mq_send_recv.hpp

Go to the documentation of this file.

/* 
 *  mq_channel_element.hpp - micros message queue transport methods
 *  Copyright (C) 2015 Zaile Jiang
 *  
 *  This program is free software; you can redistribute it and/or
 *  modify it under the terms of the GNU General Public License
 *  as published by the Free Software Foundation; either version 2
 *  of the License, or (at your option) any later version.
 *  
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *  
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
*/
#ifndef MICROSRTT_MQSENDRECV_HPP
#define MICROSRTT_MQSENDRECV_HPP

#include <ros/ros.h>
#include <mqueue.h>
#include "ros/serialization.h"
#include "micros_rtt/connection_base.h"
#include "micros_rtt/oro/channel_element.hpp"

namespace micros_rtt
{
using namespace ros::serialization;
using ros::SerializedMessage;
class MQSendRecv
{
protected:

  mqd_t mqdes;
  char* buf;
  bool mis_sender;
  bool minit_done;
  int max_size;
  std::string mqname;
  int mdata_size;

public:
  MQSendRecv();

  void setupStream(ConnectionBasePtr connection, int size, bool is_sender);

  ~MQSendRecv();

  void cleanupStream();

  virtual void mqNewSample(int size);

  virtual bool mqReady(ChannelElementBase* chan);

  bool mqRead(SerializedMessage& m);

  bool mqWrite(SerializedMessage& m);
};
}

#endif /* ORO_MQSENDER_HPP_ */