A channel buffer for polymorphic types (classes derived from mira::Object) More...

#include <fw/ChannelBuffer.h>

Inheritance diagram for PolymorphicChannelBuffer:

Public Types
typedef Stamped< Object * >	ValueType

Public Member Functions
	PolymorphicChannelBuffer ()
	Constructor. More...

void	promote (const Class *promotionClass)
	Promotes the polymorphic type of the channel to the given class type. 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=nullptr)
	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, bool keepStorageDuration)
	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, bool keepStorageDuration)
	Reads an interval of slots. More...

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

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

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

void	dbgCheckIntegrity ()

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

void	writeXML (ChannelBufferBase::Slot *s, const XMLDom::const_iterator &node) override
	Writes data in xml representation into the slot, using a default-instantiated XMLDeserializer and the name of the provided node. More...

Static Public Member Functions
static void	dbgCheckListIntegrity (const ListItem &list)

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

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

A channel buffer for polymorphic types (classes derived from mira::Object)

Member Typedef Documentation

◆ ValueType

typedef Stamped<Object * > ValueType

inherited

Constructor & Destructor Documentation

◆ PolymorphicChannelBuffer()

PolymorphicChannelBuffer ( )

inline

Constructor.

Member Function Documentation

◆ isPolymorphic()

bool isPolymorphic ( ) const

inlineoverridevirtual

Returns true if the channel has a polymorphic type.

Implements ChannelBufferBase.

◆ getTypeId()

int getTypeId ( ) const

overridevirtual

Returns typeid of the slot values, the allocator creates.

Implements ChannelBufferBase.

◆ getTypename()

Typename getTypename ( ) const

overridevirtual

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

Implements ChannelBufferBase.

◆ allocateSlot()

ChannelBufferBase::Slot* allocateSlot ( )

overridevirtual

Creates and returns a new slot.

Implements ChannelBufferBase.

◆ freeSlot()

void freeSlot ( ChannelBufferBase::Slot * s )

overridevirtual

Called to destroy the slot and free the used memory.

Implements ChannelBufferBase.

◆ fixateType()

void fixateType ( )

overridevirtual

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.

Implements ChannelBufferBase.

◆ writeSerializedValue()

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

overridevirtual

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

Implements ChannelBufferBase.

◆ promote() [1/2]

void promote ( const Class * promotionClass )

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

◆ castSlot()

Slot* castSlot ( ChannelBufferBase::Slot * s )

inlineprotectedinherited

Cast an abstract slot to a typed slot.

◆ isTyped()

bool isTyped ( ) const

inlineoverridevirtualinherited

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

Implements ChannelBufferBase.

◆ setTypename()

void setTypename ( const Typename & name )

inlineoverridevirtualinherited

Sets the Typename of the slot values.

Implements ChannelBufferBase.

◆ createTypeMeta()

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

inlineoverridevirtualinherited

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

Implements ChannelBufferBase.

◆ getStampedHeader()

StampedHeader& getStampedHeader ( ChannelBufferBase::Slot * s )

inlineoverridevirtualinherited

Returns a reference to the stamped header information.

Implements ChannelBufferBase.

◆ readSerializedValue() [1/4]

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

inlineoverridevirtualinherited

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]

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

inlineoverridevirtualinherited

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]

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

inlineoverridevirtualinherited

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]

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

inlineoverridevirtualinherited

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]

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

inlineoverridevirtualinherited

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]

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

inlineoverridevirtualinherited

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]

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

inlineoverridevirtualinherited

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]

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

inlineoverridevirtualinherited

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.

◆ writeXML()

void writeXML	(	ChannelBufferBase::Slot *	s,
		const XMLDom::const_iterator &	node
	)

inlineoverridevirtualinherited

Writes data in xml representation into the slot, using a default-instantiated XMLDeserializer and the name of the provided node.

Exceptions

XNotImplemented if not supported by the channel

Note: That this method is only supported by typed channels

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 previously set duration, the call will be ignored.

Note: Retaining slots for a desired duration means new slots must be created on all write requests before that duration has expired. New slots can only be created up to the slot number limit. If there is a conflict between the desired storage duration and the slot limit, the storage duration will not be guaranteed! 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 = `nullptr`
	)

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,
		bool	keepStorageDuration
	)

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 (if mAutoIncreaseStorageDuration is true and keepStorageDuration is false).

◆ 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,
		bool	keepStorageDuration
	)

inherited

Reads an interval of slots.

See mira::Channel::readInterval for more information. Increases storage duration (history) automatically to serve future requests (if mAutoIncreaseStorageDuration is true and keepStorageDuration is false).

Exceptions

XInvalidRead if not enough data slots available in channel

◆ readInterval() [2/2]

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

inherited

Reads an interval of slots.

See mira::Channel::readInterval for more informations. Increases storage duration (history) automatically to serve future requests (if mAutoIncreaseStorageDuration is true and keepStorageDuration is false).

Exceptions

XInvalidParameter if from > to

◆ 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.

◆ 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

protected

◆ mFixatedClass

const Class* mFixatedClass

protected

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

Member Typedef Documentation

◆ ValueType

Constructor & Destructor Documentation

◆ PolymorphicChannelBuffer()

Member Function Documentation

◆ isPolymorphic()

◆ getTypeId()

◆ getTypename()

◆ allocateSlot()

◆ freeSlot()

◆ fixateType()

◆ writeSerializedValue()

◆ promote() [1/2]

◆ 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]

◆ writeXML()

◆ cloneParameters()

◆ setStorageDuration()

◆ setAutoIncreaseStorageDuration()

◆ setMinSlots()

◆ setMaxSlots()

◆ getSize()

◆ getMaxSlots()

◆ getMinSlots()

◆ getStorageDuration()

◆ isAutoIncreasingStorageDuration()

◆ getTypeMeta()

◆ setTypeMeta()

◆ requestWriteSlot()

◆ finishWriteSlot()

◆ discardWriteSlot()

◆ readNewestSlot()

◆ readSlotAtTime()

◆ readInterval() [1/2]

◆ readInterval() [2/2]

◆ promote() [2/2]

◆ clear()

◆ dbgDump()

◆ dbgCheckListIntegrity()

◆ dbgCheckIntegrity()

Member Data Documentation

◆ mMostDerivedClass

◆ mFixatedClass