#include <MOOSCommClient.h>

Inheritance diagram for CMOOSCommClient:

Collaboration diagram for CMOOSCommClient:

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, const std::string &sVal, const std::string &sSrcAux, double dfTime=-1)
bool	Notify (const std::string &sVar, double dfVal, double dfTime=-1)
bool	Notify (const std::string &sVar, double dfVal, const std::string &sSrcAux, double dfTime=-1)
bool	Notify (const std::string &sVar, void *pData, unsigned int nDataSize, double dfTime=-1)
bool	Notify (const std::string &sVar, void *pData, unsigned int nDataSize, const std::string &sSrcAux, 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)
void	SetOnMailCallBack (bool(pfn)(void pParamCaller), void *pCallerParam)
bool	HasMailCallBack ()
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 ()
bool	IsRegisteredFor (const std::string &sVariable)
std::set< std::string >	GetRegistered ()
void	SetQuiet (bool bQ)
void	DoLocalTimeCorrection (bool b)
void	SetVerboseDebug (bool bT)
bool	SetCommsTick (int nCommsTick)
Static Public Member Functions
static bool	PeekMail (MOOSMSG_LIST &Mail, const std::string &sKey, CMOOSMsg &Msg, bool bErase=false, bool bFindYoungest=false)
static bool	PeekAndCheckMail (MOOSMSG_LIST &Mail, const std::string &sKey, CMOOSMsg &Msg, bool bErase=false, bool bFindYoungest=false)
static std::string	GetLocalIPAddress ()
Protected Member Functions
bool	ClearResources ()
void	DoBanner ()
bool	OnCloseConnection ()
bool	HandShake ()
bool	ConnectToServer ()
bool	StartThreads ()
bool	UpdateMOOSSkew (double dfRQTime, 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
CMOOSThread	m_ClientThread
MOOSMSG_LIST	m_OutBox
MOOSMSG_LIST	m_InBox
void *	m_pConnectCallBackParam
bool(*	m_pfnConnectCallBack )(void *pConnectParam)
void *	m_pDisconnectCallBackParam
bool(*	m_pfnDisconnectCallBack )(void *pParam)
void *	m_pMailCallBackParam
bool(*	m_pfnMailCallBack )(void *pParam)
unsigned int	m_nFundamentalFreq
std::set< std::string >	m_Registered
std::set< std::string >	m_Published
bool	m_bQuiet
bool	m_bVerboseDebug
bool	m_bDoLocalTimeCorrection
std::auto_ptr < MOOS::CMOOSSkewFilter >	m_pSkewFilter
bool	m_bClientLoopIsRunning

Detailed Description

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

Definition at line 71 of file MOOSCommClient.h.

Constructor & Destructor Documentation

CMOOSCommClient::CMOOSCommClient ( )

default constructor

Definition at line 87 of file MOOSCommClient.cpp.

CMOOSCommClient::~CMOOSCommClient ( ) [virtual]

default destructor

Definition at line 121 of file MOOSCommClient.cpp.

Member Function Documentation

bool CMOOSCommClient::ClearResources ( ) [protected]

Definition at line 995 of file MOOSCommClient.cpp.

bool CMOOSCommClient::ClientLoop ( )

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

Definition at line 213 of file MOOSCommClient.cpp.

bool CMOOSCommClient::Close ( bool bNice = true )

make the client shut down

Definition at line 963 of file MOOSCommClient.cpp.

bool CMOOSCommClient::ConnectToServer ( ) [protected]

Connect to the server process using info supplied to Init

See also:: Init

Definition at line 406 of file MOOSCommClient.cpp.

void CMOOSCommClient::DoBanner ( ) [protected]

send library info to stdout

Definition at line 687 of file MOOSCommClient.cpp.

bool CMOOSCommClient::DoClientWork ( ) [virtual]

called by the above to do the client mail box shuffling

Definition at line 272 of file MOOSCommClient.cpp.

void CMOOSCommClient::DoLocalTimeCorrection ( bool b ) [inline]

used to control whether local clock skew (used by MOOSTime()) is se via the server at the other end of this connection

Definition at line 209 of file MOOSCommClient.h.

bool CMOOSCommClient::FakeSource ( bool bFake )

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

Definition at line 989 of file MOOSCommClient.cpp.

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

this is called by a user of a CommClient object to retrieve mail

Definition at line 554 of file MOOSCommClient.cpp.

string CMOOSCommClient::GetDescription ( )

describe this client in a string

Definition at line 1023 of file MOOSCommClient.cpp.

string CMOOSCommClient::GetLocalIPAddress ( ) [static]

return a string of the host machines's IP adress

Definition at line 1029 of file MOOSCommClient.cpp.

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

return the list of messages names published

Definition at line 196 of file MOOSCommClient.h.

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

return the list of messages registered

Definition at line 202 of file MOOSCommClient.h.

bool CMOOSCommClient::HandShake ( ) [protected]

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

Definition at line 587 of file MOOSCommClient.cpp.

bool CMOOSCommClient::HasMailCallBack ( )

return true if a mail callback is installed

Definition at line 192 of file MOOSCommClient.cpp.

bool CMOOSCommClient::IsConnected ( )

returns true if this obecjt is connected to the server

Definition at line 645 of file MOOSCommClient.cpp.

bool CMOOSCommClient::IsRegisteredFor ( const std::string & sVariable )

return true if we are registered for named variable

Definition at line 746 of file MOOSCommClient.cpp.

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

Definition at line 763 of file MOOSCommClient.cpp.

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

Definition at line 787 of file MOOSCommClient.cpp.

bool CMOOSCommClient::Notify	(	const std::string &	sVar,
		void *	pData,
		unsigned int	nDataSize,
		double	dfTime = `-1`
	)

notify the MOOS community that something has changed binary data. These are experimental - don't use them until I say so

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::Notify	(	const std::string &	sVar,
		void *	pData,
		unsigned int	nDataSize,
		const std::string &	sSrcAux,
		double	dfTime = `-1`
	)

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

notify the MOOS community that something has changed (double)

bool CMOOSCommClient::OnCloseConnection ( ) [protected]

called when connection to server is closed

Definition at line 650 of file MOOSCommClient.cpp.

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

Definition at line 865 of file MOOSCommClient.cpp.

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

a static helper function that lets a user browse a mail list as for PeekMail. true is returned if mail is found and it is not more that 5 seconds old

Definition at line 955 of file MOOSCommClient.cpp.

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

a static helper function that 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 imply transmission. However transmission will occur at the next available oppurtunity. In practice the apparent speed of message transmission will be very fast indeed. This model however 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 wishes to send

this is called by user of a CommClient object to send a Msg to MOOS

Definition at line 503 of file MOOSCommClient.cpp.

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

Definition at line 126 of file MOOSCommClient.cpp.

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

Directly and asynchronously make a request to the server (use this very rarely if ever. It's 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.

Definition at line 830 of file MOOSCommClient.cpp.

bool CMOOSCommClient::SetCommsTick ( int nCommsTick )

Definition at line 165 of file MOOSCommClient.cpp.

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

Definition at line 199 of file MOOSCommClient.cpp.

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

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

set the user supplied OnMail callback. This usually will not be set. Users are expected to use FetchMail from their own thread and not use this call back. This function is experimental as of release 7.2 and coders are not encouraged to use it

Definition at line 186 of file MOOSCommClient.cpp.

void CMOOSCommClient::SetQuiet ( bool bQ ) [inline]

used to control how verbose the connection process is

Definition at line 205 of file MOOSCommClient.h.

void CMOOSCommClient::SetVerboseDebug ( bool bT ) [inline]

used to control debug printing

Definition at line 212 of file MOOSCommClient.h.

bool CMOOSCommClient::StartThreads ( ) [protected]

called internally to start IO management thread