message.h
1/*
2 * Player - One Hell of a Robot Server
3 * Copyright (C) 2000
4 * Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
5 *
6 *
7 * This program is free software; you can redistribute it and/or modify
8 * it under the terms of the GNU General Public License as published by
9 * the Free Software Foundation; either version 2 of the License, or
10 * (at your option) any later version.
11 *
12 * This program is distributed in the hope that it will be useful,
13 * but WITHOUT ANY WARRANTY; without even the implied warranty of
14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15 * GNU General Public License for more details.
16 *
17 * You should have received a copy of the GNU General Public License
18 * along with this program; if not, write to the Free Software
19 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
20 *
21 */
22/********************************************************************
23 *
24 * This library is free software; you can redistribute it and/or
25 * modify it under the terms of the GNU Lesser General Public
26 * License as published by the Free Software Foundation; either
27 * version 2.1 of the License, or (at your option) any later version.
28 *
29 * This library is distributed in the hope that it will be useful,
30 * but WITHOUT ANY WARRANTY; without even the implied warranty of
31 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
32 * Lesser General Public License for more details.
33 *
34 * You should have received a copy of the GNU Lesser General Public
35 * License along with this library; if not, write to the Free Software
36 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
37 *
38 ********************************************************************/
39
40/*
41 * Desc: Message class and message queues
42 * CVS: $Id$
43 * Author: Toby Collett - Jan 2005
44 */
45
46#ifndef MESSAGE_H
47#define MESSAGE_H
48
49#if defined (WIN32)
50 #if defined (PLAYER_STATIC)
51 #define PLAYERCORE_EXPORT
52 #elif defined (playercore_EXPORTS)
53 #define PLAYERCORE_EXPORT __declspec (dllexport)
54 #else
55 #define PLAYERCORE_EXPORT __declspec (dllimport)
56 #endif
57#else
58 #define PLAYERCORE_EXPORT
59#endif
60
61#include <pthread.h>
62
63#include <libplayerinterface/player.h>
64
65class MessageQueue;
66
73class PLAYERCORE_EXPORT QueuePointer
74{
75 public:
79 QueuePointer(bool _Replace, size_t _Maxlen);
83 QueuePointer(const QueuePointer & CopyFrom);
84
86 QueuePointer & operator = (const QueuePointer & rhs);
88 MessageQueue * operator -> ();
90 MessageQueue * get() const;
92 MessageQueue & operator * ();
94 bool operator == (const QueuePointer & rhs);
96 bool operator == (void * pointer);
98 bool operator != (const QueuePointer & rhs);
100 bool operator != (void * pointer);
101
102 private:
104 void DecRef();
105
108
110 unsigned int * RefCount;
111
113 pthread_mutex_t * Lock;
114};
115
116
117
132class PLAYERCORE_EXPORT Message
133{
134 public:
137 Message(const struct player_msghdr & Header,
138 void* data,
139 bool copy = true);
140
143 Message(const struct player_msghdr & Header,
144 void* data,
145 QueuePointer &_queue,
146 bool copy = true);
147
149 Message(const Message & rhs);
150
153
160 int type,
161 int subtype,
162 player_devaddr_t addr)
163 {
164 return(((type < 0) || (hdr->type == (uint8_t)type)) &&
165 ((subtype < 0) || (hdr->subtype == (uint8_t)subtype)) &&
166 (hdr->addr.host == addr.host) &&
167 (hdr->addr.robot == addr.robot) &&
168 (hdr->addr.interf == addr.interf) &&
169 (hdr->addr.index == addr.index));
170 }
171
178 int type,
179 int subtype)
180 {
181 return(((type < 0) || (hdr->type == (uint8_t)type)) &&
182 ((subtype < 0) || (hdr->subtype == (uint8_t)subtype)));
183 }
184
186 player_msghdr_t * GetHeader() {return &Header;};
188 void* GetPayload() {return (void*)Data;};
190 unsigned int GetDataSize() {return Header.size;};
192 bool Compare(Message &other);
194 void DecRef();
195
198
200 unsigned int * RefCount;
201
202 private:
203 void CreateMessage(const struct player_msghdr & Header,
204 void* data,
205 bool copy = true);
206
210 uint8_t * Data;
212 pthread_mutex_t * Lock;
213};
214
218class PLAYERCORE_EXPORT MessageQueueElement
219{
220 public:
225
228 private:
233
234 friend class MessageQueue;
235};
236
243class PLAYERCORE_EXPORT MessageReplaceRule
244{
245 private:
246 // The address to match (not using a player_devaddr_t so that we can
247 // use -1 to indicate don't care)
248 int host, robot, interf, index;
249 // The type and subtype to match (-1 is don't care)
250 int type, subtype;
251 public:
252 MessageReplaceRule(int _host, int _robot, int _interf, int _index,
253 int _type, int _subtype, int _replace) :
254 host(_host), robot(_robot), interf(_interf), index(_index),
255 type(_type), subtype(_subtype), replace(_replace), next(NULL) {}
256
257 bool Match(player_msghdr_t* hdr)
258 {
259 return(((this->host < 0) ||
260 ((uint32_t)this->host == hdr->addr.host)) &&
261 ((this->robot < 0) ||
262 ((uint32_t)this->robot == hdr->addr.robot)) &&
263 ((this->interf < 0) ||
264 ((uint16_t)this->interf == hdr->addr.interf)) &&
265 ((this->index < 0) ||
266 ((uint16_t)this->index == hdr->addr.index)) &&
267 ((this->type < 0) ||
268 ((uint8_t)this->type == hdr->type)) &&
269 ((this->subtype < 0) ||
270 ((uint8_t)this->subtype == hdr->subtype)));
271 }
272
273 bool Equivalent (int _host, int _robot, int _interf, int _index, int _type, int _subtype)
274 {
275 return (host == _host && robot == _robot && interf ==_interf && index == _index &&
276 type == _type && subtype == _subtype);
277 }
278
279 // To replace, or not to replace
280 // That is the question
281 int replace;
282 // Next rule in the list
283 MessageReplaceRule* next;
284};
285
337class PLAYERCORE_EXPORT MessageQueue
338{
339 public:
341 MessageQueue(bool _Replace, size_t _Maxlen);
345 bool Empty() { return(this->head == NULL); }
348 bool Push(Message& msg);
349
354 void PushFront(Message & msg, bool haveLock);
355
360 void PushBack(Message & msg, bool haveLock);
361
369 void SetReplace(bool _Replace) { this->Replace = _Replace; };
376 void AddReplaceRule(int _host, int _robot, int _interf, int _index,
377 int _type, int _subtype, int _replace);
384 int _type, int _subtype, int _replace);
394 bool Wait(double TimeOut=0.0);
397 void DataAvailable(void);
399 bool Filter(Message& msg);
401 void ClearFilter(void);
403 void SetFilter(int host, int robot, int interf, int index,
404 int type, int subtype);
406 void SetPull (bool _pull) { this->pull = _pull; }
407
409 size_t GetLength(void);
410
412 void SetDataRequested(bool d, bool haveLock);
413
414 private:
416 void Lock() {pthread_mutex_lock(&lock);};
418 void Unlock() {pthread_mutex_unlock(&lock);};
427 pthread_mutex_t lock;
429 size_t Maxlen;
436 size_t Length;
440 pthread_cond_t cond;
442 pthread_mutex_t condMutex;
445 int filter_host, filter_robot, filter_interf,
446 filter_index, filter_type, filter_subtype;
449 bool pull;
457};
458
459
460
461
462#endif
This class is a helper for maintaining doubly-linked queues of Messages.
Definition message.h:219
Message * msg
The message stored in this queue element.
Definition message.h:227
~MessageQueueElement()
Destroy a queue element.
MessageQueueElement * next
Pointer to next queue element.
Definition message.h:232
MessageQueueElement * prev
Pointer to previous queue element.
Definition message.h:230
MessageQueueElement()
Create a queue element with NULL prev and next pointers.
A doubly-linked queue of messages.
Definition message.h:338
void SetFilter(int host, int robot, int interf, int index, int type, int subtype)
Set filter values.
size_t GetLength(void)
Get current length of queue, in elements.
void ClearFilter(void)
Clear (i.e., turn off) message filter.
bool pull
Flag for if in pull mode.
Definition message.h:449
void PushBack(Message &msg, bool haveLock)
Push a message at the back of the queue, without checking replacement rules or size limits.
bool data_delivered
Flag that data was sent (in PULL mode)
Definition message.h:454
size_t Maxlen
Maximum length of queue in elements.
Definition message.h:429
MessageQueueElement * head
Head of the queue.
Definition message.h:423
Message * Pop()
Pop a message off the queue.
~MessageQueue()
Destroy a message queue.
void AddReplaceRule(const player_devaddr_t &device, int _type, int _subtype, int _replace)
Add a replacement rule to the list.
bool Filter(Message &msg)
Check whether a message passes the current filter.
bool Wait(double TimeOut=0.0)
Wait on this queue.
MessageQueueElement * tail
Tail of the queue.
Definition message.h:425
MessageReplaceRule * replaceRules
Singly-linked list of replacement rules.
Definition message.h:431
bool drop_count
Count of the number of messages discarded due to queue overflow.
Definition message.h:456
void SetDataRequested(bool d, bool haveLock)
Set the data_requested flag.
void SetReplace(bool _Replace)
Set the Replace flag, which governs whether data and command messages of the same subtype from the sa...
Definition message.h:369
pthread_mutex_t lock
Mutex to control access to the queue, via Lock() and Unlock().
Definition message.h:427
bool Empty()
Check whether a queue is empty.
Definition message.h:345
void Unlock()
Unlock the mutex associated with this queue.
Definition message.h:418
pthread_cond_t cond
A condition variable that can be used to signal, via DataAvailable(), other threads that are Wait()in...
Definition message.h:440
void Lock()
Lock the mutex associated with this queue.
Definition message.h:416
bool Push(Message &msg)
Push a message onto the queue.
void SetPull(bool _pull)
Set the pull flag.
Definition message.h:406
bool data_requested
Flag for data was requested (in PULL mode), but none has yet been delivered.
Definition message.h:452
bool filter_on
Current filter values.
Definition message.h:444
MessageQueue(bool _Replace, size_t _Maxlen)
Create an empty message queue.
bool Replace
When a (data or command) message doesn't match a rule in replaceRules, should we replace it?
Definition message.h:434
pthread_mutex_t condMutex
Mutex to go with condition variable cond.
Definition message.h:442
void Remove(MessageQueueElement *el)
Remove element el from the queue, and rearrange pointers appropriately.
void DataAvailable(void)
Signal that new data is available.
void AddReplaceRule(int _host, int _robot, int _interf, int _index, int _type, int _subtype, int _replace)
Add a replacement rule to the list.
int CheckReplace(player_msghdr_t *hdr)
Check whether a message with the given header should replace any existing message of the same signatu...
size_t Length
Current length of queue, in elements.
Definition message.h:436
void PushFront(Message &msg, bool haveLock)
Put it at the front of the queue, without checking replacement rules or size limits.
We keep a singly-linked list of (addr,type,subtype,replace) tuples.
Definition message.h:244
Reference-counted message objects.
Definition message.h:133
Message(const struct player_msghdr &Header, void *data, bool copy=true)
Create a new message.
void * GetPayload()
Get pointer to payload.
Definition message.h:188
QueuePointer Queue
queue to which any response to this message should be directed
Definition message.h:197
unsigned int GetDataSize()
Size of message data.
Definition message.h:190
bool Compare(Message &other)
Compare type, subtype, device, and device_index.
~Message()
Destroy message, dec ref counts and delete data if ref count == 0.
static bool MatchMessage(player_msghdr_t *hdr, int type, int subtype, player_devaddr_t addr)
Helper for message processing.
Definition message.h:159
uint8_t * Data
Pointer to the message data.
Definition message.h:210
Message(const struct player_msghdr &Header, void *data, QueuePointer &_queue, bool copy=true)
Create a new message with an associated queue.
Message(const Message &rhs)
Copy pointers from existing message and increment refcount.
player_msghdr_t Header
message header
Definition message.h:208
player_msghdr_t * GetHeader()
Get pointer to header.
Definition message.h:186
static bool MatchMessage(player_msghdr_t *hdr, int type, int subtype)
Helper for message processing.
Definition message.h:177
pthread_mutex_t * Lock
Used to lock access to Data.
Definition message.h:212
void DecRef()
Decrement ref count.
unsigned int * RefCount
Reference count.
Definition message.h:200
An autopointer for the message queue.
Definition message.h:74
void DecRef()
Decrement ref count.
MessageQueue * Queue
The queue we are pointing to.
Definition message.h:107
MessageQueue * get() const
retrieve underlying object for use, may return a null pointer
QueuePointer(bool _Replace, size_t _Maxlen)
Create an empty message queue and an auto pointer to it.
~QueuePointer()
Destroy our reference to the message queue.
pthread_mutex_t * Lock
Used to lock access to refcount.
Definition message.h:113
QueuePointer(const QueuePointer &CopyFrom)
Create a new reference to a message queue.
QueuePointer()
Create a NULL autopointer;.
unsigned int * RefCount
Reference count.
Definition message.h:110
A device address.
Definition player.h:146
uint16_t index
Which device of that interface.
Definition player.h:155
uint32_t robot
The "robot" or device collection in which the device resides.
Definition player.h:151
uint32_t host
The "host" on which the device resides.
Definition player.h:148
uint16_t interf
The interface provided by the device; must be one of PLAYER_*_CODE.
Definition player.h:153
Generic message header.
Definition player.h:162
uint8_t type
Message type; must be one of PLAYER_MSGTYPE_*.
Definition player.h:166
uint8_t subtype
Message subtype; interface specific.
Definition player.h:168
player_devaddr_t addr
Device to which this message pertains.
Definition player.h:164