HiveMindBridge Class Reference

#include <HiveMindBridge.h>

Inheritance diagram for HiveMindBridge:

Collaboration diagram for HiveMindBridge:

Public Member Functions
	HiveMindBridge (int tcpPort, ILogger &logger, uint32_t keepAliveNbSpin=0)
	~HiveMindBridge ()=default
void	spin ()
void	onConnect (std::function< void()> hook)
void	onDisconnect (std::function< void()> hook)
bool	onBytesReceived (std::function< void(uint8_t *bytes, uint64_t bytesLength)> callback) override
bool	onNeighborListUpdated (std::function< void(std::array< uint16_t, NEIGHBORS_MAX_SIZE >, uint64_t bytesLength)> callback)
bool	onNeighborUpdated (std::function< void(uint16_t neighborId, std::optional< Position > position)> callback)
bool	registerCustomAction (std::string name, CallbackFunction callback, CallbackArgsManifest manifest)
bool	registerCustomAction (std::string name, CallbackFunction callback)
bool	queueAndSend (MessageDTO message)
bool	sendBytes (uint32_t destinationId, const uint8_t *const payload, uint16_t payloadSize)
bool	sendNeighborUpdateRequest (uint16_t neighborId)
bool	sendNeighborListUpdateRequest ()

Private Attributes
ILogger &	m_logger
TCPServer	m_tcpServer
HiveMindHostDeserializer	m_deserializer
HiveMindHostSerializer	m_serializer
UserCallbackMap	m_userCallbackMap
UserCallRequestHandler	m_userCallRequestHandler
HiveMindHostApiRequestHandler	m_hmRequestHandler
HiveMindHostApiResponseHandler	m_hmResponseHandler
MessageHandler	m_messageHandler
ThreadSafeQueue< MessageDTO >	m_inboundQueue
ThreadSafeQueue< OutboundRequestHandle >	m_outboundQueue
HiveMindBridgeImpl	m_bridge

Additional Inherited Members
Static Public Attributes inherited from IHiveMindBridge
static constexpr uint16_t	NEIGHBORS_MAX_SIZE = NEIGHBORS_LIST_SIZE

Constructor & Destructor Documentation

HiveMindBridge()

HiveMindBridge::HiveMindBridge	(	int	tcpPort,
		ILogger &	logger,
		uint32_t	keepAliveNbSpin = 0
	)

Construct a HiveMindBridge

Parameters

tcpPort	The port that the TCP server should listen to
logger	logger used
keepAliveNbSpin	Number of call to spin before a greet is sent to keep the connection alive. Set to 0 to disable

~HiveMindBridge()

HiveMindBridge::~HiveMindBridge ( )

default

Member Function Documentation

onBytesReceived()

bool HiveMindBridge::onBytesReceived ( std::function< void(uint8_t *bytes, uint64_t bytesLength)>  callback )

overridevirtual

Register a callback to be run upon reception of an arbitrary bytes payload. The callback only fires when the whole payload was received.

Parameters

callback

The callback to be called. This function takes a pointer to the bytes payload.

Returns

True if an existing callback function was overwritten, false otherwise

Implements IHiveMindBridge.

Here is the call graph for this function:

onConnect()

void HiveMindBridge::onConnect ( std::function< void()>  callback )

virtual

Register a callback to be run when a TCP connection is established with a client HiveMind

Parameters

callback

The function to be run

Implements IHiveMindBridge.

Here is the call graph for this function:

onDisconnect()

void HiveMindBridge::onDisconnect ( std::function< void()>  callback )

virtual

Register a callback to be run as soon as the TCP Server notices that the connection was lost.

Parameters

callback

The function to be run

Implements IHiveMindBridge.

Here is the call graph for this function:

onNeighborListUpdated()

bool HiveMindBridge::onNeighborListUpdated ( std::function< void(std::array< uint16_t, NEIGHBORS_MAX_SIZE >, uint64_t bytesLength)>  callback )

virtual

Register a callback to be run upon reception of a neighbor list.

Parameters

callback

The callback to be called.

Returns

True if an existing callback function was overwritten, false otherwise

Implements IHiveMindBridge.

Here is the call graph for this function:

onNeighborUpdated()

bool HiveMindBridge::onNeighborUpdated ( std::function< void(uint16_t neighborId, std::optional< Position > position)>  callback )

virtual

Register a callback to be run upon reception of a neignbor's position update.

Parameters

callback

The callback to be called.

Returns

True if an existing callback function was overwritten, false otherwise

Implements IHiveMindBridge.

Here is the call graph for this function:

queueAndSend()

bool HiveMindBridge::queueAndSend ( MessageDTO  message )

virtual

Send a message asynchronously

Parameters

message

The message to send

Returns

true if the operation succeded.

Implements IHiveMindBridge.

Here is the call graph for this function:

registerCustomAction() [1/2]

bool HiveMindBridge::registerCustomAction ( std::string  name, CallbackFunction  callback  )

virtual

Register a custom action that this robot can accomplish.This is meant to be used with functions that do NOT require arguments. With functions requiring arguments, use registerCustomAction(string, CallbackFunction, manifest).

Parameters

name	The name of the action (must match across the swarm components)
callback	The function to be run. This is where the custom robot behaviour is meant to be defined.

Returns

True if an existing callback function was overwritten, false otherwise

Implements IHiveMindBridge.

Here is the call graph for this function:

registerCustomAction() [2/2]

bool HiveMindBridge::registerCustomAction ( std::string  name, CallbackFunction  callback, CallbackArgsManifest  manifest  )

virtual

Register a custom action that this robot can accomplish. This is meant to be used with functions that require arguments (specified in manifest). With void functions, use registerCustomAction(string, CallbackFunction).

Parameters

name	The name of the action (must match across the swarm components)
callback	The function to be run. This is where the custom robot behaviour is meant to be defined.
manifest	A list describing the callback's expected arguments name and type

Returns

True if an existing callback function was overwritten, false otherwise

Implements IHiveMindBridge.

Here is the call graph for this function:

sendBytes()

bool HiveMindBridge::sendBytes ( uint32_t  destinationId, const uint8_t *const  payload, uint16_t  payloadSize  )

virtual

Send an array of bytes asynchronously

Parameters

destinationId	The Agent to which the data is to be sent
payload	An array of bytes
payloadSize	The length of the array of bytes

Returns

Implements IHiveMindBridge.

Here is the call graph for this function:

sendNeighborListUpdateRequest()

bool HiveMindBridge::sendNeighborListUpdateRequest ( )

virtual

Send a request to the HiveBoard to update the list of neighbors.The response will be received asynchronously and should be handled by a callback provided to onNeighborListUpdated().

Returns

Implements IHiveMindBridge.

Here is the call graph for this function:

sendNeighborUpdateRequest()

bool HiveMindBridge::sendNeighborUpdateRequest ( uint16_t  neighborId )

virtual

Send a request to the HiveBoard to update the position of a given neighbor. The response will be received asynchronously and should be handled by a callback provided to onNeighborUpdated().

Parameters

neighborId

The ID of the neighbor to update.

Returns

true if the operation succeded.

Implements IHiveMindBridge.

Here is the call graph for this function:

spin()

void HiveMindBridge::spin ( )

virtual

Spin the bridge's applicative loop

Implements IHiveMindBridge.

Here is the call graph for this function:

Member Data Documentation

m_bridge

HiveMindBridgeImpl HiveMindBridge::m_bridge

private

m_deserializer

HiveMindHostDeserializer HiveMindBridge::m_deserializer

private

m_hmRequestHandler

HiveMindHostApiRequestHandler HiveMindBridge::m_hmRequestHandler

private

m_hmResponseHandler

HiveMindHostApiResponseHandler HiveMindBridge::m_hmResponseHandler

private

m_inboundQueue

ThreadSafeQueue<MessageDTO> HiveMindBridge::m_inboundQueue

private

m_logger

ILogger& HiveMindBridge::m_logger

private

m_messageHandler

MessageHandler HiveMindBridge::m_messageHandler

private

m_outboundQueue

ThreadSafeQueue<OutboundRequestHandle> HiveMindBridge::m_outboundQueue

private

m_serializer

HiveMindHostSerializer HiveMindBridge::m_serializer

private

m_tcpServer

TCPServer HiveMindBridge::m_tcpServer

private

m_userCallbackMap

UserCallbackMap HiveMindBridge::m_userCallbackMap

private

m_userCallRequestHandler

UserCallRequestHandler HiveMindBridge::m_userCallRequestHandler

private

---

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

• include/hivemind-bridge/HiveMindBridge.h
• src/HiveMindBridge.cpp