MOOS

CMOOSCommClient Class Reference

#include <MOOSCommClient.h>

Inheritance diagram for CMOOSCommClient:

List of all members.

Public Member Functions
	CMOOSCommClient ()
	default constructor
virtual	~CMOOSCommClient ()
	default destructor
bool	Notify (const std::string &sVar, const std::string &sVal, double dfTime=-1)
bool	Notify (const std::string &sVar, double dfVal, double dfTime=-1)
bool	Register (const std::string &sVar, double dfInterval)
bool	UnRegister (const std::string &sVar)
bool	IsConnected ()
bool	Fetch (MOOSMSG_LIST &MsgList)
bool	Post (CMOOSMsg &Msg)
bool	ClientLoop ()
virtual bool	DoClientWork ()
bool	Run (const char *sServer, long lPort, const char *sMyName, unsigned int nFundamentalFreq=5)
void	SetOnConnectCallBack (bool(*pfn)(void *pParamCaller), void *pCallerParam)
void	SetOnDisconnectCallBack (bool(*pfn)(void *pParamCaller), void *pCallerParam)
bool	ServerRequest (const std::string &sWhat, MOOSMSG_LIST &MsgList, double dfTimeOut=2.0, bool bContinuouslyClearBox=true)
bool	Peek (MOOSMSG_LIST &List, int nIDRequired, bool bClearBox=true)
std::string	GetDescription ()
bool	FakeSource (bool bFake)
bool	Close (bool bNice=true)
std::set< std::string >	GetPublished ()
std::set< std::string >	GetRegistered ()
Static Public Member Functions
static bool	PeekMail (MOOSMSG_LIST &Mail, const std::string &sKey, CMOOSMsg &Msg, bool bErase=false, bool bFindYoungest=false)
static std::string	GetLocalIPAddress ()
Protected Types
typedef pthread_t	THREAD_ID
Protected Member Functions
bool	ClearResources ()
void	DoBanner ()
bool	OnCloseConnection ()
bool	HandShake ()
bool	ConnectToServer ()
bool	StartThreads ()
bool	UpdateMOOSSkew (double dfTxTime, double dfRxTime)
Protected Attributes
int	m_nNextMsgID
bool	m_bConnected
bool	m_bFakeSource
unsigned int	m_nOutPendingLimit
unsigned int	m_nInPendingLimit
std::string	m_sMyName
CMOOSLock	m_OutLock
CMOOSLock	m_InLock
XPCTcpSocket *	m_pSocket
std::string	m_sDBHost
long	m_lPort
bool	m_bQuit
bool	m_bMailPresent
THREAD_ID	m_nClientThreadID
MOOSMSG_LIST	m_OutBox
MOOSMSG_LIST	m_InBox
void *	m_pConnectCallBackParam
bool(*	m_pfnConnectCallBack )(void *pConnectParam)
void *	m_pDisconnectCallBackParam
bool(*	m_pfnDisconnectCallBack )(void *pParam)
unsigned int	m_nFundamentalFreq
std::set< std::string >	m_Registered
std::set< std::string >	m_Published

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Detailed Description

This class is the most important component of MOOS as seen from the eyes of a component developer

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Member Typedef Documentation

typedef pthread_t CMOOSCommClient::THREAD_ID [protected]

ID of IO thread

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Member Function Documentation

bool CMOOSCommClient::ClientLoop (   )

internal method which runs in a seperate thread and manges the input and output of messages from thser server. DO NOT CALL THIS METHOD.

bool CMOOSCommClient::Close (  bool  bNice = true  )

make the client shut down

bool CMOOSCommClient::ConnectToServer (   )  [protected]

Connect to the server process using info supplied to Init See also: Init

void CMOOSCommClient::DoBanner (   )  [protected]

send library info to stdout

bool CMOOSCommClient::DoClientWork (   )  [virtual]

called by the above to do the client mail box shuffling

bool CMOOSCommClient::FakeSource (  bool  bFake  )

call with "true" if you want thsi client to fake its own outgoing name. This is rarely used but very useful when it is

bool CMOOSCommClient::Fetch (  MOOSMSG_LIST &  MsgList  )

Called by a user of CMOOSCommClient to retrieve mail Parameters: MsgList  a list of messages into which the newly received message will be placed Returns: true if there is new mail

string CMOOSCommClient::GetDescription (   )

describe this client in a string

string CMOOSCommClient::GetLocalIPAddress (   )  [static]

return a string of the host machines's IP adress

std::set<std::string> CMOOSCommClient::GetPublished (   )  [inline]

return the list of messages names published

std::set<std::string> CMOOSCommClient::GetRegistered (   )  [inline]

return the list of messages registered

bool CMOOSCommClient::HandShake (   )  [protected]

performs a handshake with the server when a new connection is made. Within this function this class tells teh server its name

bool CMOOSCommClient::IsConnected (   )

returns true if this obecjt is connected to the server

bool CMOOSCommClient::Notify (  const std::string &  sVar, double  dfVal, double  dfTime = -1 )

notify the MOOS community that something has changed (double)

bool CMOOSCommClient::Notify (  const std::string &  sVar, const std::string &  sVal, double  dfTime = -1 )

notify the MOOS community that something has changed (string)

bool CMOOSCommClient::OnCloseConnection (   )  [protected]

called when connection to server is closed

bool CMOOSCommClient::Peek (  MOOSMSG_LIST &  List, int  nIDRequired, bool  bClearBox = true )

Have a peek at mail box and remove a particular message, by default all other messages are removed. Note this is quite different from PeekMail

static bool CMOOSCommClient::PeekMail (  MOOSMSG_LIST &  Mail, const std::string &  sKey, CMOOSMsg &  Msg, bool  bErase = false, bool  bFindYoungest = false )  [static]

a static helper function hat lets a user browse a mail list the message is removed if bremove is true

bool CMOOSCommClient::Post (  CMOOSMsg &  Msg  )

place a single message in the out box and return immediately. Completion of this method does not infer transmission. However transmission will occur at the next available oppurtunity. Inpractice the apparent speed of message transmission will be very fast indeed. This model howver prevents wayward user software bring down the MOOSComms by way of denial of service. (ie hogging the network) Parameters: Msg  reference to CMOOSMsg which user whishes to send

bool CMOOSCommClient::Register (  const std::string &  sVar, double  dfInterval )

Register for notification in changes of named variable Parameters: sVar  name of variable of interest dfInterval  minimum time between notifications

bool CMOOSCommClient::Run (  const char *  sServer, long  lPort, const char *  sMyName, unsigned int  nFundamentalFreq = 5 )

Run the MOOSCommClient Object. This call is non blocking and begins managing process IO with the MOOSComms protocol Parameters: sServer  Name of machine on which server resides eg LOCALHOST or guru.mit.edu lPort  number of port on which server is listening for new connections eg 9000 sMyName  std::string name by which this MOOS process will be known - eg "MotionController" or "DepthSensor" nFundamentalFrequency  the basic tick frequency of the comms loop. Default value of 5 implies mail will be retrieved and sent from the server at 5Hz

bool CMOOSCommClient::ServerRequest (  const std::string &  sWhat, MOOSMSG_LIST &  MsgList, double  dfTimeOut = 2.0, bool  bContinuouslyClearBox = true )

Directly and asynhrounously make a request to the server (use this very rarely if ever. Its not meant for public consumption) Parameters: sWhat  string specifying what request to make - ALL, DB_CLEAR, PROCESS_SUMMARY or VAR_SUMMARY MsgList  List of messages returned by server dfTimeOut  TimeOut bContinuouslyClearBox  true if all other message returned with query are to be discarded.

void CMOOSCommClient::SetOnConnectCallBack (  bool(*)(void *pParamCaller)  pfn, void *  pCallerParam )

set the user supplied OnConnect call back. This callback , when set, will be invoked when a connection to the server is made. It is a good plan to register for notification of variables in this callback Parameters: pfn  pointer to static function of type bool Fn(void * pParam) pCallerParam  parameter passed to callback function when invoked

void CMOOSCommClient::SetOnDisconnectCallBack (  bool(*)(void *pParamCaller)  pfn, void *  pCallerParam )

set the user supplied OnConnect call back. This callback , when set, will be invoked when a connection to the server is lost. Parameters: pfn  pointer to static function of type bool Fn(void * pParam) pCallerParam  parameter passed to callback function when invoked

bool CMOOSCommClient::StartThreads (   )  [protected]

called internally to start IO management thread See also: ClientLoop

bool CMOOSCommClient::UnRegister (  const std::string &  sVar  )

UnRegister for notification in changes of named variable Parameters: sVar  name of variable of interest

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Member Data Documentation

bool CMOOSCommClient::m_bConnected [protected]

true if we are connected to the server

bool CMOOSCommClient::m_bFakeSource [protected]

true if we want to be able to fake sources of messages (used by playback)

bool CMOOSCommClient::m_bMailPresent [protected]

true if mail present (saves using a semaphore to open an empty box)

bool CMOOSCommClient::m_bQuit [protected]

IO thread will continue so long as this flag is false

MOOSMSG_LIST CMOOSCommClient::m_InBox [protected]

List of message that have been received and are ready for reading by user See also: Fetch

CMOOSLock CMOOSCommClient::m_InLock [protected]

Mutex around incoming mail box See also: CMOOSLock

long CMOOSCommClient::m_lPort [protected]

port number on which server process is listening for new connections See also: Init

unsigned int CMOOSCommClient::m_nFundamentalFreq [protected]

funcdamental frequency with which comms with server occurs See also: Run

unsigned int CMOOSCommClient::m_nInPendingLimit [protected]

The number of unread incoming messages that can be tolerated

unsigned int CMOOSCommClient::m_nOutPendingLimit [protected]

The number of pending unsent messages that can be tolerated

MOOSMSG_LIST CMOOSCommClient::m_OutBox [protected]

List of messages that a pending to be sent See also: Post

CMOOSLock CMOOSCommClient::m_OutLock [protected]

Mutex around Outgoing mail box See also: CMOOSLock

void* CMOOSCommClient::m_pConnectCallBackParam [protected]

parameter that user wants passed to him/her with connect callback

void* CMOOSCommClient::m_pDisconnectCallBackParam [protected]

parameter that user wants passed to him/her with disconnect callback

bool(* CMOOSCommClient::m_pfnConnectCallBack)(void *pConnectParam) [protected]

the user supplied OnConnect callback

bool(* CMOOSCommClient::m_pfnDisconnectCallBack)(void *pParam) [protected]

the user supplied OnDisConnect callback

XPCTcpSocket* CMOOSCommClient::m_pSocket [protected]

pointer to socket connected to server

std::set<std::string> CMOOSCommClient::m_Published [protected]

the set of messages names/keys that have been sent

std::set<std::string> CMOOSCommClient::m_Registered [protected]

a set of strings of the resources (messages names/keys) that have been registered for

std::string CMOOSCommClient::m_sDBHost [protected]

name of teh host on which the server process lives See also: Init

std::string CMOOSCommClient::m_sMyName [protected]

name of MOOS process See also: Init

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

• /home/pnewman/code/MOOS/trunk/Core/MOOSLIB/MOOSCommClient.h
• /home/pnewman/code/MOOS/trunk/Core/MOOSLIB/MOOSCommClient.cpp

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