Orocos Real-Time Toolkit: RTT::mqueue::MQSendRecv Class Reference

Orocos Real-Time Toolkit 2.8.3

Implements the sending/receiving of mqueue messages. More...

#include <rtt/transports/mqueue/MQSendRecv.hpp>

Inheritance diagram for RTT::mqueue::MQSendRecv:

Public Member Functions
	MQSendRecv (types::TypeMarshaller const &transport)
	Create a channel element for remote data exchange. More...

void	setupStream (base::DataSourceBase::shared_ptr ds, base::PortInterface *port, ConnPolicy const &policy, bool is_sender)

	~MQSendRecv ()

void	cleanupStream ()

virtual void	mqNewSample (base::DataSourceBase::shared_ptr ds)
	Adapts the mq send/receive buffer size according to the data in mqdata_source, or the value set in mdata_size;. More...

virtual bool	mqReady (base::DataSourceBase::shared_ptr ds, base::ChannelElementBase *chan)
	Works only in receive mode, waits for a new sample and adapts the receive buffer to match it's size. More...

bool	mqRead (base::DataSourceBase::shared_ptr ds)
	Read from the message queue. More...

bool	mqWrite (base::DataSourceBase::shared_ptr ds)
	Write to the message queue. More...

Protected Attributes
types::TypeMarshaller const &	mtransport
	Transport marshaller used for size calculations and data updates. More...

void *	marshaller_cookie
	A private blob that is returned by mtransport.getCookie(). More...

mqd_t	mqdes
	MQueue file descriptor. More...

char *	buf
	Send/Receive buffer. More...

bool	mis_sender
	True if this object is a sender. More...

bool	minit_done
	True if setupStream() was called, false after cleanupStream(). More...

int	max_size
	The size of buf. More...

std::string	mqname
	The name of the queue, as specified in the ConnPolicy when creating the stream, or self-calculated when that name was empty. More...

int	mdata_size
	The size of the data, as specified in the ConnPolicy when creating the stream, or calculated using the transport when that size was zero. More...

Detailed Description

Implements the sending/receiving of mqueue messages.

It can only be OR sender OR receiver (logical XOR).

Definition at line 54 of file MQSendRecv.hpp.

Constructor & Destructor Documentation

MQSendRecv::MQSendRecv ( types::TypeMarshaller const & transport )

Create a channel element for remote data exchange.

Parameters

transport The type specific object that will be used to marshal the data.

Definition at line 64 of file MQSendRecv.cpp.

MQSendRecv::~MQSendRecv ( )

Definition at line 153 of file MQSendRecv.cpp.

References mqdes.

Member Function Documentation

void MQSendRecv::cleanupStream ( )

Definition at line 159 of file MQSendRecv.cpp.

References buf, RTT::types::TypeMarshaller::deleteCookie(), RTT::mqueue::Dispatcher::Instance(), marshaller_cookie, minit_done, mis_sender, mqdes, mqname, and mtransport.

Referenced by RTT::mqueue::MQChannelElement< T >::~MQChannelElement().

void MQSendRecv::mqNewSample ( base::DataSourceBase::shared_ptr ds )

virtual

Adapts the mq send/receive buffer size according to the data in mqdata_source, or the value set in mdata_size;.

Parameters

sample

Definition at line 188 of file MQSendRecv.cpp.

References buf, RTT::types::TypeMarshaller::getSampleSize(), max_size, mdata_size, and mtransport.

Referenced by RTT::mqueue::MQChannelElement< T >::data_sample().

bool MQSendRecv::mqRead ( base::DataSourceBase::shared_ptr ds )

Read from the message queue.

Parameters

sample stores the resulting data sample.

Returns: true if an item could be read.

Definition at line 246 of file MQSendRecv.cpp.

References buf, marshaller_cookie, max_size, mqdes, mtransport, and RTT::types::TypeMarshaller::updateFromBlob().

Referenced by RTT::mqueue::MQChannelElement< T >::signal().

bool MQSendRecv::mqReady	(	base::DataSourceBase::shared_ptr	ds,
		base::ChannelElementBase *	chan
	)

virtual

Works only in receive mode, waits for a new sample and adapts the receive buffer to match it's size.

Returns

Definition at line 198 of file MQSendRecv.cpp.

References buf, CLOCK_REALTIME, RTT::Error, RTT::mqueue::Dispatcher::Instance(), marshaller_cookie, max_size, minit_done, mis_sender, mqdes, mtransport, RTT::Seconds_to_nsecs(), and RTT::types::TypeMarshaller::updateFromBlob().

Referenced by RTT::mqueue::MQChannelElement< T >::inputReady().

bool MQSendRecv::mqWrite ( base::DataSourceBase::shared_ptr ds )

Write to the message queue.

Parameters

ds	the data sample to write
is_data_sample	true if the sample is used for initialization, false if it is a proper write

Returns: true if it could be sent.

Definition at line 261 of file MQSendRecv.cpp.

References buf, RTT::Error, RTT::types::TypeMarshaller::fillBlob(), marshaller_cookie, max_size, mqdes, and mtransport.

Referenced by RTT::mqueue::MQChannelElement< T >::data_sample(), and RTT::mqueue::MQChannelElement< T >::write().

void MQSendRecv::setupStream	(	base::DataSourceBase::shared_ptr	ds,
		base::PortInterface *	port,
		ConnPolicy const &	policy,
		bool	is_sender
	)

Member Data Documentation

char* RTT::mqueue::MQSendRecv::buf

protected

Send/Receive buffer.

It is initialized to the size of the value provided by the ConnPolicy or, if the policy has a zero data size, the sample given to setupStream

Its size is saved in max_size

Definition at line 79 of file MQSendRecv.hpp.

Referenced by cleanupStream(), mqNewSample(), mqRead(), mqReady(), mqWrite(), and setupStream().

void* RTT::mqueue::MQSendRecv::marshaller_cookie

protected

A private blob that is returned by mtransport.getCookie().

It is used by the marshallers if they need private internal data to do the marshalling

Definition at line 67 of file MQSendRecv.hpp.

Referenced by cleanupStream(), mqRead(), mqReady(), mqWrite(), and setupStream().

int RTT::mqueue::MQSendRecv::max_size

protected

The size of buf.

Definition at line 91 of file MQSendRecv.hpp.

Referenced by mqNewSample(), mqRead(), mqReady(), mqWrite(), and setupStream().

int RTT::mqueue::MQSendRecv::mdata_size

protected

The size of the data, as specified in the ConnPolicy when creating the stream, or calculated using the transport when that size was zero.

Definition at line 102 of file MQSendRecv.hpp.

Referenced by mqNewSample(), and setupStream().

bool RTT::mqueue::MQSendRecv::minit_done

protected

True if setupStream() was called, false after cleanupStream().

Definition at line 87 of file MQSendRecv.hpp.

Referenced by cleanupStream(), and mqReady().

bool RTT::mqueue::MQSendRecv::mis_sender

protected

True if this object is a sender.

Definition at line 83 of file MQSendRecv.hpp.

Referenced by cleanupStream(), RTT::mqueue::MQChannelElement< T >::data_sample(), mqReady(), setupStream(), and RTT::mqueue::MQChannelElement< T >::signal().

mqd_t RTT::mqueue::MQSendRecv::mqdes

protected

MQueue file descriptor.

Definition at line 71 of file MQSendRecv.hpp.

Referenced by cleanupStream(), mqRead(), mqReady(), mqWrite(), setupStream(), and ~MQSendRecv().

std::string RTT::mqueue::MQSendRecv::mqname

protected

The name of the queue, as specified in the ConnPolicy when creating the stream, or self-calculated when that name was empty.

Definition at line 96 of file MQSendRecv.hpp.

Referenced by cleanupStream(), RTT::mqueue::MQChannelElement< T >::getLocalURI(), RTT::mqueue::MQChannelElement< T >::getRemoteURI(), and setupStream().

types::TypeMarshaller const& RTT::mqueue::MQSendRecv::mtransport

protected

Transport marshaller used for size calculations and data updates.

Definition at line 61 of file MQSendRecv.hpp.

Referenced by cleanupStream(), mqNewSample(), mqRead(), mqReady(), mqWrite(), and setupStream().

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

rtt/transports/mqueue/MQSendRecv.hpp
rtt/transports/mqueue/MQSendRecv.cpp