Specialization for polymorphic types (only classes derived from mira::Object are supported!) More...

#include <fw/ChannelBuffer.h>

Inheritance diagram for ChannelBuffer< T * >:

Public Types
typedef Stamped< T * >	ValueType

Public Member Functions
	ChannelBuffer ()

void	promote (const Class *promotionClass)
	Promotes the polymorphic type of the channel to the given class type. More...

template<typename TargetType >
ChannelBufferBase *	promote ()
	Promotes this buffer to the specified target type (if required). More...

void	cloneParameters (const ChannelBufferBase &other)
	Copies the parameters of other to this. More...

void	setStorageDuration (const Duration &storageDuration)
	Sets the desired storage duration (the history). More...

void	setAutoIncreaseStorageDuration (bool increase)
	Sets whether the storage duration is automatically increased on read accesses. More...

void	setMinSlots (std::size_t minSlots)
	Sets the desired min. More...

void	setMaxSlots (std::size_t maxSlots)
	Sets the max. More...

std::size_t	getSize () const
	Returns the size of the buffer. More...

std::size_t	getMaxSlots () const
	Returns the size of the max number of slots. More...

std::size_t	getMinSlots () const
	Returns the size of the min number of slots. More...

Duration	getStorageDuration () const
	Returns the storage duration. More...

bool	isAutoIncreasingStorageDuration () const
	Returns whether the storage duration is automatically increased. More...

TypeMetaPtr	getTypeMeta () const
	Returns the meta information for the slots type. More...

void	setTypeMeta (TypeMetaPtr meta)
	Sets the meta information of the slot's type. More...

Slot *	requestWriteSlot ()
	Returns a slot for writing, where the shared_mutex is already write locked. More...

bool	finishWriteSlot (Slot n, bool dropped=NULL)
	Adds written slot into buffer at the right time position. More...

void	discardWriteSlot (Slot *n)
	Discards written slot. More...

Slot *	readNewestSlot ()
	Returns the newest(latest) slot for reading, where the shared_mutex is already read locked. More...

Slot *	readSlotAtTime (const Time &timestamp, SlotQueryMode mode)
	Returns a slot at the given time according to mode. More...

void	readInterval (const Time &timestamp, std::size_t nrSlots, std::size_t olderSlots, std::size_t newerSlots, IntervalFillMode fillMode, std::list< Slot *> &oSlots)
	Reads an interval of slots. More...

void	readInterval (const Time &from, const Time &to, std::list< Slot *> &oSlots)
	Reads an interval of slots. More...

void	dbgDump (const std::string &prefix, bool brief=true)

void	dbgCheckIntegrity ()

Implementation of TypedChannelBufferBase<Object*>
virtual bool	isPolymorphic () const
	Returns true if the channel has a polymorphic type. More...

virtual int	getTypeId () const
	Returns typeid of the slot values, the allocator creates. More...

virtual Typename	getTypename () const
	Returns the Typename of the slot values, in contrast to getTypeId() the Typename is portable and unique between different processes and operating systems. More...

virtual ChannelBufferBase::Slot *	allocateSlot ()
	Creates and returns a new slot. More...

virtual void	freeSlot (ChannelBufferBase::Slot *s)
	Called to destroy the slot and free the used memory. More...

virtual void	fixateType ()
	Calling this method will fix the type of the ChannelBuffer. More...

virtual void	writeSerializedValue (ChannelBufferBase::Slot *s, Buffer< uint8 > data)
	Write the given buffer (that contains binary serialized data WITHOUT the StampedHeader) to the slot. More...

Implementation of ChannelBufferBase
virtual bool	isTyped () const
	Returns true, if the channel is typed and false, if it is untyped. More...

virtual void	setTypename (const Typename &name)
	Sets the Typename of the slot values. More...

virtual TypeMetaPtr	createTypeMeta (ChannelBufferBase::Slot *s, MetaTypeDatabase &ioDB)
	Creates meta information for data in slot and stores all meta information in the given database. More...

virtual StampedHeader &	getStampedHeader (ChannelBufferBase::Slot *s)
	Returns a reference to the stamped header information. More...

virtual const Buffer< uint8 > &	readSerializedValue (ChannelBufferBase::Slot *s)
	Returns a buffer containing the binary serialized data of the slot. More...

virtual const Buffer< uint8 > &	readSerializedValue (ChannelBufferBase::Slot *s, uint8 formatVersion, bool orLower)
	Returns a buffer containing the binary serialized data of the slot. More...

virtual Buffer< uint8 >	readSerializedValue (ChannelBufferBase::Slot *s, std::list< BinarySerializerCodecPtr > &codecs)
	Returns a buffer containing the binary serialized data of the slot. More...

virtual Buffer< uint8 >	readSerializedValue (ChannelBufferBase::Slot *s, std::list< BinarySerializerCodecPtr > &codecs, uint8 formatVersion, bool orLower)
	Returns a buffer containing the binary serialized data of the slot. More...

virtual void	readJSON (ChannelBufferBase::Slot *s, JSONValue &oValue)
	Reads data of that slot as json representation using a default-instantiated JSONSerializer. More...

virtual void	readJSON (ChannelBufferBase::Slot *s, JSONValue &oValue, JSONSerializer &serializer)
	Reads data of that slot as json representation using the provided JSONSerializer. More...

virtual void	writeJSON (ChannelBufferBase::Slot *s, const JSONValue &value)
	Writes data in json representation into the slot, using a default-instantiated JSONDeserializer. More...

virtual void	writeJSON (ChannelBufferBase::Slot *s, JSONDeserializer &deserializer)
	Writes data from an initialized json deserializer into the slot. More...

Static Public Member Functions
static Slot *	castSlot (ChannelBufferBase::Slot *s)
	Cast an abstract slot to a typed slot. More...

static void	dbgCheckListIntegrity (const ListItem &list)

Protected Member Functions
void	clear ()
	Deletes all slots in all lists and therefore clears the whole buffer. More...

Protected Attributes
const Class *	mMostDerivedClass

const Class *	mFixatedClass

Detailed Description

template<typename T>
class mira::ChannelBuffer< T * >

Specialization for polymorphic types (only classes derived from mira::Object are supported!)

Member Typedef Documentation

◆ ValueType

typedef Stamped<T*> ValueType

Constructor & Destructor Documentation

◆ ChannelBuffer()

ChannelBuffer ( )

inline

Member Function Documentation

◆ isPolymorphic()

virtual bool isPolymorphic ( ) const

inlinevirtualinherited

Returns true if the channel has a polymorphic type.

Reimplemented from TypedChannelBufferBase< Object *>.

◆ getTypeId()

virtual int getTypeId ( ) const

virtualinherited

Returns typeid of the slot values, the allocator creates.

Reimplemented from TypedChannelBufferBase< Object *>.

◆ getTypename()

virtual Typename getTypename ( ) const

virtualinherited

Returns the Typename of the slot values, in contrast to getTypeId() the Typename is portable and unique between different processes and operating systems.

Reimplemented from TypedChannelBufferBase< Object *>.

◆ allocateSlot()

virtual ChannelBufferBase::Slot* allocateSlot ( )

virtualinherited

Creates and returns a new slot.

Reimplemented from TypedChannelBufferBase< Object *>.

◆ freeSlot()

virtual void freeSlot ( ChannelBufferBase::Slot * s )

virtualinherited

Called to destroy the slot and free the used memory.

Reimplemented from TypedChannelBufferBase< Object *>.

◆ fixateType()

virtual void fixateType ( )

virtualinherited

Calling this method will fix the type of the ChannelBuffer.

This method currently is used by the polymorphic buffer only. It will set the type of the buffer to the type that the buffer currently has, hence it fixates the type of the buffer and the buffer can not be promoted to any other type of a derived class.

Reimplemented from TypedChannelBufferBase< Object *>.

◆ writeSerializedValue()

virtual void writeSerializedValue	(	ChannelBufferBase::Slot *	s,
		Buffer< uint8 >	data
	)

virtualinherited

Write the given buffer (that contains binary serialized data WITHOUT the StampedHeader) to the slot.

Reimplemented from TypedChannelBufferBase< Object *>.

◆ promote() [1/2]

void promote ( const Class * promotionClass )

inherited

Promotes the polymorphic type of the channel to the given class type.

◆ promote() [2/2]

ChannelBufferBase * promote ( )

inherited

Promotes this buffer to the specified target type (if required).

This method may create and return a new ChannelBuffer of the desired TargetType. In this case the original buffer should be destroyed by the caller. In some other cases when no new buffer needs to be created the method returns a pointer to this buffer itself.

◆ castSlot()

static Slot* castSlot ( ChannelBufferBase::Slot * s )

inlinestaticinherited

Cast an abstract slot to a typed slot.

◆ isTyped()

virtual bool isTyped ( ) const

inlinevirtualinherited

Returns true, if the channel is typed and false, if it is untyped.

Implements ChannelBufferBase.

◆ setTypename()

virtual void setTypename ( const Typename & name )

inlinevirtualinherited

Sets the Typename of the slot values.

Implements ChannelBufferBase.

◆ createTypeMeta()

virtual TypeMetaPtr createTypeMeta	(	ChannelBufferBase::Slot *	s,
		MetaTypeDatabase &	ioDB
	)

inlinevirtualinherited

Creates meta information for data in slot and stores all meta information in the given database.

Implements ChannelBufferBase.

◆ getStampedHeader()

virtual StampedHeader& getStampedHeader ( ChannelBufferBase::Slot * s )

inlinevirtualinherited

Returns a reference to the stamped header information.

Implements ChannelBufferBase.

◆ readSerializedValue() [1/4]

virtual const Buffer<uint8>& readSerializedValue ( ChannelBufferBase::Slot * s )

inlinevirtualinherited

Returns a buffer containing the binary serialized data of the slot.

The serialized data does NOT contain any StampedHeader information.

Implements ChannelBufferBase.

◆ readSerializedValue() [2/4]

virtual const Buffer<uint8>& readSerializedValue	(	ChannelBufferBase::Slot *	s,
		uint8	formatVersion,
		bool	orLower
	)

inlinevirtualinherited

Returns a buffer containing the binary serialized data of the slot.

The serialized data does NOT contain any StampedHeader information.

Parameters

formatVersion The binary format version requested

Implements ChannelBufferBase.

◆ readSerializedValue() [3/4]

virtual Buffer<uint8> readSerializedValue	(	ChannelBufferBase::Slot *	s,
		std::list< BinarySerializerCodecPtr > &	codecs
	)

inlinevirtualinherited

Returns a buffer containing the binary serialized data of the slot.

The serialized data does NOT contain any StampedHeader information. For serialization it will use the specified codecs.

Implements ChannelBufferBase.

◆ readSerializedValue() [4/4]

virtual Buffer<uint8> readSerializedValue	(	ChannelBufferBase::Slot *	s,
		std::list< BinarySerializerCodecPtr > &	codecs,
		uint8	formatVersion,
		bool	orLower
	)

inlinevirtualinherited

Returns a buffer containing the binary serialized data of the slot.

The serialized data does NOT contain any StampedHeader information. For serialization it will use the specified codecs.

Parameters

formatVersion The binary format version requested

Implements ChannelBufferBase.

◆ readJSON() [1/2]

virtual void readJSON	(	ChannelBufferBase::Slot *	s,
		JSONValue &	oValue
	)

inlinevirtualinherited

Reads data of that slot as json representation using a default-instantiated JSONSerializer.

Exceptions

XNotImplemented if not supported by the channel

Note: This method is only supported by typed channels or untyped channels with valid metadata.

Implements ChannelBufferBase.

◆ readJSON() [2/2]

virtual void readJSON	(	ChannelBufferBase::Slot *	s,
		JSONValue &	oValue,
		JSONSerializer &	serializer
	)

inlinevirtualinherited

Reads data of that slot as json representation using the provided JSONSerializer.

Exceptions

XNotImplemented if not supported by the channel

Note: This method is only supported by typed channels or untyped channels with valid metadata.

Implements ChannelBufferBase.

◆ writeJSON() [1/2]

virtual void writeJSON	(	ChannelBufferBase::Slot *	s,
		const JSONValue &	value
	)

inlinevirtualinherited

Writes data in json representation into the slot, using a default-instantiated JSONDeserializer.

Exceptions

XNotImplemented if not supported by the channel

Note: That this method is only supported by typed channels or untyped channels with valid metadata.

Implements ChannelBufferBase.

◆ writeJSON() [2/2]

virtual void writeJSON	(	ChannelBufferBase::Slot *	s,
		JSONDeserializer &	deserializer
	)

inlinevirtualinherited

Writes data from an initialized json deserializer into the slot.

Exceptions

XNotImplemented if not supported by the channel

Note: That this method is only supported by typed channels or untyped channels with valid metadata.

Implements ChannelBufferBase.

◆ cloneParameters()

void cloneParameters ( const ChannelBufferBase & other )

inlineinherited

Copies the parameters of other to this.

◆ setStorageDuration()

void setStorageDuration ( const Duration & storageDuration )

inherited

Sets the desired storage duration (the history).

This method can increase the duration only. If the specified duration is smaller than a previous set duration the call will be ignored.

Note: Duration can only be increased until the maximum number of slots is reached. Use setMaxSlots() to increase maximum number of slots.

◆ setAutoIncreaseStorageDuration()

void setAutoIncreaseStorageDuration ( bool increase )

inherited

Sets whether the storage duration is automatically increased on read accesses.

If true, any read access specifying a timestamp will automatically increase the storage duration to the time difference between the timestamp and the most recent data (trying to ensure data is kept long enough for further such requests). The default is true.

◆ setMinSlots()

void setMinSlots ( std::size_t minSlots )

inherited

Sets the desired min.

number of slots for storing the history of a channel. This method can increase the min. number of slots only. Instead of specifying the min. number of slots you can also specify the desired storage duration using the setStorageDuration() method.

Note: The desired number of slots can be increased until the maximum number of slots is reached. Use setMaxSlots() to increase maximum number of slots.

◆ setMaxSlots()

void setMaxSlots ( std::size_t maxSlots )

inherited

Sets the max.

number of slots that are used for storing the history of a channel. maxSlots must at least be 1. The default is 100.

Note: There will only be as many slots as needed depending on the number of publishers and subscribers. The number of slots will also grow (history) if a storage duration is specified via setStorageDuration()

◆ getSize()

std::size_t getSize ( ) const

inherited

Returns the size of the buffer.

◆ getMaxSlots()

std::size_t getMaxSlots ( ) const

inherited

Returns the size of the max number of slots.

◆ getMinSlots()

std::size_t getMinSlots ( ) const

inherited

Returns the size of the min number of slots.

◆ getStorageDuration()

Duration getStorageDuration ( ) const

inherited

Returns the storage duration.

◆ isAutoIncreasingStorageDuration()

bool isAutoIncreasingStorageDuration ( ) const

inherited

Returns whether the storage duration is automatically increased.

◆ getTypeMeta()

TypeMetaPtr getTypeMeta ( ) const

inlineinherited

Returns the meta information for the slots type.

◆ setTypeMeta()

void setTypeMeta ( TypeMetaPtr meta )

inlineinherited

Sets the meta information of the slot's type.

◆ requestWriteSlot()

Slot* requestWriteSlot ( )

inherited

Returns a slot for writing, where the shared_mutex is already write locked.

Implementation details:

Cycle of a slot:
   newly created (requestWriteSlot, Step ..)
    |
    v
   writing list
    |finish    |
    v          |discard
   ring buffer |
    |read      |
    v          v
   mWaitingOrFree
    |
    v

◆ finishWriteSlot()

bool finishWriteSlot	(	Slot *	n,
		bool *	dropped = `NULL`
	)

inherited

Adds written slot into buffer at the right time position.

Returns true, if the new Slot value is now the newest value in the buffer. dropped is set to true, if a slot with the same timestamp already exists and hence the slot was discarded.

Note: The lock of the slot is unlocked.

◆ discardWriteSlot()

void discardWriteSlot ( Slot * n )

inherited

Discards written slot.

Note: The lock of the slot is unlocked.

◆ readNewestSlot()

Slot* readNewestSlot ( )

inherited

Returns the newest(latest) slot for reading, where the shared_mutex is already read locked.

Returns NULL if no slot for reading is available.

◆ readSlotAtTime()

Slot* readSlotAtTime	(	const Time &	timestamp,
		SlotQueryMode	mode
	)

inherited

Returns a slot at the given time according to mode.

Returns NULL if no slot exists. See mira::Channel::read() for more informations. Increases storage duration (history) automatically to serve future requests.

◆ readInterval() [1/2]

void readInterval	(	const Time &	timestamp,
		std::size_t	nrSlots,
		std::size_t	olderSlots,
		std::size_t	newerSlots,
		IntervalFillMode	fillMode,
		std::list< Slot *> &	oSlots
	)

inherited

Reads an interval of slots.

See mira::Channel::readInterval for more informations. Increases storage duration (history) automatically to serve future requests.

◆ readInterval() [2/2]

void readInterval	(	const Time &	from,
		const Time &	to,
		std::list< Slot *> &	oSlots
	)

inherited

Reads an interval of slots.

See mira::Channel::readInterval for more informations. Increases storage duration (history) automatically to serve future requests.

◆ clear()

void clear ( )

protectedinherited

Deletes all slots in all lists and therefore clears the whole buffer.

◆ dbgDump()

void dbgDump	(	const std::string &	prefix,
		bool	brief = `true`
	)

inherited

◆ dbgCheckListIntegrity()

static void dbgCheckListIntegrity ( const ListItem & list )

staticinherited

◆ dbgCheckIntegrity()

void dbgCheckIntegrity ( )

inherited

Member Data Documentation

◆ mMostDerivedClass

const Class* mMostDerivedClass

protectedinherited

◆ mFixatedClass

const Class* mFixatedClass

protectedinherited

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

framework/include/fw/ChannelBuffer.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename T> class mira::ChannelBuffer< T * >

Member Typedef Documentation

◆ ValueType

Constructor & Destructor Documentation

◆ ChannelBuffer()

Member Function Documentation

◆ isPolymorphic()

◆ getTypeId()

◆ getTypename()

◆ allocateSlot()

◆ freeSlot()

◆ fixateType()

◆ writeSerializedValue()

◆ promote() [1/2]

◆ promote() [2/2]

◆ castSlot()

◆ isTyped()

◆ setTypename()

◆ createTypeMeta()

◆ getStampedHeader()

◆ readSerializedValue() [1/4]

◆ readSerializedValue() [2/4]

◆ readSerializedValue() [3/4]

◆ readSerializedValue() [4/4]

◆ readJSON() [1/2]

◆ readJSON() [2/2]

◆ writeJSON() [1/2]

◆ writeJSON() [2/2]

◆ cloneParameters()

◆ setStorageDuration()

◆ setAutoIncreaseStorageDuration()

◆ setMinSlots()

◆ setMaxSlots()

◆ getSize()

◆ getMaxSlots()

◆ getMinSlots()

◆ getStorageDuration()

◆ isAutoIncreasingStorageDuration()

◆ getTypeMeta()

◆ setTypeMeta()

◆ requestWriteSlot()

◆ finishWriteSlot()

◆ discardWriteSlot()

◆ readNewestSlot()

◆ readSlotAtTime()

◆ readInterval() [1/2]

◆ readInterval() [2/2]

◆ clear()

◆ dbgDump()

◆ dbgCheckListIntegrity()

◆ dbgCheckIntegrity()

Member Data Documentation

◆ mMostDerivedClass

◆ mFixatedClass

template<typename T>
class mira::ChannelBuffer< T * >