sol3::core::MessageOutput< TMessageSpec > Class Template Reference

#include <sol3/core/message_output.h>

Inheritance diagram for sol3::core::MessageOutput< TMessageSpec >:

Public Types
using	TableType = typename TMessageSpec::TableType
using	NativeTableType = typename TableType::NativeTableType
using	Builder = typename TableType::Builder

Public Member Functions
	MessageOutput (IBufferExchange &exchange, uint32_t component_id, size_t slot_count, size_t slot_size)
msg::MessageHeaderT const &	header () const
NativeTableType &	payload ()
	Mutable access to the native FlatBuffers payload. More...
NativeTableType const &	payload () const
TableType const *	payloadRoot () const
void	addStamp (msg::Stamp const &stamp)
	Append a timestamp to the header. More...
uint64_t	write ()
template<typename TBuilderFunction >
uint64_t	write (TBuilderFunction &&builder_function)
Public Member Functions inherited from sol3::core::AnyMessageOutput
	AnyMessageOutput (IBufferExchange &exchange, MessagePort port, MessageSchema schema, size_t slot_count, size_t slot_size)
	~AnyMessageOutput ()
	Unregisters the output buffer from the exchange. More...
	AnyMessageOutput (AnyMessageOutput &&rhs)=delete
AnyMessageOutput &	operator= (AnyMessageOutput &&rhs)=delete
	AnyMessageOutput (AnyMessageOutput const &)=delete
AnyMessageOutput &	operator= (AnyMessageOutput const &rhs)=delete
MessagePort const &	port () const
	Destination message port. More...
flatbuffers::span< uint8_t const >	headerSpan () const
flatbuffers::span< uint8_t const >	payloadSpan () const
uint64_t	write (flatbuffers::span< uint8_t const > header_span, flatbuffers::span< uint8_t const > payload_span)
	Returns the sequence number of the slot written to. More...
msg::MessageHeader const *	headerRoot () const
template<typename TTableType >
TTableType const *	payloadRoot () const
MessageSchema	schema () const

Detailed Description

template<typename TMessageSpec>
class sol3::core::MessageOutput< TMessageSpec >

Typed output writer for publishing messages defined by MessageSpec<TableType, kInterfaceType, kInterfaceId> into an IBufferExchange as a sequence ring.

Constructs and registers a shared-memory buffer sized for the requested number of slots and slot size. On destruction, unregisters the buffer.

Member Typedef Documentation

Builder

template<typename TMessageSpec >

using sol3::core::MessageOutput< TMessageSpec >::Builder = typename TableType::Builder

NativeTableType

template<typename TMessageSpec >

using sol3::core::MessageOutput< TMessageSpec >::NativeTableType = typename TableType::NativeTableType

TableType

template<typename TMessageSpec >

using sol3::core::MessageOutput< TMessageSpec >::TableType = typename TMessageSpec::TableType

Constructor & Destructor Documentation

MessageOutput()

template<typename TMessageSpec >

sol3::core::MessageOutput< TMessageSpec >::MessageOutput ( IBufferExchange &  exchange, uint32_t  component_id, size_t  slot_count, size_t  slot_size  )

inline

Creates and registers an output buffer for component component with slot_count slots of size slot_size bytes each.

The buffer is advertised on the message port derived from TMessageSpec::makeMessagePort(component) and becomes discoverable by readers via the exchange.

Member Function Documentation

addStamp()

template<typename TMessageSpec >

void sol3::core::MessageOutput< TMessageSpec >::addStamp ( msg::Stamp const &  stamp )

inline

Append a timestamp to the header.

header()

template<typename TMessageSpec >

msg::MessageHeaderT const& sol3::core::MessageOutput< TMessageSpec >::header ( ) const

inline

payload() [1/2]

template<typename TMessageSpec >

NativeTableType& sol3::core::MessageOutput< TMessageSpec >::payload ( )

inline

Mutable access to the native FlatBuffers payload.

payload() [2/2]

template<typename TMessageSpec >

NativeTableType const& sol3::core::MessageOutput< TMessageSpec >::payload ( ) const

inline

payloadRoot()

template<typename TMessageSpec >

TableType const* sol3::core::MessageOutput< TMessageSpec >::payloadRoot ( ) const

inline

write() [1/2]

template<typename TMessageSpec >

uint64_t sol3::core::MessageOutput< TMessageSpec >::write ( )

inline

Takes the current value of payload(), which is a flatbuffer NativeTableType, and packs it into FlatBuffers buffer, stamps the header, and writes header+payload into the next ring slot. Returns the sequence number of the slot written to.

After this function returns the headSpan and payloadSpan will contained the serialized flatbuffer data that was copied to the sequence ring slot

The following should be true: reader.read(writer.write()).payloadSpan() == writer.payloadSpan()

write() [2/2]

template<typename TMessageSpec >

template<typename TBuilderFunction >

uint64_t sol3::core::MessageOutput< TMessageSpec >::write ( TBuilderFunction &&  builder_function )

inline

Performant alternative to the payload() mutate then write() pattern, this allows use of the flatbuffer typed builder interface, and bypasses the payload NativeTableType interface altogether. Avoids a packing from the payload object into the buffer builder, and an additional copy/serialization step. Call this instead of write().

Expects a function with signature: Usage example:

writer.write([i](flatbuffers::FlatBufferBuilder& fbb) -> flatbuffers::Offset<msg::Text> { auto offset = fbb.CreateString(fmt::format("Hello {}", i)); msg::TextBuilder builder(fbb); builder.add_data(offset); return builder.Finish() });

Returns message sequence number

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The documentation for this class was generated from the following file:

• /workspaces/astro/sol3-sdk/cpp/sol3/core/message_output.h