#include <MQChannelElement.hpp>

Inheritance diagram for RTT::mqueue::MQChannelElement< T >:

Public Member Functions
virtual WriteStatus	data_sample (typename base::ChannelElement< T >::param_t sample, bool reset=true)

virtual std::string	getElementName () const

virtual std::string	getLocalURI () const

virtual std::string	getRemoteURI () const

virtual bool	inputReady (base::ChannelElementBase::shared_ptr const &caller)

virtual bool	isRemoteElement () const

	MQChannelElement (base::PortInterface *port, types::TypeMarshaller const &transport, const ConnPolicy &policy, bool is_sender)

FlowStatus	read (typename base::ChannelElement< T >::reference_t sample, bool copy_old_data)

bool	signal ()

WriteStatus	write (typename base::ChannelElement< T >::param_t sample)

	~MQChannelElement ()

Public Member Functions inherited from RTT::base::ChannelElement< T >
virtual WriteStatus	data_sample (param_t sample, bool reset=true)

virtual value_t	data_sample ()

shared_ptr	getInput ()

shared_ptr	getOutput ()

virtual FlowStatus	read (reference_t sample, bool copy_old_data=true)

virtual WriteStatus	write (param_t sample)

Public Member Functions inherited from RTT::base::ChannelElementBase
	ChannelElementBase ()

virtual bool	channelReady (ChannelElementBase::shared_ptr const &caller, ConnPolicy const &policy, internal::ConnID *conn_id=0)

virtual void	clear ()

virtual bool	connected ()

virtual bool	connectFrom (ChannelElementBase::shared_ptr const &input)

virtual bool	connectTo (ChannelElementBase::shared_ptr const &output, bool mandatory=true)

virtual void	disconnect (bool forward)

virtual bool	disconnect (ChannelElementBase::shared_ptr const &channel, bool forward)

virtual const ConnPolicy *	getConnPolicy () const

shared_ptr	getInput ()

virtual shared_ptr	getInputEndPoint ()

shared_ptr	getOutput ()

virtual shared_ptr	getOutputEndPoint ()

virtual PortInterface *	getPort () const

template<typename T >
ChannelElement< T > *	narrow ()

RTT_DEPRECATED void	setInput (const ChannelElementBase::shared_ptr &input)

RTT_DEPRECATED void	setOutput (const ChannelElementBase::shared_ptr &output)

virtual bool	signalFrom (ChannelElementBase *)

virtual	~ChannelElementBase ()

Public Member Functions inherited from RTT::mqueue::MQSendRecv
void	cleanupStream ()

virtual void	mqNewSample (base::DataSourceBase::shared_ptr ds)

bool	mqRead (base::DataSourceBase::shared_ptr ds)

virtual bool	mqReady (base::DataSourceBase::shared_ptr ds, base::ChannelElementBase *chan)

	MQSendRecv (types::TypeMarshaller const &transport)

bool	mqWrite (base::DataSourceBase::shared_ptr ds)

void	setupStream (base::DataSourceBase::shared_ptr ds, base::PortInterface *port, ConnPolicy const &policy, bool is_sender)

	~MQSendRecv ()

Private Attributes
internal::ValueDataSource< T >::shared_ptr	read_sample

internal::LateConstReferenceDataSource< T >::shared_ptr	write_sample

Additional Inherited Members
Public Types inherited from RTT::base::ChannelElement< T >
typedef boost::call_traits< T >::param_type	param_t

typedef boost::call_traits< T >::reference	reference_t

typedef boost::intrusive_ptr< ChannelElement< T > >	shared_ptr

typedef T	value_t

Public Types inherited from RTT::base::ChannelElementBase
typedef boost::intrusive_ptr< ChannelElementBase >	shared_ptr

Static Public Member Functions inherited from RTT::base::ChannelElementBase
template<typename T >
static ChannelElement< T > *	narrow (ChannelElementBase *e)

Protected Member Functions inherited from RTT::base::ChannelElementBase
virtual bool	addInput (shared_ptr const &input)

virtual bool	addOutput (shared_ptr const &output, bool mandatory=true)

void	deref ()

void	ref ()

virtual void	removeInput (shared_ptr const &input)

virtual void	removeOutput (shared_ptr const &output)

Protected Attributes inherited from RTT::base::ChannelElementBase
shared_ptr	input

RTT::os::SharedMutex	input_lock

shared_ptr	output

RTT::os::SharedMutex	output_lock

Protected Attributes inherited from RTT::mqueue::MQSendRecv
char *	buf

void *	marshaller_cookie

int	max_size

int	mdata_size

bool	minit_done

bool	mis_sender

mqd_t	mqdes

std::string	mqname

types::TypeMarshaller const &	mtransport

Detailed Description

template<typename T>
class RTT::mqueue::MQChannelElement< T >

Implements the a ChannelElement using message queues. It converts the C++ calls into MQ messages and vice versa.

Todo:

This class can be refactored into a base class with generic mqueue code and a subclass with type specific info.

This is an inspiration for a generic, transport independent channel element.

Definition at line 62 of file MQChannelElement.hpp.

Constructor & Destructor Documentation

template<typename T>

RTT::mqueue::MQChannelElement< T >::MQChannelElement	(	base::PortInterface *	port,
		types::TypeMarshaller const &	transport,
		const ConnPolicy &	policy,
		bool	is_sender
	)

inline

Create a channel element for remote data exchange.

Parameters

transport The type specific object that will be used to marshal the data.

Definition at line 74 of file MQChannelElement.hpp.

template<typename T>

RTT::mqueue::MQChannelElement< T >::~MQChannelElement ( )

inline

Definition at line 85 of file MQChannelElement.hpp.

Member Function Documentation

template<typename T>

virtual WriteStatus RTT::mqueue::MQChannelElement< T >::data_sample	(	typename base::ChannelElement< T >::param_t	sample,
		bool	reset = `true`
	)

inlinevirtual

Definition at line 99 of file MQChannelElement.hpp.

template<typename T>

virtual std::string RTT::mqueue::MQChannelElement< T >::getElementName ( ) const

inlinevirtual

Returns the class name of this element. This is primary useful for special case handling in the connection tracking.

Returns: The name of the class of the ChannelElement

Reimplemented from RTT::base::ChannelElementBase.

Definition at line 196 of file MQChannelElement.hpp.

template<typename T>

virtual std::string RTT::mqueue::MQChannelElement< T >::getLocalURI ( ) const

inlinevirtual

This function return the URI of this element. The URI must be unique.

Returns: URI of this element.

Reimplemented from RTT::base::ChannelElementBase.

Definition at line 186 of file MQChannelElement.hpp.

template<typename T>

virtual std::string RTT::mqueue::MQChannelElement< T >::getRemoteURI ( ) const

inlinevirtual

This function returns the URI of the next channel element in the logical chain. The URI must be unique. E.g: In the local case output->getLocalURI() In the remote case the URI of the remote channel element.

Returns: URI of the next element.

Reimplemented from RTT::base::ChannelElementBase.

Definition at line 176 of file MQChannelElement.hpp.

template<typename T>

virtual bool RTT::mqueue::MQChannelElement< T >::inputReady ( base::ChannelElementBase::shared_ptr const & caller )

inlinevirtual

This is called by an input port when it is ready to receive data. Each channel element has the responsibility to pass this notification on to the next, in the direction of the output.

Returns: false if a fatal connection failure was encountered and the channel needs to be destroyed.

Reimplemented from RTT::base::ChannelElementBase.

Definition at line 89 of file MQChannelElement.hpp.

template<typename T>

virtual bool RTT::mqueue::MQChannelElement< T >::isRemoteElement ( ) const

inlinevirtual

This function may be used to identify, if the current element uses a network transport, to send the data to the next Element in the logical chain.

Returns: true if a network transport is used.

Reimplemented from RTT::base::ChannelElementBase.

Definition at line 171 of file MQChannelElement.hpp.

template<typename T>

FlowStatus RTT::mqueue::MQChannelElement< T >::read	(	typename base::ChannelElement< T >::reference_t	sample,
		bool	copy_old_data
	)

inline

Read from the message queue.

Parameters

sample stores the resulting data sample.

Returns: true if an item could be read.

Definition at line 152 of file MQChannelElement.hpp.

template<typename T>

bool RTT::mqueue::MQChannelElement< T >::signal ( )

inlinevirtual

Signal will cause a read-write cycle to transfer the data from the data/buffer element to the message queue and vice versa.

Note: this virtual function is a bit abused. For a sending MQ, signal triggers a direct read on the data element. For a receiving MQ, signal is used by the dispatcher thread to provoque a read from the MQ and forward it to the next channel element.

In the sending case, signal could trigger a dispatcher thread that does the read/write cycle, but that seems only causing overhead. The receiving case must use a thread which blocks on all mq file descriptors.

Returns: true in case the forwarding could be done, false otherwise.

Reimplemented from RTT::base::ChannelElementBase.

Definition at line 128 of file MQChannelElement.hpp.

template<typename T>

WriteStatus RTT::mqueue::MQChannelElement< T >::write ( typename base::ChannelElement< T >::param_t sample )

inline

Write to the message queue

Parameters

sample the data sample to write

Returns: true if it could be sent.

Definition at line 162 of file MQChannelElement.hpp.

Member Data Documentation

template<typename T>

internal::ValueDataSource<T>::shared_ptr RTT::mqueue::MQChannelElement< T >::read_sample

private

Used as a temporary on the reading side

Definition at line 65 of file MQChannelElement.hpp.

template<typename T>

internal::LateConstReferenceDataSource<T>::shared_ptr RTT::mqueue::MQChannelElement< T >::write_sample

private

Used in write() to refer to the sample that needs to be written

Definition at line 67 of file MQChannelElement.hpp.

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

MQChannelElement.hpp

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

template<typename T> class RTT::mqueue::MQChannelElement< T >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename T>
class RTT::mqueue::MQChannelElement< T >