compatibility API for accessing the whiteboard More...

#include <Whiteboard.h>

Inheritance diagram for guWhiteboard::Whiteboard:

Collaboration diagram for guWhiteboard::Whiteboard:

Classes
struct	callback_descr

Public Types
enum	wb_method_result { METHOD_OK , METHOD_FAIL }
	Return Type Enum. More...

typedef enum guWhiteboard::Whiteboard::wb_method_result	WBResult
	Return Type Enum. More...

Public Member Functions
	Whiteboard (const char *sharedMemoryObjectName=gsw_global_whiteboard_name, bool checkVersion=true, int number=0)
	API Constructor This sets up the API and the callback soap server. More...

virtual	~Whiteboard ()
	Destructor. More...

void	addMessage (gsw_hash_info *hashinfo, const WBMsg &msg, bool nonatomic=false, bool notifySubscribers=true)
	Add Message Adds a message to the whiteboard that the API is connected to. More...

WBMsg	getMessage (gsw_hash_info hashinfo, WBResult result=NULLPTR)
	Get Message Gets a message from a simple whiteboard. More...

void	subscriptionCallback (void)
	subscription callback: not really public! More...

virtual void	subscribeToMessage (gsw_hash_info hashinfo, WBFunctorBase func, WBResult &result)
	Subscribe To Message Subscribes to a message type on a whiteboard or whiteboards. More...

void	unsubscribeToMessage (gsw_hash_info *hashinfo, WBResult &result)
	Unsubscribe To Message (sic!) Unsubscribes from a message type on a whiteboard or whiteboards. More...

gsw_hash_info *	getTypeOffset (std::string type)
	create a hash offset from message type, needed for adding, getting from WB More...

void	addMessage (const std::string &type, const WBMsg &msg, bool nonatomic=false, bool notifySubscribers=true)
	Add Message Adds a message to the whiteboard that the API is connected to. More...

WBMsg	getMessage (std::string type, WBResult *result=NULLPTR)
	Get Message Gets a message from a simple whiteboard. More...

virtual void	subscribeToMessage (const std::string &type, WBFunctorBase *func, WBResult &result)
	Subscribe To Message Subscribes to a message type on a whiteboard or whiteboards. More...

void	unsubscribeToMessage (std::string type, WBResult &result)
	Unsubscribe To Message (sic!) Unsubscribes from a message type on a whiteboard or whiteboards. More...

Static Public Member Functions
static WBMsg	getWBMsg (gu_simple_message *m)
	convert the new 'simple' whiteboard data structure into the old WBMsg format More...

Public Attributes
gu_simple_whiteboard_descriptor *	_wbd
	underlying whiteboard More...

Detailed Description

compatibility API for accessing the whiteboard

Definition at line 115 of file Whiteboard.h.

Member Typedef Documentation

◆ WBResult

typedef enum guWhiteboard::Whiteboard::wb_method_result guWhiteboard::Whiteboard::WBResult

Return Type Enum.

Allows the user to test if an error has occured

Member Enumeration Documentation

◆ wb_method_result

enum guWhiteboard::Whiteboard::wb_method_result

Return Type Enum.

Allows the user to test if an error has occured

Enumerator
METHOD_OK	No errors detected.
METHOD_FAIL	Errors detected.

Definition at line 166 of file Whiteboard.h.

Constructor & Destructor Documentation

◆ Whiteboard()

Whiteboard::Whiteboard	(	const char *	sharedMemoryObjectName = `gsw_global_whiteboard_name`,
		bool	checkVersion = `true`,
		int	number = `0`
	)

API Constructor This sets up the API and the callback soap server.

Parameters

[in]	sharedMemoryObjectName	(optional) Allows the user to specify a local shared-memory whiteboard to use.
[in]	checkVersion	indicate whether to check wb version (default: true)
[in]	number	whiteboard number (0 = local, 1..4 = reserved for robots)

Definition at line 91 of file Whiteboard.cc.

References _wbd, gsw_whiteboard_s::callback, gsw_whiteboard_s::context, DISPATCH_QUEUE_SERIAL, gsw_global_whiteboard_name, gsw_new_numbered_whiteboard(), and init_ios_whiteboard_name.

Referenced by guWhiteboard::RemoteWhiteboard::RemoteWhiteboard().

◆ ~Whiteboard()

Whiteboard::~Whiteboard ( )

virtual

Destructor.

shuts down the whiteboard

Definition at line 119 of file Whiteboard.cc.

References _wbd, gsw_whiteboard_s::callback, and gsw_free_whiteboard().

Member Function Documentation

◆ addMessage() [1/2]

void Whiteboard::addMessage	(	const std::string &	type,
		const WBMsg &	msg,
		bool	nonatomic = `false`,
		bool	notifySubscribers = `true`
	)

Add Message Adds a message to the whiteboard that the API is connected to.

Parameters

[in]	type	The string type associated with the message object
[in]	msg	The message object to post to the whiteboard
[in]	nonatomic	Add quickly without grabbing the semaphore
[in]	notifySubscribers	Signal subscribers (default: true)

Definition at line 328 of file Whiteboard.cc.

References addMessage().

◆ addMessage() [2/2]

void Whiteboard::addMessage	(	gsw_hash_info *	hashinfo,
		const WBMsg &	msg,
		bool	nonatomic = `false`,
		bool	notifySubscribers = `true`
	)

Add Message Adds a message to the whiteboard that the API is connected to.

Parameters

[in]	hashinfo	Contains the offset index to access a message
[in]	msg	The message object to post to the whiteboard
[in]	nonatomic	Add quickly without grabbing the semaphore
[in]	notifySubscribers	Signal subscribers (default: true)

Definition at line 130 of file Whiteboard.cc.

References _wbd, gsw_simple_message::data, WBMsg::getArrayValue(), WBMsg::getBinaryValue(), WBMsg::getBoolValue(), WBMsg::getFloatValue(), WBMsg::getIntValue(), WBMsg::getSizeInBytes(), WBMsg::getStringValue(), WBMsg::getType(), gsw_increment(), gsw_increment_event_counter(), gsw_next_message(), gsw_procure(), GSW_SEM_PUTMSG, gsw_signal_subscribers(), gsw_vacate(), gsw_simple_message::ivec, gsw_simple_message::len, guWhiteboard::gsw_hash_info::msg_offset, gsw_whiteboard_s::sem, gsw_simple_message::sfloat, gsw_simple_message::sint, gsw_simple_whiteboard_s::subscribed, gsw_simple_message::type, WBMsg::TypeArray, WBMsg::TypeBinary, WBMsg::TypeBool, WBMsg::TypeEmpty, WBMsg::TypeFloat, WBMsg::TypeInt, WBMsg::TypeString, gsw_whiteboard_s::wb, and gsw_simple_message::wbmsg.

Referenced by addMessage(), and guWhiteboard::RemoteWhiteboard::addReplicationType().

◆ getMessage() [1/2]

WBMsg Whiteboard::getMessage	(	gsw_hash_info *	hashinfo,
		WBResult *	result = `NULLPTR`
	)

Get Message Gets a message from a simple whiteboard.

Parameters

[in]	hashinfo	Contains the offset index to access a message
[out]	result	A pointer (!) to WBResult to indicate whether a message existed or not

Returns: The message object

Definition at line 194 of file Whiteboard.cc.

References _wbd, getWBMsg(), gsw_current_message(), gsw_simple_message::len, METHOD_FAIL, METHOD_OK, guWhiteboard::gsw_hash_info::msg_offset, gsw_simple_message::type, gsw_whiteboard_s::wb, and gsw_simple_message::wbmsg.

Referenced by getMessage().

◆ getMessage() [2/2]

WBMsg Whiteboard::getMessage	(	std::string	type,
		WBResult *	result = `NULLPTR`
	)

Get Message Gets a message from a simple whiteboard.

Parameters

[in]	type	The string type associated with the message object
[out]	result	A pointer (!) to WBResult to indicate whether a message existed or not

Returns: The message object

Definition at line 334 of file Whiteboard.cc.

References getMessage().

◆ getTypeOffset()

gsw_hash_info * Whiteboard::getTypeOffset ( std::string type )

create a hash offset from message type, needed for adding, getting from WB

Parameters

[in] type The string type get the offset for

Returns: return a wrapped version of the message index

Definition at line 210 of file Whiteboard.cc.

◆ getWBMsg()

static WBMsg guWhiteboard::Whiteboard::getWBMsg ( gu_simple_message * m )

inlinestatic

convert the new 'simple' whiteboard data structure into the old WBMsg format

Definition at line 213 of file Whiteboard.h.

References gsw_simple_message::data, gsw_simple_message::ivec, gsw_simple_message::len, gsw_simple_message::sfloat, gsw_simple_message::sint, gsw_simple_message::type, WBMsg::TypeArray, WBMsg::TypeBinary, WBMsg::TypeBool, WBMsg::TypeFloat, WBMsg::TypeInt, WBMsg::TypeString, and gsw_simple_message::wbmsg.

Referenced by getMessage().

◆ subscribeToMessage() [1/2]

void Whiteboard::subscribeToMessage	(	const std::string &	type,
		WBFunctorBase *	func,
		WBResult &	result
	)

virtual

Subscribe To Message Subscribes to a message type on a whiteboard or whiteboards.

Parameters

[in]	type	The string type to subscribe to
[in]	func	The function to call when a message of the type enter is added
[out]	result	An enum showing that either an error occured or the operation was completed successfully

Reimplemented in guWhiteboard::RemoteWhiteboard.

Definition at line 340 of file Whiteboard.cc.

References subscribeToMessage().

◆ subscribeToMessage() [2/2]

void Whiteboard::subscribeToMessage	(	gsw_hash_info *	hashinfo,
		WBFunctorBase *	func,
		WBResult &	result
	)

virtual

Subscribe To Message Subscribes to a message type on a whiteboard or whiteboards.

Parameters

[in]	hashinfo	The string type to subscribe to
[in]	func	The function to call when a message of the type enter is added
[out]	result	An enum showing that either an error occured or the operation was completed successfully

Definition at line 227 of file Whiteboard.cc.

References _wbd, GLOBAL_MSG_ID, gsw_add_process(), gsw_add_wbd_signal_handler(), gsw_procure(), GSW_SEM_CALLBACK, gsw_vacate(), gsw_simple_whiteboard_s::indexes, METHOD_OK, guWhiteboard::gsw_hash_info::msg_offset, gsw_simple_whiteboard_s::num_types, gsw_whiteboard_s::sem, and gsw_whiteboard_s::wb.

Referenced by guWhiteboard::RemoteWhiteboard::subscribeToMessage(), and subscribeToMessage().

◆ subscriptionCallback()

void Whiteboard::subscriptionCallback ( void )

subscription callback: not really public!

Definition at line 267 of file Whiteboard.cc.

References _wbd, guWhiteboard::Whiteboard::callback_descr::current, gsw_procure(), GSW_SEM_CALLBACK, GU_SIMPLE_WHITEBOARD_GENERATIONS, gsw_simple_whiteboard_s::indexes, gsw_simple_whiteboard_s::num_types, gsw_whiteboard_s::sem, guWhiteboard::Whiteboard::callback_descr::type, and gsw_whiteboard_s::wb.

◆ unsubscribeToMessage() [1/2]

void Whiteboard::unsubscribeToMessage	(	gsw_hash_info *	hashinfo,
		WBResult &	result
	)

Unsubscribe To Message (sic!) Unsubscribes from a message type on a whiteboard or whiteboards.

Parameters

[in]	hashinfo	The string type to unsubscribe from
[out]	result	An enum showing that either an error occured or the operation was completed successfully

Definition at line 305 of file Whiteboard.cc.

References _wbd, GLOBAL_MSG_ID, gsw_procure(), gsw_remove_process(), GSW_SEM_CALLBACK, gsw_vacate(), METHOD_FAIL, METHOD_OK, guWhiteboard::gsw_hash_info::msg_offset, gsw_whiteboard_s::sem, and guWhiteboard::Whiteboard::callback_descr::type.

Referenced by unsubscribeToMessage().

◆ unsubscribeToMessage() [2/2]

void Whiteboard::unsubscribeToMessage	(	std::string	type,
		WBResult &	result
	)

Unsubscribe To Message (sic!) Unsubscribes from a message type on a whiteboard or whiteboards.

Parameters

[in]	type	The string type to unsubscribe from
[out]	result	An enum showing that either an error occured or the operation was completed successfully

Definition at line 346 of file Whiteboard.cc.

References unsubscribeToMessage().

Member Data Documentation

◆ _wbd

gu_simple_whiteboard_descriptor* guWhiteboard::Whiteboard::_wbd

underlying whiteboard

Definition at line 136 of file Whiteboard.h.

Referenced by Whiteboard(), ~Whiteboard(), addMessage(), guWhiteboard::RemoteWhiteboard::getKnownTypesForMachine(), getMessage(), subscribeToMessage(), subscriptionCallback(), and unsubscribeToMessage().

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

OLD_WB/Whiteboard.h
OLD_WB/Whiteboard.cc

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ WBResult

Member Enumeration Documentation

◆ wb_method_result

Constructor & Destructor Documentation

◆ Whiteboard()

◆ ~Whiteboard()

Member Function Documentation

◆ addMessage() [1/2]

◆ addMessage() [2/2]

◆ getMessage() [1/2]

◆ getMessage() [2/2]

◆ getTypeOffset()

◆ getWBMsg()

◆ subscribeToMessage() [1/2]

◆ subscribeToMessage() [2/2]

◆ subscriptionCallback()

◆ unsubscribeToMessage() [1/2]

◆ unsubscribeToMessage() [2/2]

Member Data Documentation

◆ _wbd