Orocos Real-Time Toolkit  2.6.0
MQTemplateProtocol.hpp
00001 /***************************************************************************
00002   tag: Peter Soetens  Thu Oct 22 11:59:07 CEST 2009  MQTemplateProtocol.hpp
00003 
00004                         MQTemplateProtocol.hpp -  description
00005                            -------------------
00006     begin                : Thu October 22 2009
00007     copyright            : (C) 2009 Peter Soetens
00008     email                : peter@thesourcworks.com
00009 
00010  ***************************************************************************
00011  *   This library is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU General Public                   *
00013  *   License as published by the Free Software Foundation;                 *
00014  *   version 2 of the License.                                             *
00015  *                                                                         *
00016  *   As a special exception, you may use this file as part of a free       *
00017  *   software library without restriction.  Specifically, if other files   *
00018  *   instantiate templates or use macros or inline functions from this     *
00019  *   file, or you compile this file and link it with other files to        *
00020  *   produce an executable, this file does not by itself cause the         *
00021  *   resulting executable to be covered by the GNU General Public          *
00022  *   License.  This exception does not however invalidate any other        *
00023  *   reasons why the executable file might be covered by the GNU General   *
00024  *   Public License.                                                       *
00025  *                                                                         *
00026  *   This library is distributed in the hope that it will be useful,       *
00027  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00028  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00029  *   Lesser General Public License for more details.                       *
00030  *                                                                         *
00031  *   You should have received a copy of the GNU General Public             *
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00033  *   Foundation, Inc., 59 Temple Place,                                    *
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00035  *                                                                         *
00036  ***************************************************************************/
00037 
00038 
00039 #ifndef ORO_MQ_TEMPATE_PROTOCOL_HPP
00040 #define ORO_MQ_TEMPATE_PROTOCOL_HPP
00041 
00042 #include "MQLib.hpp"
00043 #include "../../types/TypeMarshaller.hpp"
00044 #include "MQChannelElement.hpp"
00045 
00046 #include <boost/type_traits/has_virtual_destructor.hpp>
00047 #include <boost/static_assert.hpp>
00048 
00049 namespace RTT
00050 { namespace mqueue
00051   {
00059       template<class T>
00060       class MQTemplateProtocol
00061           : public RTT::types::TypeMarshaller
00062       {
00063       public:
00069           BOOST_STATIC_ASSERT( !boost::has_virtual_destructor<T>::value );
00073           typedef T UserType;
00074 
00075           virtual std::pair<void const*,int> fillBlob( base::DataSourceBase::shared_ptr source, void* blob, int size, void* cookie) const
00076           {
00077               if ( sizeof(T) <= (unsigned int)size)
00078                   return std::make_pair(source->getRawConstPointer(), int(sizeof(T)));
00079               return std::make_pair((void const*)0,int(0));
00080           }
00081 
00082           virtual bool updateFromBlob(const void* blob, int size, base::DataSourceBase::shared_ptr target, void* cookie) const
00083           {
00084             typename internal::AssignableDataSource<T>::shared_ptr ad = internal::AssignableDataSource<T>::narrow( target.get() );
00085             assert( size == sizeof(T) );
00086             if ( ad ) {
00087                 ad->set( *(T*)(blob) );
00088                 return true;
00089             }
00090             return false;
00091           }
00092 
00093           virtual unsigned int getSampleSize(base::DataSourceBase::shared_ptr ignored, void* cookie) const
00094           {
00095               // re-implement this in case of complex types, like std::vector<T>.
00096               return sizeof(T);
00097           }
00098 
00099           virtual base::ChannelElementBase::shared_ptr createStream(base::PortInterface* port, const ConnPolicy& policy, bool is_sender) const {
00100               try {
00101                   base::ChannelElementBase::shared_ptr mq = new MQChannelElement<T>(port, *this, policy, is_sender);
00102                   if ( !is_sender ) {
00103                       // the receiver needs a buffer to store his messages in.
00104                       base::ChannelElementBase::shared_ptr buf = detail::DataSourceTypeInfo<T>::getTypeInfo()->buildDataStorage(policy);
00105                       mq->setOutput(buf);
00106                   }
00107                   return mq;
00108               } catch(std::exception& e) {
00109                   log(Error) << "Failed to create MQueue Channel element: " << e.what() << endlog();
00110               }
00111               return base::ChannelElementBase::shared_ptr();
00112           }
00113 
00114       };
00115 }
00116 }
00117 
00118 #endif