Class DataReceiver

Inheritance Relationships

Base Type

  • public std::enable_shared_from_this< DataReceiver >

Class Documentation

class DataReceiver : public std::enable_shared_from_this<DataReceiver>

A simple receiver object for handling data streamed by rc_visard’s rc_dynamics module.

Public Types

using Ptr = std::shared_ptr<DataReceiver>

Public Functions

inline virtual ~DataReceiver()
inline std::string getIpAddress() const

Returns Ip address for which the receiver was created

inline unsigned int getPort() const

Returns port for which the receiver was created

inline virtual void setTimeout(unsigned int ms)

Sets a user-specified timeout for the receivePose() method.

Parameters:

ms – timeout in milliseconds

template<class PbMsgType>
inline std::shared_ptr<PbMsgType> receive()

Receives the next message from data stream (template-parameter version)

This method blocks until the next message is received and returns it as specified by the template parameter PbMsgType, or when it runs into user-specified timeout (see setTimeout(…)).

NOTE: The specified PbMsgType must match the type with which the received data was serialized during sending. Otherwise it will result in undefined behaviour!

Returns:

the next rc_dynamics data stream message as PbMsgType, or NULL if timeout

inline virtual std::shared_ptr<::google::protobuf::Message> receive(const std::string &pb_msg_type)

Receives the next message from data stream (string-parameter version)

This method blocks until the next message is available and returns it - de-serialized as specified by the pb_msg_type parameter - as a pb::Message base class pointer, or until it runs into user-specified timeout (see setTimeout(…)).

NOTE: The specified PbMsgType must match the type with which the received data was serialized during sending. Otherwise it will result in undefined behaviour!

Returns:

the next rc_dynamics data stream message as a pb::Message base class pointer, or NULL if timeout

Public Static Functions

static inline Ptr create(const std::string &ip_address, unsigned int &port)

Creates a data receiver bound to the user-given IP address and port number.

For binding to an arbitrary port, the given port number might be 0. In this case, the actually chosen port number is returned.

Parameters:

  • ip_address – IP address for receiving data

  • port – port number for receiving data

Returns:

Protected Types

std::map< std::string, std::function< std::shared_ptr<::google::protobuf::Message >)> > map_type

Protected Functions

inline DataReceiver(const std::string &ip_address, unsigned int &port)

Protected Attributes

int _sockfd
char _buffer[512]
map_type _recv_func_map
std::string ip_
unsigned int port_