yane::NetworkedControl::CommBaseTCP Class Reference

Parenting class for TCP server and client objects. More...

Inheritance diagram for yane::NetworkedControl::CommBaseTCP:

Collaboration diagram for yane::NetworkedControl::CommBaseTCP:

List of all members.

Public Types
typedef void(*	T_MESSAGECALLBACK )(char *packetdata, int packetlength, void *ptr)
	Typedef of the callback method to be used for communication.
Public Member Functions
void	closeConnection ()
	Function to close an existing TCP connection.
	CommBaseTCP (T_MESSAGECALLBACK mess_cb, void *ptr, int readbuffersize, const std::string &name, yane::Utils::DebugMaster *dm, yane::Utils::StatisticsMaster *sm)
	Constructor.
bool	isConnected ()
	Function to return whether a TCP connection is established.
void	sendData (const char *data, int datasize)
	Function to send data through TCP connection.
virtual	~CommBaseTCP ()
Protected Member Functions
virtual void	debugMessage (const std::string &message, int debuglevel)
	Submit a debugmessage.
virtual void	debugMessageDouble (const std::string &message, const std::string &varname, int length, double *data, int debuglevel)
	Submit a debugmessage with doublevalued data.
virtual void	debugMessageInt (const std::string &message, const std::string &varname, int length, int *data, int debuglevel)
	Submit a debugmessage with integervalued data.
virtual void	debugMessageString (const std::string &message, const std::string &varname, const char *data, int debuglevel)
	Submit a debugmessage with textstring data.
virtual void	detach ()
	Blocks until thread is finished, no return information.
virtual bool	isLocked ()
	Returns if thread is locked.
virtual bool	isRunning ()
	Returns if thread is running.
virtual void	lock ()
	Locks the thread, if already locked blocks.
virtual void	run ()
	Function which is called after the thread is created.
virtual void	start ()
	Creates the thread.
virtual void	stop ()
	Stops the thread.
virtual void	trigger ()
	Signal / Trigger the thread.
virtual bool	trylock ()
	Locks the thread but returns immediately.
virtual void	unlock ()
	Unlock the thread.
virtual void	wait ()
	Blocks until thread is finished, possible return information.
virtual bool	waitForTrigger (unsigned int wait_msec=0, int debuglevel=0)
	Block until triggered.
Protected Attributes
bool	_abort
yane::Utils::FIFOBuffer *	_buffer
	Pointer of the first-in-first-out buffer.
bool	_connectionestablished
	Bool variable indicating whether a TCP connection is established.
DebugClient *	_debugclient
int	_listensocket
	Socket for incoming messages.
T_MESSAGECALLBACK	_mess_cb
	Callback method to be used for communication.
char *	_packetdata
	Pointer of the data to be transmitted.
void *	_ptr
	Custom pointer passed to the callback function for user defined data.
int	_readbuffersize
	Maximal length of incoming data package.
bool	_stat_collect
	If true, the actuator will collect statistical data.
yane::Utils::StatisticsClientIntCounter *	_stat_crc32
	Statistics collector for CRC32 errors.
yane::Utils::StatisticsClientAverage *	_stat_readbuffersize
	Statistics collector for receiving buffersize.
yane::Utils::StatisticsClientIntCounter *	_stat_recvlost
	Statistics collector for lost bytes (receiving)
yane::Utils::StatisticsClientIntCounter *	_stat_recvpackages
	Statistics collector for received packages.
yane::Utils::StatisticsClientAverage *	_stat_recvpackagesize
	Statistics collector for size of received packages [bytes].
yane::Utils::StatisticsClientPerSecond *	_stat_recvpersec
	Statistics collector for received datarate [bytes/sec].
yane::Utils::StatisticsClientIntCounter *	_stat_recvtotal
	Statistics collector for received bytes.
yane::Utils::StatisticsClientIntCounter *	_stat_sentlost
	Statistics collector for lost bytes (sending)
yane::Utils::StatisticsClientIntCounter *	_stat_sentpackages
	Statistics collector for sent packages.
yane::Utils::StatisticsClientAverage *	_stat_sentpackagesize
	Statistics collector for size of sent packages [bytes].
yane::Utils::StatisticsClientPerSecond *	_stat_sentpersec
	Statistics collector for sent datarate [bytes/sec].
yane::Utils::StatisticsClientIntCounter *	_stat_senttotal
	Statistics collector for sent bytes.
yane::Utils::StatisticsClientIntCounter *	_stat_sockerrors
	Statistics collector for socket errors.
int	_talksocket
	Socket for outgoing messages.

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Detailed Description

Parenting class for TCP server and client objects

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Member Typedef Documentation

typedef void(* yane::NetworkedControl::CommBaseTCP::T_MESSAGECALLBACK)(char *packetdata, int packetlength, void *ptr)

Typedef of the callback method to be used for communication

Parameters:

packetdata	Pointer of the data to be transmitted
packetlength	Length of the transmitted package
ptr	Optional custom pointer passed to the callback function for user defined data

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Constructor & Destructor Documentation

yane::NetworkedControl::CommBaseTCP::CommBaseTCP	(	T_MESSAGECALLBACK	mess_cb,
		void *	ptr,
		int	readbuffersize,
		const std::string &	name,
		yane::Utils::DebugMaster *	dm,
		yane::Utils::StatisticsMaster *	sm
	)

Constructor

Parameters:

mess_cb	Pointer of the callback function used for communication
ptr	Optional custom pointer passed to the callback function for user defined data
readbuffersize	Maximal length of data accepted for input
name	Name of the thread constructed by this object
dm	Optional pointer to a class yane::Utils::Debugmaster object
sm	Optional pointer to a class yane::Utils::StatisticsMaster object

yane::NetworkedControl::CommBaseTCP::~CommBaseTCP

(

)

[virtual]

Destructor

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Member Function Documentation

LIB_EXPORT void yane::Utils::Thread::debugMessage	(	const std::string &	message,
		int	debuglevel
	)		[protected, virtual, inherited]

Added for convenient handling

Parameters:

message	Message which is debugged
debuglevel	Level with which the message is debugged.

LIB_EXPORT void yane::Utils::Thread::debugMessageDouble	(	const std::string &	message,
		const std::string &	varname,
		int	length,
		double *	data,
		int	debuglevel
	)		[protected, virtual, inherited]

Added for convenient handling

Parameters:

message	Message which is debugged
varname	Data name
length	Length of data array
data	Data which is added.
debuglevel	Level with which the message is debugged.

LIB_EXPORT void yane::Utils::Thread::debugMessageInt	(	const std::string &	message,
		const std::string &	varname,
		int	length,
		int *	data,
		int	debuglevel
	)		[protected, virtual, inherited]

Added for convenient handling

Parameters:

message	Message which is debugged
varname	Data name
length	Length of data array
data	Data which is added.
debuglevel	Level with which the message is debugged.

LIB_EXPORT void yane::Utils::Thread::debugMessageString	(	const std::string &	message,
		const std::string &	varname,
		const char *	data,
		int	debuglevel
	)		[protected, virtual, inherited]

Added for convenient handling

Parameters:

message	Message which is debugged
varname	Data name
data	Pointer to an additional nullterminated character array, that has to be stored as data
debuglevel	Level with which the message is debugged.

LIB_EXPORT void yane::Utils::Thread::detach

(

)

[virtual, inherited]

The calling thread is blocked until the thread is finished, no return information

LIB_EXPORT bool yane::Utils::Thread::isLocked

(

)

[virtual, inherited]

Returns wether the thread is locked or not.

Returns:

true if thread is locked.

LIB_EXPORT bool yane::Utils::Thread::isRunning

(

)

[virtual, inherited]

Returns wether the thread is running (_abort = false) or not.

Returns:

true if thread is running.

LIB_EXPORT void yane::Utils::Thread::lock

(

)

[virtual, inherited]

Locks the thread. If already locked the calling thread is blocked until the thread is unlocked.

void yane::NetworkedControl::CommBaseTCP::run

(

)

[protected, virtual]

Overwrite this function to provide your own functionality.

Implements yane::Utils::Thread.

void yane::NetworkedControl::CommBaseTCP::sendData	(	const char *	data,
		int	datasize
	)

Function to send data through TCP connection

Parameters:

data	Data to be sent
datasize	Length of data to be sent

LIB_EXPORT void yane::Utils::Thread::start

(

)

[virtual, inherited]

This function creates the thread and should be called after creating the object.

LIB_EXPORT void yane::Utils::Thread::stop

(

)

[virtual, inherited]

This function sets _abort to false, your thread should stop now.

LIB_EXPORT void yane::Utils::Thread::trigger

(

)

[virtual, inherited]

Signal a thread to resume, if it's blocked due to a call to waitForTrigger()

See also:

waitForTrigger()

LIB_EXPORT bool yane::Utils::Thread::trylock

(

)

[virtual, inherited]

Locks the thread. If already locked returns immediately.

Returns:

true if successful

LIB_EXPORT void yane::Utils::Thread::unlock

(

)

[virtual, inherited]

Unlocks the thread.

LIB_EXPORT void yane::Utils::Thread::wait

(

)

[virtual, inherited]

The calling thread is blocked until the thread is finished, possible return information

LIB_EXPORT bool yane::Utils::Thread::waitForTrigger	(	unsigned int	wait_msec = 0,
		int	debuglevel = 0
	)		[protected, virtual, inherited]

The calling function (usually the thread) is blocked until the function is triggered.

Parameters:

wait_msec	Time until waiting is aborted.
debuglevel	Debuglevel with which the abort message is stored.

Returns:

true if successful

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Member Data Documentation

bool yane::Utils::Thread::_abort [protected, inherited]

If true thread should be stopped. Value is changed by stop().

DebugClient* yane::Utils::Thread::_debugclient [protected, inherited]

Debugclient the debug messages are stored into.