Fawkes API  Fawkes Development Version
fawkes::BlackBoardOnMessageWaker Class Reference

Wake threads on receiving a blackboard message. More...

#include <>>

Inheritance diagram for fawkes::BlackBoardOnMessageWaker:

Public Member Functions

 BlackBoardOnMessageWaker (BlackBoard *bb, Interface *interface, Thread *thread)
 Constructor. More...
 
virtual ~BlackBoardOnMessageWaker ()
 Destructor. More...
 
virtual bool bb_interface_message_received (Interface *interface, Message *message) throw ()
 BlackBoard message received 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_data_changed (Interface *interface) throw ()
 BlackBoard data changed notification. 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

Wake threads on receiving a blackboard message.

This utility class registers as a BlackBoardInterfaceListener and if a message is received it wakes the given thread.

Author
Tim Niemueller

Definition at line 38 of file on_message_waker.h.

Constructor & Destructor Documentation

◆ BlackBoardOnMessageWaker()

fawkes::BlackBoardOnMessageWaker::BlackBoardOnMessageWaker ( BlackBoard bb,
Interface interface,
Thread thread 
)

Constructor.

Parameters
bbblackboard to register with
interfaceInterface to monitor for incoming messages
threadthread to wake

Definition at line 47 of file on_message_waker.cpp.

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

◆ ~BlackBoardOnMessageWaker()

fawkes::BlackBoardOnMessageWaker::~BlackBoardOnMessageWaker ( )
virtual

Destructor.

Unregisters from the blackboard.

Definition at line 61 of file on_message_waker.cpp.

References fawkes::BlackBoard::unregister_listener().

Member Function Documentation

◆ bb_interface_message_received()

bool fawkes::BlackBoardOnMessageWaker::bb_interface_message_received ( Interface interface,
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 68 of file on_message_waker.cpp.

References fawkes::Thread::wakeup().


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