModSocket::pub(char *topic, int topic_size, void *content, int content_size, int port){ |
| | | return _pub_(topic, topic_size, content, content_size, port, NULL, 0); |
| | | } |
| | | // 超时返回。 @sec 秒 , @nsec 纳秒 |
| | | int DModSocket::pub_timeout(void *topic, int topic_size, void *content, int content_size, int port, struct timespec * timeout){ |
| | | int DModSocket::pub_timeout(char *topic, int topic_size, void *content, int content_size, int port, struct timespec * timeout){ |
| | | return _pub_( topic, topic_size, content, content_size, port, timeout, 0); |
| | | } |
| | | int DModSocket::pub_nowait(void *topic, int topic_size, void *content, int content_size, int port){ |
| | | int DModSocket::pub_nowait(char *topic, int topic_size, void *content, int content_size, int port){ |
| | | return _pub_(topic, topic_size, content, content_size, port, NULL, (int)SHM_MSG_NOWAIT); |
| | | } |
| | | |
| | |
| | | /** |
| | | * @port 总线端口 |
| | | */ |
| | | int DModSocket::_sub_( void *topic, int size, int port, |
| | | int DModSocket::_sub_(char *topic, int size, int port, |
| | | struct timespec *timeout, int flags) { |
| | | char buf[8192]; |
| | | int rv; |
| | | snprintf(buf, 8192, "%ssub%s%s%s%s", ACTION_LIDENTIFIER, ACTION_RIDENTIFIER, TOPIC_LIDENTIFIER, (char *)topic, TOPIC_RIDENTIFIER); |
| | | snprintf(buf, 8192, "%ssub%s%s%s%s", ACTION_LIDENTIFIER, ACTION_RIDENTIFIER, TOPIC_LIDENTIFIER, topic, TOPIC_RIDENTIFIER); |
| | | rv = shm_sendto(shm_socket, buf, strlen(buf) + 1, port, timeout, flags); |
| | | if(rv == 0) { |
| | | bus_set->insert(port); |
| | |
| | | /** |
| | | * @port 总线端口 |
| | | */ |
| | | int DModSocket::_desub_( void *topic, int size, int port, |
| | | int DModSocket::_desub_(char *topic, int size, int port, |
| | | struct timespec *timeout, int flags) { |
| | | char buf[8192]; |
| | | snprintf(buf, 8192, "%sdesub%s%s%s%s", ACTION_LIDENTIFIER, ACTION_RIDENTIFIER, TOPIC_LIDENTIFIER, (char *)topic, TOPIC_RIDENTIFIER); |
| | | if(topic == NULL) { |
| | | topic = ""; |
| | | } |
| | | snprintf(buf, 8192, "%sdesub%s%s%s%s", ACTION_LIDENTIFIER, ACTION_RIDENTIFIER, TOPIC_LIDENTIFIER, topic, TOPIC_RIDENTIFIER); |
| | | return shm_sendto(shm_socket, buf, strlen(buf) + 1, port, timeout, flags); |
| | | } |
| | | |
| | | /** |
| | | * @port 总线端口 |
| | | */ |
| | | int DModSocket::_pub_( void *topic, int topic_size, void *content, int content_size, int port, |
| | | int DModSocket::_pub_(char *topic, int topic_size, void *content, int content_size, int port, |
| | | struct timespec *timeout, int flags) { |
| | | int head_len; |
| | | char buf[8192+content_size]; |
| | | snprintf(buf, 8192, "%spub%s%s%s%s", ACTION_LIDENTIFIER, ACTION_RIDENTIFIER, TOPIC_LIDENTIFIER, (char *)topic, TOPIC_RIDENTIFIER); |
| | | snprintf(buf, 8192, "%spub%s%s%s%s", ACTION_LIDENTIFIER, ACTION_RIDENTIFIER, TOPIC_LIDENTIFIER, topic, TOPIC_RIDENTIFIER); |
| | | head_len = strlen(buf); |
| | | memcpy(buf+head_len, content, content_size); |
| | | return shm_sendto(shm_socket, buf, head_len+content_size, port, timeout, flags); |
| | |
| | | |
| | | SHMTopicSubMap::iterator map_iter; |
| | | SHMKeySet::iterator set_iter; |
| | | |
| | | printf("_proxy_sub topic = %s\n", topic); |
| | | if( (map_iter = topic_sub_map->find(topic) ) != topic_sub_map->end()) { |
| | | subscripter_set = map_iter->second; |
| | | } else { |
| | |
| | | |
| | | if( (map_iter = topic_sub_map->find(topic) ) != topic_sub_map->end()) { |
| | | subscripter_set = map_iter->second; |
| | | |
| | | subscripter_set->erase(port); |
| | | printf("============ desub %d\n", port); |
| | | } |
| | | } |
| | | |
| | |
| | | for (auto map_iter = topic_sub_map->begin(); map_iter != topic_sub_map->end(); map_iter++) { |
| | | subscripter_set = map_iter->second; |
| | | subscripter_set->erase(port); |
| | | printf("============ desub %d\n", port); |
| | | } |
| | | } |
| | | |
| | |
| | | const char *topic_delim = ","; |
| | | // printf("run_pubsub_proxy server receive before\n"); |
| | | while(shm_recvfrom(shm_socket, (void **)&buf, &size, &port) == 0) { |
| | | // printf("run_pubsub_proxy server recv after: %s \n", buf); |
| | | //printf("run_pubsub_proxy server recv after: %s \n", buf); |
| | | if(parse_pubsub_topic(buf, size, &action, &topics, &head_len)) { |
| | | // printf("run_pubsub_proxy %s %s \n", action, topics); |
| | | if(strcmp(action, "sub") == 0) { |
| | | // 订阅支持多主题订阅 |
| | | topic = strtok(topics, topic_delim); |
| | | //printf("run_pubsub_proxy topic = %s\n", topic); |
| | | while(topic) { |
| | | _proxy_sub(trim(topic, 0), port); |
| | | topic = strtok(NULL, topic_delim); |
| | | } |
| | | |
| | | } else if(strcmp(action, "desub") == 0) { |
| | | printf("desub topic=%s,%s,%d\n", topics, trim(topics, 0), strcmp(trim(topics, 0), "")); |
| | | if(strcmp(trim(topics, 0), "") == 0) { |
| | | // 取消所有订阅 |
| | | printf("取消所有订阅"); |
| | | printf("====取消所有订阅\n"); |
| | | _proxy_desub_all(port); |
| | | } else { |
| | | |
| | |
| | | |
| | | char *topic = (char *)malloc(topic_len+1); |
| | | strncpy(topic, topic_start_ptr, topic_len); |
| | | *topic = '\0'; |
| | | *(topic+topic_len) = '\0'; |
| | | *_topic = topic; |
| | | |
| | | char *action = (char *)malloc(action_len+1); |
| | | strncpy(action, action_start_ptr, action_len); |
| | | *action = '\0'; |
| | | *(action+action_len) = '\0'; |
| | | *_action = action; |
| | | *head_len = ptr-str; |
| | | |