#include <GyrosMoosCommsInterface.h>

Inheritance diagram for LABUST::COMMUNICATION::GyrosMoosCommsInterface:

Public Member Functions
const void *	GetCommObject (void)
	GyrosMoosCommsInterface (const labust::xml::Reader &reader, std::string configToUse="")
	GyrosMoosCommsInterface (const std::string &configPath, std::string configToUse="")
bool	Iterate ()
bool	OnConnectToServer ()
bool	OnDisconnectFromServer ()
bool	OnNewMail (MOOSMSG_LIST &NewMail)
bool	OnStartUp ()
COMMERRORS::CommError	Receive (std::vector< labust::xml::GyrosReader > &data, bool wait=false)
virtual void	RegisterCallbackObject (CommEntity *entity)
COMMERRORS::CommError	Send (const labust::xml::GyrosWriter &data, bool wait=false)
COMMERRORS::CommError	Send (const std::vector< labust::xml::GyrosWriter > &data, bool wait=false)
virtual void	UnRegisterCallbackObject ()
virtual	~GyrosMoosCommsInterface ()
Private Member Functions
	GyrosMoosCommsInterface (const GyrosMoosCommsInterface &orig)
GyrosMoosCommsInterface &	operator= (const GyrosMoosCommsInterface &)
Private Attributes
boost::thread	commsThread
MoosConfig	config
boost::condition_variable	dataReceivedSignal
boost::condition_variable	dataSentSignal
boost::mutex	locker
std::vector < labust::xml::GyrosReader >	messagesReceived
std::vector < labust::xml::GyrosWriter >	messagesToSend

Detailed Description

Definition at line 24 of file GyrosMoosCommsInterface.h.

Constructor & Destructor Documentation

LABUST::COMMUNICATION::GyrosMoosCommsInterface::GyrosMoosCommsInterface	(	const labust::xml::Reader &	reader,
		std::string	configToUse = `""`
	)

Constructor that reads MOOS configuration from a preloaded XML file /xmlreader) XML reader must be set to the right <config> node before

Parameters:

reader	XML reader with preloaded and preset config file, mandatory
configToUse	name of configuration to use, if empty, the first one will be used

Definition at line 19 of file GyrosMoosCommsInterface.cpp.

LABUST::COMMUNICATION::GyrosMoosCommsInterface::GyrosMoosCommsInterface	(	const std::string &	configPath,
		std::string	configToUse = `""`
	)

Constructor that reads MOOS configuration from an XML file on disk finds the first element <commsConfig type="moos"> with the configToUse name (if provided)

Parameters:

configPath	path to config file, mandatory
configToUse	name of configuration to use, if empty, the first one will be used

Definition at line 59 of file GyrosMoosCommsInterface.cpp.

LABUST::COMMUNICATION::GyrosMoosCommsInterface::~GyrosMoosCommsInterface ( ) [virtual]

Definition at line 117 of file GyrosMoosCommsInterface.cpp.

LABUST::COMMUNICATION::GyrosMoosCommsInterface::GyrosMoosCommsInterface ( const GyrosMoosCommsInterface & orig ) [private]

Definition at line 113 of file GyrosMoosCommsInterface.cpp.

Member Function Documentation

const void * LABUST::COMMUNICATION::GyrosMoosCommsInterface::GetCommObject ( void ) [virtual]

Returns pointer to MOOS client

Returns:: pointer to MOOS client

Reimplemented from LABUST::COMMUNICATION::GyrosCommsInterface.

Definition at line 179 of file GyrosMoosCommsInterface.cpp.

bool LABUST::COMMUNICATION::GyrosMoosCommsInterface::Iterate ( )

Definition at line 235 of file GyrosMoosCommsInterface.cpp.

bool LABUST::COMMUNICATION::GyrosMoosCommsInterface::OnConnectToServer ( )

Definition at line 258 of file GyrosMoosCommsInterface.cpp.

bool LABUST::COMMUNICATION::GyrosMoosCommsInterface::OnDisconnectFromServer ( )

Definition at line 294 of file GyrosMoosCommsInterface.cpp.

bool LABUST::COMMUNICATION::GyrosMoosCommsInterface::OnNewMail ( MOOSMSG_LIST & NewMail )

MOOSApp overrides

See also:: MOOSAPP.h

Definition at line 196 of file GyrosMoosCommsInterface.cpp.

bool LABUST::COMMUNICATION::GyrosMoosCommsInterface::OnStartUp ( )

Definition at line 276 of file GyrosMoosCommsInterface.cpp.

GyrosMoosCommsInterface& LABUST::COMMUNICATION::GyrosMoosCommsInterface::operator= ( const GyrosMoosCommsInterface & ) [private]

COMMERRORS::CommError LABUST::COMMUNICATION::GyrosMoosCommsInterface::Receive	(	std::vector< labust::xml::GyrosReader > &	data,
		bool	wait = `false`
	)		`[virtual]`

PASSIVE This methods allows to receive data from the comms buffer. in case the system has to initiate communication Stores all received data in the GYROSreader vector as multiple objects If lock is set, the call blocks until data is available for receiving, otherwise exits with an empty vector NAme of variable data was received from is stored as label of the gyros object

Parameters:

data	vector of gyros objects to hold new data
wait	true if the call should block until data is available, false to return error code

Returns:: COMERRORS::ComError in case of error, 0 if everything is ok

Implements LABUST::COMMUNICATION::GyrosCommsInterface.

Definition at line 150 of file GyrosMoosCommsInterface.cpp.

void LABUST::COMMUNICATION::GyrosMoosCommsInterface::RegisterCallbackObject ( CommEntity * entity ) [virtual]

ACTIVE Allows registration of object which will handle incomming messages from MOOS

Parameters:

obj	pointer to object on which callbacks will be executed

Reimplemented from LABUST::COMMUNICATION::GyrosCommsInterface.

Definition at line 184 of file GyrosMoosCommsInterface.cpp.

COMMERRORS::CommError LABUST::COMMUNICATION::GyrosMoosCommsInterface::Send	(	const labust::xml::GyrosWriter &	data,
		bool	wait = `false`
	)		`[virtual]`

PASSIVE or ACTIVE usage Sends data through MOOS data is passed as a GYROSWriter object

See also:: GyrosWriter.hpp MOOS variable the data is sent to is determined by the label of gyros object If gyros has no label, output variable is "[process name]_OUT";

Parameters:

data	reference to GYrosWriter with data to send
wait	true if function should block until the data is sent, false to return immediately

Returns:: COMERRORS::ComError in case of error, 0 if everything is ok

Implements LABUST::COMMUNICATION::GyrosCommsInterface.

Definition at line 125 of file GyrosMoosCommsInterface.cpp.

COMMERRORS::CommError LABUST::COMMUNICATION::GyrosMoosCommsInterface::Send	(	const std::vector< labust::xml::GyrosWriter > &	data,
		bool	wait = `false`
	)		`[virtual]`

PASSIVE or ACTIVE usage Sends data through MOOS data is passed as a GYROSWriter object vector

See also:: GyrosWriter.hpp MOOS variable the data is sent to is determined by the label of gyros object If gyros has no label, output variable is "[process name]_OUT";

Parameters: