Orocos Real-Time Toolkit  2.6.0
MQSendRecv.hpp
00001 /***************************************************************************
00002   tag: The SourceWorks  Tue Sep 7 00:55:18 CEST 2010  MQSendRecv.hpp
00003 
00004                         MQSendRecv.hpp -  description
00005                            -------------------
00006     begin                : Tue September 07 2010
00007     copyright            : (C) 2010 The SourceWorks
00008     email                : peter@thesourceworks.com
00009 
00010  ***************************************************************************
00011  *   This library is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU General Public                   *
00013  *   License as published by the Free Software Foundation;                 *
00014  *   version 2 of the License.                                             *
00015  *                                                                         *
00016  *   As a special exception, you may use this file as part of a free       *
00017  *   software library without restriction.  Specifically, if other files   *
00018  *   instantiate templates or use macros or inline functions from this     *
00019  *   file, or you compile this file and link it with other files to        *
00020  *   produce an executable, this file does not by itself cause the         *
00021  *   resulting executable to be covered by the GNU General Public          *
00022  *   License.  This exception does not however invalidate any other        *
00023  *   reasons why the executable file might be covered by the GNU General   *
00024  *   Public License.                                                       *
00025  *                                                                         *
00026  *   This library is distributed in the hope that it will be useful,       *
00027  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00028  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00029  *   Lesser General Public License for more details.                       *
00030  *                                                                         *
00031  *   You should have received a copy of the GNU General Public             *
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00033  *   Foundation, Inc., 59 Temple Place,                                    *
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00035  *                                                                         *
00036  ***************************************************************************/
00037 
00038 
00039 #ifndef ORO_MQSENDER_HPP_
00040 #define ORO_MQSENDER_HPP_
00041 
00042 #include <mqueue.h>
00043 #include "../../rtt-fwd.hpp"
00044 #include "../../base/DataSourceBase.hpp"
00045 
00046 namespace RTT
00047 {
00048     namespace mqueue
00049     {
00054         class MQSendRecv
00055         {
00056         protected:
00061             types::TypeMarshaller const& mtransport;
00067             void* marshaller_cookie;
00071             mqd_t mqdes;
00079             char* buf;
00083             bool mis_sender;
00087             bool minit_done;
00091             int max_size;
00096             std::string mqname;
00102             int mdata_size;
00103 
00104         public:
00109             MQSendRecv(types::TypeMarshaller const& transport);
00110 
00111             void setupStream(base::DataSourceBase::shared_ptr ds, base::PortInterface* port, ConnPolicy const& policy, bool is_sender);
00112 
00113             ~MQSendRecv();
00114 
00115             void cleanupStream();
00116 
00122             virtual void mqNewSample(base::DataSourceBase::shared_ptr ds);
00123 
00129             virtual bool mqReady(base::DataSourceBase::shared_ptr ds, base::ChannelElementBase* chan);
00130 
00136             bool mqRead(base::DataSourceBase::shared_ptr ds);
00137 
00144             bool mqWrite(base::DataSourceBase::shared_ptr ds);
00145         };
00146     }
00147 }
00148 
00149 #endif /* ORO_MQSENDER_HPP_ */