Buffer incoming data to a port. More...

#include <yarp/os/PortReaderBuffer.h>

Inheritance diagram for yarp::os::PortReaderBuffer< T >:

Public Member Functions
	PortReaderBuffer (unsigned int maxBuffer=0)
	Constructor. More...

virtual	~PortReaderBuffer ()
	Destructor. More...

void	detach ()

void	setStrict (bool strict=true) override
	Call this to strictly keep all messages, or allow old ones to be quietly dropped. More...

bool	check ()
	Check if data is available. More...

int	getPendingReads () override
	Check how many messages are waiting to be read. More...

T *	read (bool shouldWait=true) override
	Read an available object from the port. More...

void	interrupt () override
	Abort any read operation currently in progress. More...

T *	lastRead () override
	Get the last data returned by read() More...

void	attach (Port &port)
	Attach this buffer to a particular port. More...

void	useCallback (TypedReaderCallback< T > &callback) override
	Set an object whose onRead method will be called when data is available. More...

void	disableCallback () override
	Remove a callback set up with useCallback() More...

virtual bool	read (ConnectionReader &connection)
	Reads objects from a network connection. More...

PortReader *	create () const override
	Factory method. More...

void	setReplier (PortReader &reader) override
	If a message is received that requires a reply, use this handler. More...

virtual bool	getEnvelope (PortReader &envelope)

bool	isClosed () override
	Returns whether the port associated with this reader has been closed. More...

std::string	getName () const override
	Get name of port being read from. More...

bool	acceptObject (T obj, PortWriter wrapper) override
	Send object obj; expect callback to wrapper when obj is no longer in use. More...

bool	forgetObject (T obj, yarp::os::PortWriter wrapper) override
	Sender is no longer interested in getting callbacks. More...

void *	acquire () override
	Take control of the last object read. More...

void	release (void *handle) override
	Return control to YARP of an object previously taken control of with the acquire() method. More...

void	setTargetPeriod (double period) override
	Try to provide data periodically. More...

Public Member Functions inherited from yarp::os::TypedReader< T >
virtual	~TypedReader ()=default
	Destructor. More...

Public Member Functions inherited from yarp::os::LocalReader< T >
virtual	~LocalReader ()=default

Public Member Functions inherited from yarp::os::PortReaderBufferBaseCreator
virtual	~PortReaderBufferBaseCreator ()

Detailed Description

template<typename T>
class yarp::os::PortReaderBuffer< T >

Buffer incoming data to a port.

An instance of this class can be associated with a Port by calling attach(). From then on data that arrives to the Port will be passed to this buffer, to be picked up at the user's leisure by calling check() and read(). "T" should be a PortReader class, such as Bottle.

Definition at line 39 of file PortReaderBuffer.h.

Constructor & Destructor Documentation

◆ PortReaderBuffer()

template<typename T >

yarp::os::PortReaderBuffer< T >::PortReaderBuffer ( unsigned int maxBuffer = 0 )

Constructor.

Parameters

maxBuffer Maximum number of buffers permitted (0 = no limit)

Definition at line 15 of file PortReaderBuffer-inl.h.

◆ ~PortReaderBuffer()

template<typename T >

yarp::os::PortReaderBuffer< T >::~PortReaderBuffer

virtual

Destructor.

Definition at line 27 of file PortReaderBuffer-inl.h.

Member Function Documentation

◆ acceptObject()

template<typename T >

bool yarp::os::PortReaderBuffer< T >::acceptObject	(	T *	obj,
		PortWriter *	wrapper
	)

overridevirtual

Send object obj; expect callback to wrapper when obj is no longer in use.

Implements yarp::os::LocalReader< T >.

Definition at line 183 of file PortReaderBuffer-inl.h.

◆ acquire()

template<typename T >

void * yarp::os::PortReaderBuffer< T >::acquire ( )

overridevirtual

Take control of the last object read.

YARP will not reuse that object until it is explicitly released by the user. Be careful - if you acquire objects without releasing, YARP will keep making new ones to store incoming messages. So you need to release all objects you acquire eventually to avoid running out of memory.

Returns: the handle to call release() with in order to give YARP back control of the last object read.

Implements yarp::os::TypedReader< T >.

Definition at line 195 of file PortReaderBuffer-inl.h.

◆ attach()

template<typename T >

void yarp::os::PortReaderBuffer< T >::attach ( Port & port )

Attach this buffer to a particular port.

Data arriving to that port will from now on be placed in this buffer.

Parameters

port	the port to attach to

Definition at line 119 of file PortReaderBuffer-inl.h.

◆ check()

template<typename T >

bool yarp::os::PortReaderBuffer< T >::check

Check if data is available.

Returns: true iff data is available (i.e. a call to read() will return immediately and successfully)

Definition at line 59 of file PortReaderBuffer-inl.h.

◆ create()

template<typename T >

yarp::os::PortReader * yarp::os::PortReaderBuffer< T >::create

overridevirtual

Factory method.

New instances are created as needed to store incoming data. By default, this just uses the default constructor - override this if you need to do something fancier (such as allocating a shared memory space).

Returns: new instance of the templated type.

Implements yarp::os::PortReaderBufferBaseCreator.

Definition at line 153 of file PortReaderBuffer-inl.h.

◆ detach()

template<typename T >

void yarp::os::PortReaderBuffer< T >::detach

Definition at line 33 of file PortReaderBuffer-inl.h.

◆ disableCallback()

template<typename T >

void yarp::os::PortReaderBuffer< T >::disableCallback ( )

overridevirtual

Remove a callback set up with useCallback()

Implements yarp::os::TypedReader< T >.

Definition at line 137 of file PortReaderBuffer-inl.h.

◆ forgetObject()

template<typename T >

bool yarp::os::PortReaderBuffer< T >::forgetObject	(	T *	obj,
		yarp::os::PortWriter *	wrapper
	)

overridevirtual

Sender is no longer interested in getting callbacks.

Implements yarp::os::LocalReader< T >.

Definition at line 189 of file PortReaderBuffer-inl.h.

◆ getEnvelope()

template<typename T >

bool yarp::os::PortReaderBuffer< T >::getEnvelope ( PortReader & envelope )

virtual

Definition at line 165 of file PortReaderBuffer-inl.h.

◆ getName()

template<typename T >

std::string yarp::os::PortReaderBuffer< T >::getName ( ) const

overridevirtual

Get name of port being read from.

Returns: name of port

Implements yarp::os::TypedReader< T >.

Definition at line 177 of file PortReaderBuffer-inl.h.

◆ getPendingReads()

template<typename T >

int yarp::os::PortReaderBuffer< T >::getPendingReads ( )

overridevirtual

Check how many messages are waiting to be read.

Returns: number of pending messages

Implements yarp::os::TypedReader< T >.

Definition at line 65 of file PortReaderBuffer-inl.h.

◆ interrupt()

template<typename T >

void yarp::os::PortReaderBuffer< T >::interrupt ( )

overridevirtual

Abort any read operation currently in progress.

Implements yarp::os::TypedReader< T >.

Definition at line 107 of file PortReaderBuffer-inl.h.

◆ isClosed()

template<typename T >

bool yarp::os::PortReaderBuffer< T >::isClosed ( )

overridevirtual

Returns whether the port associated with this reader has been closed.

Returns: true if Port associated with this reader has been closed

Implements yarp::os::TypedReader< T >.

Definition at line 171 of file PortReaderBuffer-inl.h.

◆ lastRead()

template<typename T >

T * yarp::os::PortReaderBuffer< T >::lastRead ( )

overridevirtual

Get the last data returned by read()

Returns: pointer to last data returned by read(), or nullptr on failure.

Implements yarp::os::TypedReader< T >.

Definition at line 113 of file PortReaderBuffer-inl.h.

◆ read() [1/2]

template<typename T >

T * yarp::os::PortReaderBuffer< T >::read ( bool shouldWait = true )

overridevirtual

Read an available object from the port.

Parameters

shouldWait true if the method should wait until an object is available, false if the call should return immediately if no message is available

Returns: A pointer to an object read from the port, or nullptr if none is available and waiting was not requested. This object is owned by the communication system and should not be deleted by the user. The object is available to the user until the next call to one of the read methods, after which it should not be accessed again.

Implements yarp::os::TypedReader< T >.

Definition at line 72 of file PortReaderBuffer-inl.h.

◆ read() [2/2]

template<typename T >

bool yarp::os::PortReaderBuffer< T >::read ( ConnectionReader & connection )

virtual

Reads objects from a network connection.

This method is called by a port when data is received.

Parameters

connection an interface to the network connection for reading

Returns: true iff the object is successfully read

Definition at line 147 of file PortReaderBuffer-inl.h.

◆ release()

template<typename T >

void yarp::os::PortReaderBuffer< T >::release ( void * handle )

overridevirtual

Return control to YARP of an object previously taken control of with the acquire() method.

Parameters

handle the pointer returned by acquire() when control of the object was taken by the user.

Implements yarp::os::TypedReader< T >.

Definition at line 201 of file PortReaderBuffer-inl.h.

◆ setReplier()

template<typename T >

void yarp::os::PortReaderBuffer< T >::setReplier ( PortReader & reader )

overridevirtual

If a message is received that requires a reply, use this handler.

No buffering happens.

Parameters

reader the handler to use

Implements yarp::os::TypedReader< T >.

Definition at line 159 of file PortReaderBuffer-inl.h.

◆ setStrict()

template<typename T >

void yarp::os::PortReaderBuffer< T >::setStrict ( bool strict = true )

overridevirtual

Call this to strictly keep all messages, or allow old ones to be quietly dropped.

If you don't call this, old messages will be quietly dropped.

Parameters

strict True to keep all messages until they are read, false to drop old messages when a new one comes in.

Warning: If you can't read them as fast as the come in, watch out.

Implements yarp::os::TypedReader< T >.

Definition at line 51 of file PortReaderBuffer-inl.h.

◆ setTargetPeriod()

template<typename T >

void yarp::os::PortReaderBuffer< T >::setTargetPeriod ( double period )

overridevirtual

Try to provide data periodically.

If no new data arrives in a given period, repeat the last data received (if any). Similarly, the port should not pass on data more frequently than the given period.

Parameters

period target period in (fractional) seconds.

Implements yarp::os::TypedReader< T >.

Definition at line 207 of file PortReaderBuffer-inl.h.

◆ useCallback()

template<typename T >

void yarp::os::PortReaderBuffer< T >::useCallback ( TypedReaderCallback< T > & callback )

overridevirtual

Set an object whose onRead method will be called when data is available.

Parameters

callback the object whose onRead method will be called with data

Implements yarp::os::TypedReader< T >.

Definition at line 126 of file PortReaderBuffer-inl.h.

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

src/libYARP_os/src/yarp/os/PortReaderBuffer.h
src/libYARP_os/src/yarp/os/PortReaderBuffer-inl.h

Public Member Functions

Detailed Description

template<typename T> class yarp::os::PortReaderBuffer< T >

Constructor & Destructor Documentation

◆ PortReaderBuffer()

◆ ~PortReaderBuffer()

Member Function Documentation

◆ acceptObject()

◆ acquire()

◆ attach()

◆ check()

◆ create()

◆ detach()

◆ disableCallback()

◆ forgetObject()

◆ getEnvelope()

◆ getName()

◆ getPendingReads()

◆ interrupt()

◆ isClosed()

◆ lastRead()

◆ read() [1/2]

◆ read() [2/2]

◆ release()

◆ setReplier()

◆ setStrict()

◆ setTargetPeriod()

◆ useCallback()

template<typename T>
class yarp::os::PortReaderBuffer< T >