Process incoming network data, and try the data into valid MultiSense Wire messages. More...

#include <message.hh>

Classes
struct	InternalMessage
	An internal message object used to track how many bytes were written to a data buffer. More...

Public Member Functions
MessageStatistics	get_message_statistics () const

	MessageAssembler (std::shared_ptr< BufferPool > buffer_pool)

bool	process_packet (const std::vector< uint8_t > &raw_data)

void	register_callback (const crl::multisense::details::wire::IdType &message_id, std::function< void(std::shared_ptr< const std::vector< uint8_t >>)> callback)
	Register a callback to receive valid messages of a given id. Note currently only one callback can be registered for a message_id. Note this will pass the raw image buffer to the callback. It's up to the user to deserialize the message into it's appropriate type. More...

std::shared_ptr< MessageCondition >	register_message (const crl::multisense::details::wire::IdType &message_id)
	Register to be notified when a message of a given id arrives. Note this registration will only receive a single message. To receive multiple messages please use the callback interface. More...

void	remove_callback (const crl::multisense::details::wire::IdType &message_id)
	Remove a callback for a specific message type. More...

void	remove_registration (const crl::multisense::details::wire::IdType &message_id)
	Remove a registration for a specific message type. More...

	~MessageAssembler ()=default

Private Member Functions
void	dispatch (const crl::multisense::details::wire::IdType &message_id, std::shared_ptr< std::vector< uint8_t >> data)
	Dispatch to both our registrations and callbacks. More...

std::tuple< std::shared_ptr< std::vector< uint8_t > >, std::deque< int64_t > >	get_buffer (uint32_t message_size, std::deque< int64_t > ordered_messages)
	Get a new buffer that can hold a message of a given size. If no buffers are available try destroying older buffers we may no longer be using. The id's of these buffers are stored in the input ordered_messages. More...

bool	write_data (InternalMessage &message, const std::vector< uint8_t > &raw_data)
	Write raw data to an message. More...

Private Attributes
std::map< int64_t, InternalMessage >	m_active_messages
	Active messages we are accumulating. More...

std::shared_ptr< BufferPool >	m_buffer_pool = nullptr
	Buffer pool used to allocate messages into. More...

std::mutex	m_callback_mutex
	Mutex to ensure callback calls into the MessageAssembler are thread safe. More...

std::map< crl::multisense::details::wire::IdType, std::function< void(std::shared_ptr< const std::vector< uint8_t >>)> >	m_callbacks
	Callbacks which we are tracking. These are called when a message of a given type is fully received. More...

std::mutex	m_condition_mutex
	Mutex to ensure registrations MessageAssembler are thread safe. More...

std::map< crl::multisense::details::wire::IdType, std::shared_ptr< MessageCondition > >	m_conditions
	Conditions which we are tracking. These are notified when a message of a given type is fully received. More...

int64_t	m_current_sequence_id = 0
	Internal cache of our last sequence id. More...

std::atomic_size_t	m_dispatched_messages = 0
	A counter for the number of messages we dispatched. More...

std::atomic_size_t	m_invalid_packets = 0
	A counter for the number of invalid packets we received. More...

std::deque< int64_t >	m_large_ordered_messages
	Tracking for the ordering of the large buffers we have allocated. Used to determine which active message to potentially remove. More...

int32_t	m_previous_wire_id = -1
	Internal id used to detect internal rollover of the 16 bit wire id. More...

std::atomic_bool	m_processing_messages = false
	The a flag which indicates if a message is being processed. More...

std::atomic_size_t	m_received_messages = 0
	A counter for the number of messages we have received. More...

std::deque< int64_t >	m_small_ordered_messages
	Tracking for the ordering of the small buffers we have allocated. Used to determine which active message to potentially remove. More...

Detailed Description

Process incoming network data, and try the data into valid MultiSense Wire messages.

Definition at line 224 of file message.hh.

Constructor & Destructor Documentation

◆ MessageAssembler()

multisense::legacy::MessageAssembler::MessageAssembler ( std::shared_ptr< BufferPool > buffer_pool )

Definition at line 170 of file message.cc.

◆ ~MessageAssembler()

multisense::legacy::MessageAssembler::~MessageAssembler ( )

default

Member Function Documentation

◆ dispatch()

void multisense::legacy::MessageAssembler::dispatch	(	const crl::multisense::details::wire::IdType &	message_id,
		std::shared_ptr< std::vector< uint8_t >>	data
	)

private

Dispatch to both our registrations and callbacks.

Definition at line 412 of file message.cc.

◆ get_buffer()

std::tuple< std::shared_ptr< std::vector< uint8_t > >, std::deque< int64_t > > multisense::legacy::MessageAssembler::get_buffer	(	uint32_t	message_size,
		std::deque< int64_t >	ordered_messages
	)

private

Get a new buffer that can hold a message of a given size. If no buffers are available try destroying older buffers we may no longer be using. The id's of these buffers are stored in the input ordered_messages.

Definition at line 339 of file message.cc.

◆ get_message_statistics()

MessageStatistics multisense::legacy::MessageAssembler::get_message_statistics ( ) const

inline

Definition at line 257 of file message.hh.

◆ process_packet()

bool multisense::legacy::MessageAssembler::process_packet ( const std::vector< uint8_t > & raw_data )

Definition at line 175 of file message.cc.

◆ register_callback()

void multisense::legacy::MessageAssembler::register_callback	(	const crl::multisense::details::wire::IdType &	message_id,
		std::function< void(std::shared_ptr< const std::vector< uint8_t >>)>	callback
	)

Register a callback to receive valid messages of a given id. Note currently only one callback can be registered for a message_id. Note this will pass the raw image buffer to the callback. It's up to the user to deserialize the message into it's appropriate type.

Definition at line 322 of file message.cc.

◆ register_message()

std::shared_ptr< MessageCondition > multisense::legacy::MessageAssembler::register_message ( const crl::multisense::details::wire::IdType & message_id )

Register to be notified when a message of a given id arrives. Note this registration will only receive a single message. To receive multiple messages please use the callback interface.

Definition at line 292 of file message.cc.

◆ remove_callback()

void multisense::legacy::MessageAssembler::remove_callback ( const crl::multisense::details::wire::IdType & message_id )

Remove a callback for a specific message type.

Definition at line 329 of file message.cc.

◆ remove_registration()

void multisense::legacy::MessageAssembler::remove_registration ( const crl::multisense::details::wire::IdType & message_id )

Remove a registration for a specific message type.

Definition at line 313 of file message.cc.

◆ write_data()

bool multisense::legacy::MessageAssembler::write_data	(	InternalMessage &	message,
		const std::vector< uint8_t > &	raw_data
	)

private

Write raw data to an message.

Definition at line 368 of file message.cc.

Member Data Documentation

◆ m_active_messages

std::map<int64_t, InternalMessage> multisense::legacy::MessageAssembler::m_active_messages

private

Active messages we are accumulating.

Definition at line 335 of file message.hh.

◆ m_buffer_pool

std::shared_ptr<BufferPool> multisense::legacy::MessageAssembler::m_buffer_pool = nullptr

private

Buffer pool used to allocate messages into.

Definition at line 309 of file message.hh.

◆ m_callback_mutex

std::mutex multisense::legacy::MessageAssembler::m_callback_mutex

private

Mutex to ensure callback calls into the MessageAssembler are thread safe.

Definition at line 304 of file message.hh.

◆ m_callbacks

std::map<crl::multisense::details::wire::IdType, std::function<void(std::shared_ptr<const std::vector<uint8_t>>)> > multisense::legacy::MessageAssembler::m_callbacks

private

Callbacks which we are tracking. These are called when a message of a given type is fully received.

Definition at line 348 of file message.hh.

◆ m_condition_mutex

std::mutex multisense::legacy::MessageAssembler::m_condition_mutex

private

Mutex to ensure registrations MessageAssembler are thread safe.

Definition at line 299 of file message.hh.

◆ m_conditions

std::map<crl::multisense::details::wire::IdType, std::shared_ptr<MessageCondition> > multisense::legacy::MessageAssembler::m_conditions

private

Conditions which we are tracking. These are notified when a message of a given type is fully received.

Definition at line 341 of file message.hh.

◆ m_current_sequence_id

int64_t multisense::legacy::MessageAssembler::m_current_sequence_id = 0

private

Internal cache of our last sequence id.

Definition at line 319 of file message.hh.

◆ m_dispatched_messages

std::atomic_size_t multisense::legacy::MessageAssembler::m_dispatched_messages = 0

private

A counter for the number of messages we dispatched.

Definition at line 363 of file message.hh.

◆ m_invalid_packets

std::atomic_size_t multisense::legacy::MessageAssembler::m_invalid_packets = 0

private

A counter for the number of invalid packets we received.

Definition at line 368 of file message.hh.

◆ m_large_ordered_messages

std::deque<int64_t> multisense::legacy::MessageAssembler::m_large_ordered_messages

private

Tracking for the ordering of the large buffers we have allocated. Used to determine which active message to potentially remove.

Definition at line 330 of file message.hh.

◆ m_previous_wire_id

int32_t multisense::legacy::MessageAssembler::m_previous_wire_id = -1

private

Internal id used to detect internal rollover of the 16 bit wire id.

Definition at line 314 of file message.hh.

◆ m_processing_messages

std::atomic_bool multisense::legacy::MessageAssembler::m_processing_messages = false

private

The a flag which indicates if a message is being processed.

Definition at line 358 of file message.hh.

◆ m_received_messages

std::atomic_size_t multisense::legacy::MessageAssembler::m_received_messages = 0

private

A counter for the number of messages we have received.

Definition at line 353 of file message.hh.

◆ m_small_ordered_messages

std::deque<int64_t> multisense::legacy::MessageAssembler::m_small_ordered_messages

private

Tracking for the ordering of the small buffers we have allocated. Used to determine which active message to potentially remove.

Definition at line 325 of file message.hh.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MessageAssembler()

◆ ~MessageAssembler()

Member Function Documentation

◆ dispatch()

◆ get_buffer()

◆ get_message_statistics()

◆ process_packet()

◆ register_callback()

◆ register_message()

◆ remove_callback()

◆ remove_registration()

◆ write_data()

Member Data Documentation

◆ m_active_messages

◆ m_buffer_pool

◆ m_callback_mutex

◆ m_callbacks

◆ m_condition_mutex

◆ m_conditions

◆ m_current_sequence_id

◆ m_dispatched_messages

◆ m_invalid_packets

◆ m_large_ordered_messages

◆ m_previous_wire_id

◆ m_processing_messages

◆ m_received_messages

◆ m_small_ordered_messages