Orocos Real-Time Toolkit
2.6.0
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Implements the sending/receiving of mqueue messages. More...
#include <rtt/transports/mqueue/MQSendRecv.hpp>
Public Member Functions | |
MQSendRecv (types::TypeMarshaller const &transport) | |
Create a channel element for remote data exchange. | |
void | setupStream (base::DataSourceBase::shared_ptr ds, base::PortInterface *port, ConnPolicy const &policy, bool is_sender) |
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;. | |
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. | |
bool | mqRead (base::DataSourceBase::shared_ptr ds) |
Read from the message queue. | |
bool | mqWrite (base::DataSourceBase::shared_ptr ds) |
Write to the message queue. | |
Protected Attributes | |
types::TypeMarshaller const & | mtransport |
Transport marshaller used for size calculations and data updates. | |
void * | marshaller_cookie |
A private blob that is returned by mtransport.getCookie(). | |
mqd_t | mqdes |
MQueue file descriptor. | |
char * | buf |
Send/Receive buffer. | |
bool | mis_sender |
True if this object is a sender. | |
bool | minit_done |
True if setupStream() was called, false after cleanupStream(). | |
int | max_size |
The size of buf. | |
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. | |
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. |
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.
MQSendRecv::MQSendRecv | ( | types::TypeMarshaller const & | transport | ) |
Create a channel element for remote data exchange.
transport | The type specific object that will be used to marshal the data. |
Definition at line 63 of file MQSendRecv.cpp.
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;.
sample |
Definition at line 181 of file MQSendRecv.cpp.
References buf, RTT::types::TypeMarshaller::getSampleSize(), max_size, mdata_size, and mtransport.
Read from the message queue.
sample | stores the resulting data sample. |
Definition at line 239 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.
Definition at line 191 of file MQSendRecv.cpp.
References buf, marshaller_cookie, max_size, minit_done, mis_sender, mqdes, mtransport, and RTT::types::TypeMarshaller::updateFromBlob().
Referenced by RTT::mqueue::MQChannelElement< T >::inputReady().
Write to the message queue.
ds | the data sample to write |
is_data_sample | true if the sample is used for initialization, false if it is a proper write |
Definition at line 254 of file MQSendRecv.cpp.
References buf, RTT::types::TypeMarshaller::fillBlob(), marshaller_cookie, max_size, mqdes, and mtransport.
Referenced by RTT::mqueue::MQChannelElement< T >::write().
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 mqNewSample(), mqRead(), mqReady(), and mqWrite().
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.