Fawkes API  Fawkes Development Version
message.h
1 
2 /***************************************************************************
3  * message.h - BlackBoard message
4  *
5  * Created: Sun Oct 08 00:08:10 2006
6  * Copyright 2006-2010 Tim Niemueller [www.niemueller.de]
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version. A runtime exception applies to
14  * this software (see LICENSE.GPL_WRE file mentioned below for details).
15  *
16  * This program is distributed in the hope that it will be useful,
17  * but WITHOUT ANY WARRANTY; without even the implied warranty of
18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19  * GNU Library General Public License for more details.
20  *
21  * Read the full text in the LICENSE.GPL_WRE file in the doc directory.
22  */
23 
24 #ifndef _INTERFACE_MESSAGE_H_
25 #define _INTERFACE_MESSAGE_H_
26 
27 #include <core/exceptions/software.h>
28 #include <core/utils/refcount.h>
29 #include <interface/change_field.h>
30 #include <interface/field_iterator.h>
31 #include <interface/types.h>
32 #include <utils/uuid.h>
33 
34 #define INTERFACE_MESSAGE_TYPE_SIZE_ 64
35 
36 namespace fawkes {
37 
38 class Mutex;
39 class Interface;
40 class InterfaceFieldIterator;
41 class Time;
42 
43 class Message : public RefCount
44 {
45  friend Interface;
46 
47 public:
48  Message(const char *type);
49  Message(const Message *mesg);
50  Message(const Message &mesg);
51  virtual ~Message();
52 
53  Message &operator=(const Message &m);
54 
55  unsigned int id() const;
56  void set_id(unsigned int message_id);
57  void mark_enqueued();
58  bool enqueued() const;
59  const Time * time_enqueued() const;
60 
61  Uuid sender_id() const;
62  Uuid source_id() const;
63  void set_sender_id(const Uuid &id);
64  void set_source_id(const Uuid &id);
65  const char *sender_thread_name() const;
66  Interface * interface() const;
67  const char *type() const;
68 
71 
72  unsigned int num_fields() const;
73 
74  const void * datachunk() const;
75  unsigned int datasize() const;
76 
77  unsigned int hops() const;
78  void set_hops(unsigned int hops);
79 
80  void set_from_chunk(const void *chunk);
81 
82  unsigned int recipient() const;
83 
84  virtual Message *clone() const;
85 
86  /** Check if message has desired type.
87  * @return true, if message has desired type, false otherwise
88  */
89  template <class MessageType>
90  bool is_of_type();
91 
92  /** Cast message to given type if possible.
93  * Check with is_of_type() first if the message has the requested type.
94  * @return message casted to requested type
95  * @throw TypeMismatchException thrown if the message is not of the requested type
96  */
97  template <class MessageType>
98  MessageType *as_type();
99 
100 private: // fields
101  unsigned int message_id_;
102  unsigned int hops_;
103  bool enqueued_;
104  Time * time_enqueued_;
105 
106  unsigned int recipient_interface_mem_serial;
107  unsigned int sender_interface_instance_serial;
108 
109  char *_type;
110  char *_sender_thread_name;
111  Uuid _sender_id;
112  Uuid _source_id;
113 
114  Interface *_transmit_via_iface;
115 
116  interface_fieldinfo_t *fieldinfo_list_;
117 
118  unsigned int num_fields_;
119 
120 private: // methods
121  void set_interface(Interface *iface, bool proxy = false);
122 
123 protected:
125  const char * name,
126  size_t length,
127  void * value,
128  const char * enumtype = 0,
129  const interface_enum_map_t *enum_map = 0);
130 
131  /** Set a field
132  * @param field Reference to the field
133  * @param data New field value
134  */
135  template <class FieldT, class DataT>
136  void set_field(FieldT &field, DataT &data);
137 
138  /** Set an array field at a given index
139  * @param field Reference to the array field
140  * @param index Index into the array field
141  * @param data New value to put at given index
142  */
143  template <class FieldT, class DataT>
144  void set_field(FieldT &field, unsigned int index, DataT &data);
145 
146  void * data_ptr;
147  unsigned int data_size;
148 
149  /** Timestamp data, must be present and first entries for each interface
150  * data structs! This leans on timeval struct. */
151  typedef struct
152  {
153  int64_t timestamp_sec; /**< time in seconds since Unix epoch */
154  int64_t timestamp_usec; /**< additional time microseconds */
156  message_data_ts_t *data_ts; /**< data timestamp aliasing pointer */
157 };
158 
159 template <class MessageType>
160 bool
162 {
163  return (dynamic_cast<MessageType *>(this) != 0);
164 }
165 
166 template <class MessageType>
167 MessageType *
169 {
170  MessageType *m = dynamic_cast<MessageType *>(this);
171  if (m) {
172  return m;
173  } else {
174  throw fawkes::TypeMismatchException("Message is not of requested type");
175  }
176 }
177 
178 template <class FieldT, class DataT>
179 void
180 Message::set_field(FieldT &field, DataT &data)
181 {
182  change_field(field, data);
183 }
184 
185 template <class FieldT, class DataT>
186 void
187 Message::set_field(FieldT &field, unsigned int index, DataT &data)
188 {
189  change_field(field, index, data);
190 }
191 
192 } // end namespace fawkes
193 
194 #endif
Interface field iterator.
Base class for all Fawkes BlackBoard interfaces.
Definition: interface.h:80
Base class for all messages passed through interfaces in Fawkes BlackBoard.
Definition: message.h:44
InterfaceFieldIterator fields()
Get iterator over all fields of this interface instance.
Definition: message.cpp:390
unsigned int recipient() const
Get recipient memory serial.
Definition: message.cpp:271
void set_field(FieldT &field, DataT &data)
Set a field.
Definition: message.h:180
virtual ~Message()
Destructor.
Definition: message.cpp:163
const char * type() const
Get message type.
Definition: message.cpp:381
const void * datachunk() const
Get pointer to data.
Definition: message.cpp:281
void mark_enqueued()
Mark message as being enqueued.
Definition: message.cpp:234
unsigned int datasize() const
Get size of data.
Definition: message.cpp:290
Message(const char *type)
Constructor.
Definition: message.cpp:62
bool enqueued() const
Check is message has been enqueued.
Definition: message.cpp:249
Uuid source_id() const
Get ID of the original source of the message.
Definition: message.cpp:346
MessageType * as_type()
Cast message to given type if possible.
Definition: message.h:168
bool is_of_type()
Check if message has desired type.
Definition: message.h:161
Interface * interface() const
Get transmitting interface.
Definition: message.cpp:372
void set_source_id(const Uuid &id)
Set source ID.
Definition: message.cpp:218
void set_from_chunk(const void *chunk)
Set from raw data chunk.
Definition: message.cpp:301
void set_id(unsigned int message_id)
Set message ID.
Definition: message.cpp:199
void add_fieldinfo(interface_fieldtype_t type, const char *name, size_t length, void *value, const char *enumtype=0, const interface_enum_map_t *enum_map=0)
Add an entry to the info list.
Definition: message.cpp:435
void * data_ptr
Pointer to memory that contains local data.
Definition: message.h:146
message_data_ts_t * data_ts
data timestamp aliasing pointer
Definition: message.h:156
const Time * time_enqueued() const
Get time when message was enqueued.
Definition: message.cpp:262
unsigned int num_fields() const
Get the number of fields in the message.
Definition: message.cpp:408
Uuid sender_id() const
Get ID of the immediate sender, not necessarily the creator of the message.
Definition: message.cpp:336
void set_hops(unsigned int hops)
Set number of hops.
Definition: message.cpp:227
Message & operator=(const Message &m)
Assign this message to given message.
Definition: message.cpp:313
virtual Message * clone() const
Clone this message.
Definition: message.cpp:418
InterfaceFieldIterator fields_end()
Invalid iterator.
Definition: message.cpp:399
const char * sender_thread_name() const
Get sender of message.
Definition: message.cpp:327
unsigned int id() const
Get message ID.
Definition: message.cpp:181
unsigned int hops() const
Get number of hops.
Definition: message.cpp:190
void set_sender_id(const Uuid &id)
Set sender ID.
Definition: message.cpp:208
unsigned int data_size
Size of memory needed to hold all data.
Definition: message.h:147
Reference counting base class.
Definition: refcount.h:32
A class for handling time.
Definition: time.h:93
A convenience class for universally unique identifiers (UUIDs).
Definition: uuid.h:29
Fawkes library namespace.
std::map< int, std::string > interface_enum_map_t
Map of enum integer to string values.
Definition: types.h:54
interface_fieldtype_t
Interface field type.
Definition: types.h:36
bool change_field(FieldT &field, const DataT &value)
Set a field and return whether it changed.
Definition: change_field.h:37
Timestamp data, must be present and first entries for each interface data structs!...
Definition: message.h:152
int64_t timestamp_sec
time in seconds since Unix epoch
Definition: message.h:153
int64_t timestamp_usec
additional time microseconds
Definition: message.h:154
Interface field info list.
Definition: types.h:58