Fawkes API  Fawkes Development Version
SyncInterfaceListener Class Reference

Synchronize two interfaces. More...

#include "sync_listener.h"

Inheritance diagram for SyncInterfaceListener:

Public Member Functions

 SyncInterfaceListener (fawkes::Logger *logger, fawkes::Interface *reader, fawkes::Interface *writer, fawkes::BlackBoard *reader_bb, fawkes::BlackBoard *writer_bb)
 Constructor. More...
 
virtual ~SyncInterfaceListener ()
 Destructor. More...
 
virtual bool bb_interface_message_received (fawkes::Interface *interface, fawkes::Message *message) throw ()
 BlackBoard message received notification. More...
 
virtual void bb_interface_data_changed (fawkes::Interface *interface) throw ()
 BlackBoard data changed notification. More...
 
- Public Member Functions inherited from fawkes::BlackBoardInterfaceListener
 BlackBoardInterfaceListener (const char *name_format,...)
 Constructor. More...
 
virtual ~BlackBoardInterfaceListener ()
 Destructor. More...
 
const char * bbil_name () const
 Get BBIL name. More...
 
virtual void bb_interface_writer_added (Interface *interface, unsigned int instance_serial) throw ()
 A writing instance has been opened for a watched interface. More...
 
virtual void bb_interface_writer_removed (Interface *interface, unsigned int instance_serial) throw ()
 A writing instance has been closed for a watched interface. More...
 
virtual void bb_interface_reader_added (Interface *interface, unsigned int instance_serial) throw ()
 A reading instance has been opened for a watched interface. More...
 
virtual void bb_interface_reader_removed (Interface *interface, unsigned int instance_serial) throw ()
 A reading instance has been closed for a watched interface. More...
 

Additional Inherited Members

- Public Types inherited from fawkes::BlackBoardInterfaceListener
enum  QueueEntryType { DATA = 0, MESSAGES = 1, READER = 2, WRITER = 3 }
 Queue entry type. More...
 
typedef std::list< QueueEntryInterfaceQueue
 Queue of additions/removal of interfaces. More...
 
typedef std::map< std::string, Interface * > InterfaceMap
 Map of currently active event subscriptions. More...
 
- Protected Member Functions inherited from fawkes::BlackBoardInterfaceListener
void bbil_add_data_interface (Interface *interface)
 Add an interface to the data modification watch list. More...
 
void bbil_add_message_interface (Interface *interface)
 Add an interface to the message received watch list. More...
 
void bbil_add_reader_interface (Interface *interface)
 Add an interface to the reader addition/removal watch list. More...
 
void bbil_add_writer_interface (Interface *interface)
 Add an interface to the writer addition/removal watch list. More...
 
void bbil_remove_data_interface (Interface *interface)
 Remove an interface to the data modification watch list. More...
 
void bbil_remove_message_interface (Interface *interface)
 Remove an interface to the message received watch list. More...
 
void bbil_remove_reader_interface (Interface *interface)
 Remove an interface to the reader addition/removal watch list. More...
 
void bbil_remove_writer_interface (Interface *interface)
 Remove an interface to the writer addition/removal watch list. More...
 
Interfacebbil_data_interface (const char *iuid) throw ()
 Get interface instance for given UID. More...
 
Interfacebbil_message_interface (const char *iuid) throw ()
 Get interface instance for given UID. More...
 
Interfacebbil_reader_interface (const char *iuid) throw ()
 Get interface instance for given UID. More...
 
Interfacebbil_writer_interface (const char *iuid) throw ()
 Get interface instance for given UID. More...
 

Detailed Description

Synchronize two interfaces.

This class synchronizes two interfaces, a reading and a writing instance of the same type. To accomplish this it listens for data changed and message events and forwards them as appropriate to "the other side".

Author
Tim Niemueller

Definition at line 33 of file sync_listener.h.

Constructor & Destructor Documentation

◆ SyncInterfaceListener()

SyncInterfaceListener::SyncInterfaceListener ( fawkes::Logger logger,
fawkes::Interface reader,
fawkes::Interface writer,
fawkes::BlackBoard reader_bb,
fawkes::BlackBoard writer_bb 
)

Constructor.

Automatically registers the listener with the (two) blackboards as appropriate. It also automatically unregisters in the destructor.

Parameters
loggerlogger to write informational output to
readerreading interface instance
writerwriting interface instance of the same type as reader
reader_bbthe BlackBoard instance the reading instance has been created on
writer_bbthe BlackBoard instance the writing instance has been created on

Definition at line 49 of file sync_listener.cpp.

References fawkes::BlackBoardInterfaceListener::bbil_add_data_interface(), fawkes::BlackBoardInterfaceListener::bbil_add_message_interface(), and fawkes::BlackBoard::register_listener().

◆ ~SyncInterfaceListener()

SyncInterfaceListener::~SyncInterfaceListener ( )
virtual

Destructor.

Definition at line 71 of file sync_listener.cpp.

References fawkes::BlackBoard::unregister_listener().

Member Function Documentation

◆ bb_interface_data_changed()

void SyncInterfaceListener::bb_interface_data_changed ( fawkes::Interface interface)
throw (
)
virtual

BlackBoard data changed notification.

This is called whenever the data in an interface that you registered for is modified. This happens if a writer calls the Interface::write() method.

Parameters
interfaceinterface instance that you supplied to bbil_add_data_interface()

Reimplemented from fawkes::BlackBoardInterfaceListener.

Definition at line 106 of file sync_listener.cpp.

References fawkes::BlackBoardInterfaceListener::bbil_name(), fawkes::Interface::copy_values(), fawkes::Logger::log_error(), fawkes::Interface::read(), and fawkes::Interface::write().

◆ bb_interface_message_received()

bool SyncInterfaceListener::bb_interface_message_received ( fawkes::Interface interface,
fawkes::Message message 
)
throw (
)
virtual

BlackBoard message received notification.

This is called whenever a message is received for this interface. This method is only called for writing instances of an interface, never on reading instances. If you have processed the message already, you can order that the message is not enqueued by returning false. Returning true will enqueue the message as usual. You should only do very (very!) quick tasks directly in this method, as it is out of the regular thread context and can harm performance of other plugins and the system as a whole. Note that if you decide to return false the message is not referenced. If you want to keep it longer you have to ref() it by yourself. An example where this would really make sense is a "STOP" message for the motor, which needs to be processed ASAP and maybe even waiting a couple of miliseconds for the next cycle is not acceptable.

Parameters
interfaceinterface instance that you supplied to bbil_add_message_interface()
messagethe message that was sent
Returns
true to get the message enqueued afterwards as usual, false to prevent queuing of the message.

Reimplemented from fawkes::BlackBoardInterfaceListener.

Definition at line 79 of file sync_listener.cpp.

References fawkes::BlackBoardInterfaceListener::bbil_name(), fawkes::Message::clone(), fawkes::Message::id(), fawkes::Logger::log_error(), fawkes::Interface::msgq_enqueue(), fawkes::RefCount::ref(), fawkes::Message::set_hops(), and fawkes::RefCount::unref().


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