DriverMessaging Namespace Reference

Functions and data structures for sending messages from "user land" (behavior in Main, or motion commands in Motion) to drivers in the hardware abstraction layer. More...

Classes
class	Listener
	Interface for drivers to receive messages, see addListener() and removeListener(). More...
class	Message
	Base class for all driver messages, this subclasses XMLLoadSave in case we want to serialize for messages from non-threaded (full multi-process) IPC, or offboard computation. More...
class	LoadPrediction
	Encodes a set of load predictions for joints so driver can offset target positions accordingly. More...
class	SensorPriority
	Indicates priority of polling outputs/buttons/sensors, for those drivers which must actively poll for sensor data. More...
class	ContactPoint
class	FixedPoints
	For simulation purposes, notifies visualizer to hold the specified points fixed relative to the world, and move the base frame instead. More...
Typedefs
typedef std::map< const char *const, std::set< Listener * > >	listeners_t
Functions
void	addListener (Listener *l, const char *const t)
	allows drivers to subscribe to messages
void	removeListener (Listener *l, const char *const t)
	allows drivers to unsubscribe from messages
void	removeListener (Listener *l)
	allows drivers to unsubscribe from all messages
bool	hasListener (const char *const t)
	returns true if any drivers are subscribed to the specified message class
void	postMessage (const Message &d)
	posts a message to all subscribing drivers
Variables
listeners_t	listeners

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Detailed Description

Functions and data structures for sending messages from "user land" (behavior in Main, or motion commands in Motion) to drivers in the hardware abstraction layer.

TODO: not implemented for non-threaded IPC, assuming shared memory space... the 'Multiprocess' mode will probably be deprecated before this matters

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Typedef Documentation

typedef std::map<const char* const, std::set<Listener*> > DriverMessaging::listeners_t

Definition at line 7 of file DriverMessaging.cc.

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Function Documentation

void DriverMessaging::addListener	(	Listener *	l,
		const char *const	t
	)

allows drivers to subscribe to messages

bool DriverMessaging::hasListener

(

const char *const

t

)

returns true if any drivers are subscribed to the specified message class

Referenced by GaitedFootstepMC::updateOutputs(), and XWalkMC::updateOutputsWalking().

void DriverMessaging::postMessage

(

const Message &

d

)

posts a message to all subscribing drivers

TODO not implemented for non-threaded IPC, assuming shared memory space... the 'Multiprocess' mode will probably be deprecated before this matters

Referenced by XWalkMC::sendLoadPredictions(), XWalkMC::stop(), GaitedFootstepMC::updateOutputs(), XWalkMC::updateOutputsInitial(), and XWalkMC::updateOutputsWalking().

void DriverMessaging::removeListener

(

Listener *

l

)

allows drivers to unsubscribe from all messages

void DriverMessaging::removeListener	(	Listener *	l,
		const char *const	t
	)

allows drivers to unsubscribe from messages

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Variable Documentation

listeners_t DriverMessaging::listeners

Definition at line 8 of file DriverMessaging.cc.