Message Class Reference

Reference-counted message objects. More...

#include <message.h>

Collaboration diagram for Message:

Detailed Description

Reference-counted message objects.

All Player messages are transferred between drivers as pointers to Message objects. These objects are reference-counted so that messages can be delivered to multiple recipients with minimal memory overhead.

Messages are not usually manipulated directly in driver code. The details of allocating, filling, parsing, and deleting Message objects are handled by the Driver and MessageQueue classes.

The only method of interest to driver authors is the helper MatchMessage(), which can be used in a Driver::ProcessMessage method to determine if a message header matches a given signature.

Public Member Functions
	Message (const struct player_msghdr &Header, void *data, bool copy=true)
	Create a new message. More...
	Message (const struct player_msghdr &Header, void *data, QueuePointer &_queue, bool copy=true)
	Create a new message with an associated queue. More...
	Message (const Message &rhs)
	Copy pointers from existing message and increment refcount.
	~Message ()
	Destroy message, dec ref counts and delete data if ref count == 0.
player_msghdr_t *	GetHeader ()
	Get pointer to header.
void *	GetPayload ()
	Get pointer to payload.
unsigned int	GetDataSize ()
	Size of message data.
bool	Compare (Message &other)
	Compare type, subtype, device, and device_index.
void	DecRef ()
	Decrement ref count.

Static Public Member Functions
static bool	MatchMessage (player_msghdr_t *hdr, int type, int subtype, player_devaddr_t addr)
	Helper for message processing. More...
static bool	MatchMessage (player_msghdr_t *hdr, int type, int subtype)
	Helper for message processing. More...

Public Attributes
QueuePointer	Queue
	queue to which any response to this message should be directed
unsigned int *	RefCount
	Reference count.

Private Member Functions
void	CreateMessage (const struct player_msghdr &Header, void *data, bool copy=true)

Private Attributes
player_msghdr_t	Header
	message header
uint8_t *	Data
	Pointer to the message data.
pthread_mutex_t *	Lock
	Used to lock access to Data.

Constructor & Destructor Documentation

Message() [1/2]

Message::Message	(	const struct player_msghdr &	Header,
		void *	data,
		bool	copy = true
	)

Create a new message.

If copy is set to false then the pointer is claimed by the message, otherwise it is copied.

Message() [2/2]

Message::Message	(	const struct player_msghdr &	Header,
		void *	data,
		QueuePointer &	_queue,
		bool	copy = true
	)

Create a new message with an associated queue.

If copy is set to false then the pointer is claimed by the message, otherwise it is copied.

Member Function Documentation

MatchMessage() [1/2]

static bool Message::MatchMessage ( player_msghdr_t *  hdr, int  type, int  subtype, player_devaddr_t  addr  )

inlinestatic

Helper for message processing.

Returns true if hdr matches the supplied type, subtype, and addr. Set type and/or subtype to -1 for don't care.

References player_msghdr::addr, player_devaddr::host, player_devaddr::index, player_devaddr::interf, player_devaddr::robot, player_msghdr::subtype, and player_msghdr::type.

Referenced by mbasedriver::HandleCommand(), mbasedriver::HandleConfig(), ToRanger::ProcessMessage(), FromRanger::ProcessMessage(), GarciaDriver::ProcessMessage(), snd::ProcessMessage(), SphereDriver::ProcessMessage(), SegwayRMP::ProcessMessage(), LaserTransform::ProcessMessage(), EpuckDriver::ProcessMessage(), MapTransform::ProcessMessage(), ImageBase::ProcessMessage(), Alsa::ProcessMessage(), SegwayRMP400::ProcessMessage(), AdaptiveMCL::ProcessMessage(), ER::ProcessMessage(), Khepera::ProcessMessage(), RFLEX::ProcessMessage(), wbr914::ProcessMessage(), ClodBuster::ProcessMessage(), Erratic::ProcessMessage(), and P2OS::ProcessMessage().

MatchMessage() [2/2]

static bool Message::MatchMessage ( player_msghdr_t *  hdr, int  type, int  subtype  )

inlinestatic

Helper for message processing.

This version matches for any message destination (i.e. all a drivers reigstered interfaces) Returns true if hdr matches the supplied type, subtype. Set type and/or subtype to -1 for don't care.

References player_msghdr::subtype, and player_msghdr::type.

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

• message.h