Aseba::Hub Class Reference
[Software router of messages on TCP and D-Bus.]

#include <medulla.h>

Inheritance diagram for Aseba::Hub:

[legend]

List of all members.

Signals
void	firstConnectionCreated ()
void	messageAvailable (Message *message, Dashel::Stream *sourceStream)
Public Member Functions
	Hub (unsigned port, bool verbose, bool dump, bool forward, bool rawTime, bool systemBus)
void	sendMessage (Message &message, Dashel::Stream *sourceStream=0)
void	sendMessage (Message *message, Dashel::Stream *sourceStream=0)
Protected Slots
void	firstConnectionAvailable ()
	If no description has been previously requested, requests one in 200 ms.
void	requestDescription ()
	Timer has elapsed, request a description.
Private Member Functions
virtual void	connectionClosed (Dashel::Stream *stream, bool abnormal)
virtual void	connectionCreated (Dashel::Stream *stream)
virtual void	incomingData (Dashel::Stream *stream)
virtual void	run ()
Private Attributes
bool	dump
	should we dump content of CAN messages
bool	forward
	should we only forward messages instead of transmit them back to the sender
bool	rawTime
	should displayed timestamps be of the form sec:usec since 1970
bool	verbose
	should we print a notification on each message

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Detailed Description

Route Aseba messages on the TCP part of the network.

This thread only *receives* messages. All dispatch, including forwarding, is done in the main thread called by the AsebaNetworkInterface class.

Definition at line 141 of file medulla.h.

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Constructor & Destructor Documentation

Aseba::Hub::Hub	(	unsigned	port,
		bool	verbose,
		bool	dump,
		bool	forward,
		bool	rawTime,
		bool	systemBus
	)

Creates the hub, listen to TCP on port, and creates a DBus interace.

Parameters:

	port	port on which to listen for incoming connections
	verbose	should we print a notification on each message
	dump	should we dump content of each message
	forward	should we only forward messages instead of transmit them back to the sender
	rawTime	should the time be printed as integer

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Member Function Documentation

virtual void Aseba::Hub::connectionClosed	(	Dashel::Stream *	stream,
		bool	abnormal
	)			[private, virtual]

Reimplemented from Dashel::Hub.

virtual void Aseba::Hub::connectionCreated

(

Dashel::Stream *

stream

)

[private, virtual]

Reimplemented from Dashel::Hub.

void Aseba::Hub::firstConnectionAvailable

(

)

[protected, slot]

If no description has been previously requested, requests one in 200 ms.

void Aseba::Hub::firstConnectionCreated

(

)

[signal]

virtual void Aseba::Hub::incomingData

(

Dashel::Stream *

stream

)

[private, virtual]

Reimplemented from Dashel::Hub.

void Aseba::Hub::messageAvailable	(	Message *	message,
		Dashel::Stream *	sourceStream
	)			[signal]

void Aseba::Hub::requestDescription

(

)

[protected, slot]

Timer has elapsed, request a description.

virtual void Aseba::Hub::run

(

)

[private, virtual]

Reimplemented from Dashel::Hub.

void Aseba::Hub::sendMessage	(	Message &	message,
		Dashel::Stream *	sourceStream = 0
	)

Sends a message to Dashel peers. Convenience overload

void Aseba::Hub::sendMessage	(	Message *	message,
		Dashel::Stream *	sourceStream = 0
	)

Sends a message to Dashel peers. Does not delete the message, should be called by the main thread.

Parameters:

	message	aseba message to send
	sourceStream	originate of the message, if from Dashel.

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Member Data Documentation

bool Aseba::Hub::dump [private]

should we dump content of CAN messages

Definition at line 184 of file medulla.h.

bool Aseba::Hub::forward [private]

should we only forward messages instead of transmit them back to the sender

Definition at line 185 of file medulla.h.

bool Aseba::Hub::rawTime [private]

should displayed timestamps be of the form sec:usec since 1970

Definition at line 186 of file medulla.h.

bool Aseba::Hub::verbose [private]

should we print a notification on each message

Definition at line 183 of file medulla.h.

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

• medulla.h