A simple receiver object for handling data streamed by rc_visard's rc_dynamics module. More...

#include <data_receiver.h>

Inheritance diagram for rc::dynamics::DataReceiver:

Public Member Functions
std::string	getIpAddress () const
	Returns Ip address for which the receiver was created.
unsigned int	getPort () const
	Returns port for which the receiver was created.
template<class PbMsgType >
std::shared_ptr< PbMsgType >	receive ()
	Receives the next message from data stream (template-parameter version)
virtual std::shared_ptr <::google::protobuf::Message >	receive (const std::string &pb_msg_type)
	Receives the next message from data stream (string-parameter version)
virtual void	setTimeout (unsigned int ms)
	Sets a user-specified timeout for the receivePose() method.
virtual	~DataReceiver ()
Static Public Member Functions
static Ptr	create (const std::string &ip_address, unsigned int &port)
	Creates a data receiver bound to the user-given IP address and port number.
Protected Types
typedef std::map< std::string, std::function< std::shared_ptr <::google::protobuf::Message >)> >	map_type
Protected Member Functions
	DataReceiver (const std::string &ip_address, unsigned int &port)
Protected Attributes
char	_buffer [512]
map_type	_recv_func_map
int	_sockfd
std::string	ip_
unsigned int	port_

Detailed Description

A simple receiver object for handling data streamed by rc_visard's rc_dynamics module.

Definition at line 69 of file data_receiver.h.

Member Typedef Documentation

typedef std::map<std::string, std::function<std::shared_ptr<::google::protobuf::Message>)> > rc::dynamics::DataReceiver::map_type [protected]

Definition at line 292 of file data_receiver.h.

Constructor & Destructor Documentation

virtual rc::dynamics::DataReceiver::~DataReceiver ( ) [inline, virtual]

Definition at line 90 of file data_receiver.h.

rc::dynamics::DataReceiver::DataReceiver	(	const std::string &	ip_address,
		unsigned int &	port
	)		`[inline, protected]`

Definition at line 223 of file data_receiver.h.

Member Function Documentation

static Ptr rc::dynamics::DataReceiver::create	(	const std::string &	ip_address,
		unsigned int &	port
	)		`[inline, static]`

Creates a data receiver bound to the user-given IP address and port number.

For binding to an arbitrary port, the given port number might be 0. In this case, the actually chosen port number is returned.

Parameters:

ip_address	IP address for receiving data
port	port number for receiving data

Returns:

Definition at line 85 of file data_receiver.h.

std::string rc::dynamics::DataReceiver::getIpAddress ( ) const [inline]

Returns Ip address for which the receiver was created.

Definition at line 102 of file data_receiver.h.

unsigned int rc::dynamics::DataReceiver::getPort ( ) const [inline]

Returns port for which the receiver was created.

Definition at line 109 of file data_receiver.h.

template<class PbMsgType >

std::shared_ptr<PbMsgType> rc::dynamics::DataReceiver::receive ( ) [inline]

Receives the next message from data stream (template-parameter version)

This method blocks until the next message is received and returns it as specified by the template parameter PbMsgType, or when it runs into user-specified timeout (see setTimeout(...)).

NOTE: The specified PbMsgType *must match* the type with which the received data was serialized during sending. Otherwise it will result in undefined behaviour!

Returns:: the next rc_dynamics data stream message as PbMsgType, or NULL if timeout

Definition at line 151 of file data_receiver.h.

virtual std::shared_ptr<::google::protobuf::Message> rc::dynamics::DataReceiver::receive ( const std::string & pb_msg_type ) [inline, virtual]

Receives the next message from data stream (string-parameter version)

This method blocks until the next message is available and returns it - de-serialized as specified by the pb_msg_type parameter - as a pb::Message base class pointer, or until it runs into user-specified timeout (see setTimeout(...)).

NOTE: The specified PbMsgType *must match* the type with which the received data was serialized during sending. Otherwise it will result in undefined behaviour!