47 #ifndef _MIRA_CHANNELBUFFER_H_ 48 #define _MIRA_CHANNELBUFFER_H_ 52 #include <type_traits> 55 #include <boost/noncopyable.hpp> 56 #include <boost/thread/mutex.hpp> 57 #include <boost/thread/shared_mutex.hpp> 81 template <
typename TargetType>
85 template <
typename TargetType>
135 template <
typename TargetType>
138 template <
typename TargetType>
196 assert(timestampPtr!=NULL);
197 return *timestampPtr;
209 mStorageDuration(
Duration::seconds(0)),
210 mAutoIncreaseStorageDuration(true),
226 mMinSlots = other.mMinSlots;
227 mMaxSlots = other.mMaxSlots;
228 mStorageDuration = other.mStorageDuration;
229 mAutoIncreaseStorageDuration = other.mAutoIncreaseStorageDuration;
242 void setStorageDuration(
const Duration& storageDuration);
252 void setAutoIncreaseStorageDuration(
bool increase);
263 void setMinSlots(std::size_t minSlots);
275 void setMaxSlots(std::size_t maxSlots);
280 std::size_t getSize()
const;
283 std::size_t getMaxSlots()
const;
286 std::size_t getMinSlots()
const;
289 Duration getStorageDuration()
const;
292 bool isAutoIncreasingStorageDuration()
const;
298 virtual int getTypeId()
const = 0;
301 virtual bool isTyped()
const = 0;
304 virtual bool isPolymorphic()
const = 0;
311 virtual Typename getTypename()
const = 0;
316 virtual void setTypename(
const Typename& name) = 0;
341 virtual void fixateType() = 0;
344 virtual Slot* allocateSlot() = 0;
347 virtual void freeSlot(Slot* s) = 0;
358 virtual const Buffer<uint8>& readSerializedValue(Slot* s) = 0;
367 uint8 formatVersion,
bool orLower) = 0;
375 std::list<BinarySerializerCodecPtr>& codecs) = 0;
385 std::list<BinarySerializerCodecPtr>& codecs,
386 uint8 formatVersion,
bool orLower) = 0;
392 virtual void writeSerializedValue(Slot* s,
Buffer<uint8> data) = 0;
401 virtual void readJSON(Slot* s,
JSONValue& oValue) = 0;
418 virtual void writeJSON(Slot* s,
const JSONValue& value) = 0;
455 Slot* requestWriteSlot();
465 bool finishWriteSlot(Slot* n,
bool* dropped=NULL);
471 void discardWriteSlot(Slot* n);
482 Slot* readNewestSlot();
496 void readInterval(
const Time& timestamp, std::size_t nrSlots,
497 std::size_t olderSlots, std::size_t newerSlots,
504 void readInterval(
const Time& from,
const Time& to, std::list<Slot*>& oSlots);
516 template<
typename TargetType>
526 Slot* findFirstOlderSlot(
const Time& timestamp, Slot* start=NULL);
534 void splice(Slot* first, Slot* last, Slot* position)
const;
540 void splice(Slot* item, Slot* position)
const {
541 splice(item,item,position);
544 static bool isEmpty(
const ListItem& list) {
return list.next == &list; }
545 static Slot* begin(ListItem& list) {
return list.next; }
546 static Slot* last(ListItem& list) {
return list.prev; }
547 static Slot* end(ListItem& list) {
return (Slot*)&list; }
550 void deleteSlots(ListItem& list);
563 void resetSlot(Slot* s);
566 Duration mStorageDuration;
567 bool mAutoIncreaseStorageDuration;
568 std::size_t mMinSlots;
569 std::size_t mMaxSlots;
573 mutable boost::mutex mMutex;
591 ListItem mWaitingOrFree;
602 std::string dbgDumpList(ListItem& list,
bool brief);
606 void dbgDump(
const std::string& prefix,
bool brief=
true);
608 static void dbgCheckListIntegrity(
const ListItem& list);
609 void dbgCheckIntegrity();
617 template <
typename T>
634 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
647 return static_cast<Slot*
>(s);
660 MIRA_THROW(XRuntime,
"Cannot set Typename for typed channels");
702 bs.
serialize(slot->data.internalValueRep(),
false);
710 uint8 formatVersion,
bool orLower)
712 uint8 serializerVersion = BinaryBufferSerializer::getSerializerFormatVersion();
714 if (formatVersion == serializerVersion)
717 if (formatVersion == 0) {
729 bs.
serialize(slot->data.internalValueRep(),
false);
735 MIRA_THROW(XIO,
"Requested serialized data of binary format version " << (
int)formatVersion
736 <<
". Only implemented for versions 0, " << (
int)serializerVersion <<
".");
740 std::list<BinarySerializerCodecPtr>& codecs)
754 bs.
serialize(slot->data.internalValueRep(),
false);
756 return std::move(serializedValue);
760 std::list<BinarySerializerCodecPtr>& codecs,
761 uint8 formatVersion,
bool orLower)
763 uint8 serializerVersion = BinaryBufferSerializer::getSerializerFormatVersion();
765 if (formatVersion == serializerVersion)
768 if (formatVersion == 0) {
781 bs.
serialize(slot->data.internalValueRep(),
false);
783 return std::move(serializedValue);
786 MIRA_THROW(XIO,
"Requested serialized data of binary format version " << (
int)formatVersion
787 <<
". Only implemented for versions 0, " << (
int)serializerVersion <<
".");
801 boost::mutex::scoped_lock lock(mCodecsMutex);
804 bs.
deserialize(slot->data.internalValueRep(),
false);
806 boost::mutex::scoped_lock lock(mCodecsMutex);
817 oValue = json.
serialize(slot->data.internalValueRep());
826 oValue = serializer.
serialize(slot->data.internalValueRep());
843 deserializer.
deserialize(slot->data.internalValueRep());
850 boost::mutex mCodecsMutex;
859 template <
typename T>
881 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
894 return static_cast<Slot*
>(s);
910 virtual bool isTyped()
const {
return false; }
913 virtual void setTypename(
const Typename& name);
915 MIRA_THROW(XRuntime,
"Cannot create type meta for untyped channels");
929 Slot* slot = castSlot(s);
949 uint8 formatVersion,
bool orLower)
952 uint8 dataVersion = BinaryBufferDeserializer::getDataFormatVersion(stream);
953 if ((!orLower && (dataVersion != formatVersion)) || (dataVersion > formatVersion)) {
954 MIRA_THROW(XIO,
"Untyped channel contains serialized data of version " << (
int)dataVersion
955 <<
", cannot return data of version " << (
int)formatVersion <<
".");
958 return readSerializedValue(s);
963 std::list<BinarySerializerCodecPtr>& codecs)
970 std::list<BinarySerializerCodecPtr>& codecs,
971 uint8 formatVersion,
bool orLower)
974 return readSerializedValue(s, formatVersion, orLower);
1007 mMostDerivedClass(NULL),
1008 mFixatedClass(NULL) {}
1017 virtual int getTypeId()
const;
1019 virtual Typename getTypename()
const;
1025 virtual void fixateType();
1031 void promote(
const Class* promotionClass);
1039 #ifndef MIRA_WINDOWS 1050 template <
typename T>
1053 static_assert(std::is_base_of<mira::Object,T>::value,
1054 "In channels you can only use pointers of polymorphic " 1055 "classes that are derived from mira::Object. Pointers to " 1056 "other classes cannot be stored in a channel.");
1062 mMostDerivedClass = &T::CLASS();
1075 template <
typename U>
1076 struct ChannelBufferPromoterCommon
1081 "Can promote untyped channels to typed channels only");
1084 MIRA_THROW(XBadCast,
"Invalid promotion from untyped to typed " 1085 "ChannelBuffer. Typename does not match. ('" <<
1086 buffer->
getTypename() <<
"' != '" << typeName<U>() <<
"'");
1100 for(Slot* s=ChannelBufferBase::begin(buffer->mBuffer);
1101 s!=ChannelBufferBase::end(buffer->mBuffer); s=s->next)
1102 s->lock.lock_shared();
1105 for(Slot* s=ChannelBufferBase::begin(buffer->mBuffer);
1106 s!=ChannelBufferBase::end(buffer->mBuffer); s=s->next)
1120 for(Slot* s=ChannelBufferBase::begin(buffer->mBuffer);
1121 s!=ChannelBufferBase::end(buffer->mBuffer); s=s->next)
1122 s->lock.unlock_shared();
1140 template <
typename U>
1141 struct ChannelBufferPromoter :
public ChannelBufferPromoterCommon<U>
1148 return Base::promoteUntyped(buffer);
1158 template <
typename U>
1166 buffer = Base::promoteUntyped(buffer);
1170 assert(polymorphicBuffer!=NULL &&
1171 "We should never reach here if the buffer to promote is not " 1175 const Class* classU = &U::CLASS();
1178 polymorphicBuffer->
promote(classU);
1180 return polymorphicBuffer;
1186 template<
typename U>
Serializer for serializing objects in JSON format.
Definition: JSONSerializer.h:93
virtual void writeJSON(ChannelBufferBase::Slot *s, const JSONValue &value)
Writes data in json representation into the slot, using a default-instantiated JSONDeserializer.
Definition: ChannelBuffer.h:829
virtual void freeSlot(ChannelBufferBase::Slot *s)
Called to destroy the slot and free the used memory.
Definition: ChannelBuffer.h:675
void deserialize(T &value)
Definition: JSONSerializer.h:427
boost::shared_mutex lock
Definition: ChannelBuffer.h:167
Definition: BinarySerializer.h:324
const Time * timestampPtr
Pointer to the actual timestamp in the slot data for easy access.
Definition: ChannelBuffer.h:179
const Class * mFixatedClass
Definition: ChannelBuffer.h:1036
virtual TypeMetaPtr createTypeMeta(ChannelBufferBase::Slot *s, MetaTypeDatabase &ioDB)
Creates meta information for data in slot and stores all meta information in the given database...
Definition: ChannelBuffer.h:914
boost::mutex serializedValueLock
Lock for writing serializedValue in readSerializedData.
Definition: ChannelBuffer.h:174
const Class * mMostDerivedClass
Definition: ChannelBuffer.h:1035
Include file for all eigen related things.
static Slot * castSlot(ChannelBufferBase::Slot *s)
Cast an abstract slot to a typed slot.
Definition: ChannelBuffer.h:889
virtual ~ChannelBuffer()
Definition: ChannelBuffer.h:901
Typed slot derived from ChannelBufferBase::Slot.
Definition: ChannelBuffer.h:631
void promote(const Class *promotionClass)
Promotes the polymorphic type of the channel to the given class type.
The first slot with timestamp < requested will be chosen.
Definition: ChannelBuffer.h:97
static Slot * castSlot(ChannelBufferBase::Slot *s)
Cast an abstract slot to a typed slot.
Definition: ChannelBuffer.h:642
virtual void writeSerializedValue(ChannelBufferBase::Slot *s, Buffer< uint8 > data)
Write the given buffer (that contains binary serialized data WITHOUT the StampedHeader) to the slot...
Definition: ChannelBuffer.h:977
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.
Definition: ChannelBuffer.h:759
specialize cv::DataType for our ImgPixel and inherit from cv::DataType<Vec>
Definition: IOService.h:67
std::string Typename
Definition: Typename.h:60
virtual ChannelBufferBase::Slot * allocateSlot()
Creates and returns a new slot.
Definition: ChannelBuffer.h:670
Specialization for polymorphic types (only classes derived from mira::Object are supported!) ...
Definition: ChannelBuffer.h:1051
ValueType header
Definition: ChannelBuffer.h:880
virtual bool isTyped() const
Returns true, if the channel is typed and false, if it is untyped.
Definition: ChannelBuffer.h:910
Time and Duration wrapper class.
Class object which supports some kind of class reflection.
Definition: Class.h:97
virtual Typename getTypename() const
Returns the Typename of the slot values, in contrast to getTypeId() the Typename is portable and uniq...
Definition: ChannelBuffer.h:912
ListItem()
Definition: ChannelBuffer.h:151
Stamped class specialization for polymorphic pointers.
Definition: Stamped.h:238
StampedHeader & stampedHeader(Stamped< T > &data)
Helper to extract the header from stamped data.
Definition: Stamped.h:482
ChannelBufferBase * promote()
Promotes this buffer to the specified target type (if required).
Definition: ChannelBuffer.h:1187
TypeMetaPtr getTypeMeta() const
Returns the meta information for the slots type.
Definition: ChannelBuffer.h:327
Base class for typed channel buffers.
Definition: ChannelBuffer.h:618
virtual void fixateType()
Calling this method will fix the type of the ChannelBuffer.
Definition: ChannelBuffer.h:669
Get compiler and platform independent typenames.
Framework export macro declaration.
void serialize(const std::string &name, const T &value, const std::string &comment="")
Serializes the specified object value under the given name.
Definition: Serializer.h:204
#define MIRA_THROW(ex, msg)
Macro for throwing an exception.
Definition: Exception.h:81
void serialize(const T &value, bool enableTypeCheck=true)
Provides a special serialize interface for the BinarySerializer.
Definition: BinarySerializer.h:598
Implements double-linked list item.
Definition: ChannelBuffer.h:149
virtual StampedHeader & getStampedHeader(ChannelBufferBase::Slot *s)
Returns a reference to the stamped header information.
Definition: ChannelBuffer.h:935
Wrapper class for boost::posix_time::ptime for adding more functionality to it.
Definition: Time.h:421
Slot * requestWriteSlot()
Returns a slot for writing, where the shared_mutex is already write locked.
virtual const Buffer< uint8 > & readSerializedValue(ChannelBufferBase::Slot *s, uint8 formatVersion, bool orLower)
Returns a buffer containing the binary serialized data of the slot.
Definition: ChannelBuffer.h:709
ChannelBuffer()
Definition: ChannelBuffer.h:1061
A channel buffer for polymorphic types (classes derived from mira::Object)
Definition: ChannelBuffer.h:999
Deserializer for serializing objects from JSON format.
Definition: JSONSerializer.h:400
virtual int getTypeId() const
Returns typeid of the slot values, the allocator creates.
Definition: ChannelBuffer.h:909
virtual ~TypedChannelBufferBase()
Definition: ChannelBuffer.h:626
void setTypeMeta(TypeMetaPtr meta)
Sets the meta information of the slot's type.
Definition: ChannelBuffer.h:332
Binary serializer and deserializer.
PolymorphicChannelBuffer()
Constructor.
Definition: ChannelBuffer.h:1006
void registerCodec(BinarySerializerCodecPtr codec)
Registers the specified codec instance in this binary serializer.
Definition: BinarySerializer.h:764
virtual Buffer< uint8 > readSerializedValue(ChannelBufferBase::Slot *s, std::list< BinarySerializerCodecPtr > &codecs)
Returns a buffer containing the binary serialized data of the slot.
Definition: ChannelBuffer.h:962
virtual void writeSerializedValue(ChannelBufferBase::Slot *s, Buffer< uint8 > data)
Write the given buffer (that contains binary serialized data WITHOUT the StampedHeader) to the slot...
Definition: ChannelBuffer.h:790
virtual bool isPolymorphic() const
Returns true if the channel has a polymorphic type.
Definition: ChannelBuffer.h:911
virtual TypeMetaPtr createTypeMeta(ChannelBufferBase::Slot *s, MetaTypeDatabase &ioDB)
Creates meta information for data in slot and stores all meta information in the given database...
Definition: ChannelBuffer.h:662
virtual StampedHeader & getStampedHeader(ChannelBufferBase::Slot *s)
Returns a reference to the stamped header information.
Definition: ChannelBuffer.h:683
#define MIRA_FRAMEWORK_EXPORT
Definition: FrameworkExports.h:61
Stamped< T * > ValueType
Definition: ChannelBuffer.h:1056
Core class of the logging library.
Use this class to represent time durations.
Definition: Time.h:104
virtual bool isPolymorphic() const
Returns true if the channel has a polymorphic type.
Definition: ChannelBuffer.h:657
const CodecsMap & getCodecs() const
Return the map of currently known codecs.
Definition: BinarySerializer.h:1581
bool empty() const
Checks if the buffer is empty (used size == 0).
Definition: Buffer.h:303
Typed ChannelBuffer.
Definition: ChannelBuffer.h:860
The slot with smallest time difference to the requested will be chosen.
Definition: ChannelBuffer.h:103
virtual StampedHeader & getStampedHeader(Slot *s)=0
Returns a reference to the stamped header information.
ChannelBuffer()
Definition: ChannelBuffer.h:899
virtual const Buffer< uint8 > & readSerializedValue(ChannelBufferBase::Slot *s, uint8 formatVersion, bool orLower)
Returns a buffer containing the binary serialized data of the slot.
Definition: ChannelBuffer.h:948
Mix in for adding a time stamp, an optional frame id and an optional sequence id to data types like P...
Definition: Stamped.h:149
boost::shared_ptr< TypeMeta > TypeMetaPtr
Definition: MetaSerializer.h:309
virtual int getTypeId() const
Returns typeid of the slot values, the allocator creates.
Definition: ChannelBuffer.h:655
virtual void freeSlot(ChannelBufferBase::Slot *s)
Called to destroy the slot and free the used memory.
Definition: ChannelBuffer.h:927
Mix in for adding a timestamp to data types.
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.
Definition: ChannelBuffer.h:969
virtual void readJSON(ChannelBufferBase::Slot *s, JSONValue &oValue, JSONSerializer &serializer)
Reads data of that slot as json representation using the provided JSONSerializer. ...
Definition: ChannelBuffer.h:820
Stamped< T > ValueType
Definition: ChannelBuffer.h:622
void cloneParameters(const ChannelBufferBase &other)
Copies the parameters of other to this.
Definition: ChannelBuffer.h:224
virtual bool isPolymorphic() const
Returns true if the channel has a polymorphic type.
Definition: ChannelBuffer.h:1015
ValueType data
the actual data value, that is stored in this channel's slots
Definition: ChannelBuffer.h:633
Base class that manages the slots of channels by providing read and write access to them...
Definition: ChannelBuffer.h:133
const Time & timestamp() const
Definition: ChannelBuffer.h:195
Container for storing a single data element in the linked list.
Definition: ChannelBuffer.h:165
bool finishWriteSlot(Slot *n, bool *dropped=NULL)
Adds written slot into buffer at the right time position.
void setCodecs(const CodecsMap &codecs)
Set the map of known codecs.
Definition: BinarySerializer.h:1586
virtual void setTypename(const Typename &name)
Sets the Typename of the slot values.
Definition: ChannelBuffer.h:659
virtual void fixateType()
Calling this method will fix the type of the ChannelBuffer.
Definition: ChannelBuffer.h:919
Input stream adapter that can be assigned to any input stream and allows binary input using the >> st...
Definition: BinaryStream.h:523
Slot * next
Definition: ChannelBuffer.h:158
Buffer< uint8 > serializedValue
The data of this slot as serialized data.
Definition: ChannelBuffer.h:185
virtual void readJSON(ChannelBufferBase::Slot *s, JSONValue &oValue)
Reads data of that slot as json representation using a default-instantiated JSONSerializer.
Definition: ChannelBuffer.h:811
virtual const Buffer< uint8 > & readSerializedValue(ChannelBufferBase::Slot *s)
Returns a buffer containing the binary serialized data of the slot.
Definition: ChannelBuffer.h:943
void deserialize(T &value, bool enableTypeCheck=true, bool recursive=false)
Provides a special deserialize interface for the BinaryDeserializer.
Definition: BinarySerializer.h:1340
StampedHeader ValueType
Definition: ChannelBuffer.h:874
virtual bool isTyped() const
Returns true, if the channel is typed and false, if it is untyped.
Definition: ChannelBuffer.h:656
virtual ChannelBufferBase::Slot * allocateSlot()
Creates and returns a new slot.
Definition: ChannelBuffer.h:921
Prefer filling the interval with slots with timestamp > requested.
Definition: ChannelBuffer.h:115
Prefer filling the interval with slots with timestamp < requested.
Definition: ChannelBuffer.h:113
uint32 flags
Used to store internal flags that are especially used by the remote capability of the framework...
Definition: ChannelBuffer.h:193
IntervalFillMode
Mode that is used to determine what slots should be added to the interval when not enough slots are a...
Definition: ChannelBuffer.h:110
virtual const Buffer< uint8 > & readSerializedValue(ChannelBufferBase::Slot *s)
Returns a buffer containing the binary serialized data of the slot.
Definition: ChannelBuffer.h:689
virtual Buffer< uint8 > readSerializedValue(ChannelBufferBase::Slot *s, std::list< BinarySerializerCodecPtr > &codecs)
Returns a buffer containing the binary serialized data of the slot.
Definition: ChannelBuffer.h:739
virtual Typename getTypename() const =0
Returns the Typename of the slot values, in contrast to getTypeId() the Typename is portable and uniq...
SlotQueryMode
Mode that is used to determine the slot obtained from a channel when no slot exists at the exact time...
Definition: ChannelBuffer.h:94
json::Value JSONValue
Imports the json::Value type into mira namespace.
Definition: JSON.h:363
void clear()
Deletes all slots in all lists and therefore clears the whole buffer.
Provides method for generating a unique id for any type.
Slot * prev
Definition: ChannelBuffer.h:159
virtual Typename getTypename() const
Returns the Typename of the slot values, in contrast to getTypeId() the Typename is portable and uniq...
Definition: ChannelBuffer.h:658
ChannelBufferBase()
Constructor.
Definition: ChannelBuffer.h:208
Serializer and Deserializer for JSON format.
virtual void writeJSON(ChannelBufferBase::Slot *s, JSONDeserializer &deserializer)
Writes data from an initialized json deserializer into the slot.
Definition: ChannelBuffer.h:838
virtual bool isTyped() const =0
Returns true, if the channel is typed and false, if it is untyped.
The first slot with timestamp > requested will be chosen.
Definition: ChannelBuffer.h:100
std::map< TypeId, BinarySerializerCodecPtr > CodecsMap
A map of binary serialization codecs.
Definition: BinarySerializer.h:1270
boost::shared_ptr< BinarySerializerCodec > BinarySerializerCodecPtr
Shared pointer of BinarySerializerCodec.
Definition: BinarySerializerCodec.h:64