00001 /*************************************************************************** 00002 tag: The SourceWorks Tue Sep 7 00:55:18 CEST 2010 MQSendRecv.hpp 00003 00004 MQSendRecv.hpp - description 00005 ------------------- 00006 begin : Tue September 07 2010 00007 copyright : (C) 2010 The SourceWorks 00008 email : peter@thesourceworks.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 * 00032 * License along with this library; if not, write to the Free Software * 00033 * Foundation, Inc., 59 Temple Place, * 00034 * Suite 330, Boston, MA 02111-1307 USA * 00035 * * 00036 ***************************************************************************/ 00037 00038 00039 #ifndef ORO_MQSENDER_HPP_ 00040 #define ORO_MQSENDER_HPP_ 00041 00042 #include <mqueue.h> 00043 #include "../../rtt-fwd.hpp" 00044 #include "../../base/DataSourceBase.hpp" 00045 00046 namespace RTT 00047 { 00048 namespace mqueue 00049 { 00054 class MQSendRecv 00055 { 00056 protected: 00061 types::TypeMarshaller const& mtransport; 00067 void* marshaller_cookie; 00071 mqd_t mqdes; 00079 char* buf; 00083 bool mis_sender; 00087 bool minit_done; 00091 int max_size; 00096 std::string mqname; 00102 int mdata_size; 00103 00104 public: 00109 MQSendRecv(types::TypeMarshaller const& transport); 00110 00111 void setupStream(base::DataSourceBase::shared_ptr ds, base::PortInterface* port, ConnPolicy const& policy, bool is_sender); 00112 00113 ~MQSendRecv(); 00114 00115 void cleanupStream(); 00116 00122 virtual void mqNewSample(base::DataSourceBase::shared_ptr ds); 00123 00129 virtual bool mqReady(base::DataSourceBase::shared_ptr ds, base::ChannelElementBase* chan); 00130 00136 bool mqRead(base::DataSourceBase::shared_ptr ds); 00137 00144 bool mqWrite(base::DataSourceBase::shared_ptr ds); 00145 }; 00146 } 00147 } 00148 00149 #endif /* ORO_MQSENDER_HPP_ */