Orocos Real-Time Toolkit  2.9.0
Public Member Functions | Protected Attributes | List of all members
RTT::mqueue::MQSendRecv Class Reference

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

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

Inheritance diagram for RTT::mqueue::MQSendRecv:
RTT::mqueue::MQChannelElement< T >

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
transportThe 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 ( )
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
samplestores the resulting data sample.
Returns
true if an item could be read.

Definition at line 246 of file MQSendRecv.cpp.

References buf, CLOCK_REALTIME, RTT::Error, marshaller_cookie, max_size, mqdes, mtransport, RTT::Seconds_to_nsecs(), 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
dsthe data sample to write
is_data_sampletrue if the sample is used for initialization, false if it is a proper write
Returns
true if it could be sent.

Definition at line 271 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
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: