Go to the documentation of this file.00001
00002
00003
00004
00005
00006
00007
00008
00009
00010
00011
00012
00013
00014
00015
00016
00017
00018
00019
00020
00021
00022
00023
00024
00025
00026
00027
00028
00029
00030
00031
00032
00033
00034
00035
00036
00037
00038
00039 #ifndef ORO_MQ_TEMPATE_PROTOCOL_HPP
00040 #define ORO_MQ_TEMPATE_PROTOCOL_HPP
00041
00042 #include "MQLib.hpp"
00043 #include "../../types/TypeMarshaller.hpp"
00044 #include "MQChannelElement.hpp"
00045
00046 #include <boost/type_traits/has_virtual_destructor.hpp>
00047 #include <boost/static_assert.hpp>
00048
00049 namespace RTT
00050 { namespace mqueue
00051 {
00059 template<class T>
00060 class MQTemplateProtocol
00061 : public RTT::types::TypeMarshaller
00062 {
00063 public:
00069 BOOST_STATIC_ASSERT( !boost::has_virtual_destructor<T>::value );
00073 typedef T UserType;
00074
00075 virtual std::pair<void const*,int> fillBlob( base::DataSourceBase::shared_ptr source, void* blob, int size, void* cookie) const
00076 {
00077 if ( sizeof(T) <= (unsigned int)size)
00078 return std::make_pair(source->getRawConstPointer(), int(sizeof(T)));
00079 return std::make_pair((void const*)0,int(0));
00080 }
00081
00082 virtual bool updateFromBlob(const void* blob, int size, base::DataSourceBase::shared_ptr target, void* cookie) const
00083 {
00084 typename internal::AssignableDataSource<T>::shared_ptr ad = internal::AssignableDataSource<T>::narrow( target.get() );
00085 assert( size == sizeof(T) );
00086 if ( ad ) {
00087 ad->set( *(T*)(blob) );
00088 return true;
00089 }
00090 return false;
00091 }
00092
00093 virtual unsigned int getSampleSize(base::DataSourceBase::shared_ptr ignored, void* cookie) const
00094 {
00095
00096 return sizeof(T);
00097 }
00098
00099 virtual base::ChannelElementBase::shared_ptr createStream(base::PortInterface* port, const ConnPolicy& policy, bool is_sender) const {
00100 try {
00101 base::ChannelElementBase::shared_ptr mq = new MQChannelElement<T>(port, *this, policy, is_sender);
00102 if ( !is_sender ) {
00103
00104 base::ChannelElementBase::shared_ptr buf = detail::DataSourceTypeInfo<T>::getTypeInfo()->buildDataStorage(policy);
00105 mq->setOutput(buf);
00106 }
00107 return mq;
00108 } catch(std::exception& e) {
00109 log(Error) << "Failed to create MQueue Channel element: " << e.what() << endlog();
00110 }
00111 return base::ChannelElementBase::shared_ptr();
00112 }
00113
00114 };
00115 }
00116 }
00117
00118 #endif