messaging
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template<typename messageType>
class ReadFunctor - #include <messaging.h>
Read functors have read-only access to messages
Public Functions
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inline ReadFunctor()
constructor
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inline ReadFunctor(messageType *payloadPtr, MsgHeader *headerPtr)
constructor
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inline ~ReadFunctor()
destructor — REQUIRED for the #676 keep-alive: a ReadFunctor is usually a C++ member of a module, so SWIG extend destructors never run for it; only this real C++ destructor does, and it must drop the Python reference held via releaseSource.
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inline ReadFunctor(const ReadFunctor &other)
copy constructor — take an additional reference to the source
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inline ReadFunctor &operator=(const ReadFunctor &other)
copy assignment — acquire the incoming owner before releasing and replacing ours
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inline ReadFunctor(ReadFunctor &&other)
move constructor — steal the source token and null out the moved-from reader
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inline ReadFunctor &operator=(ReadFunctor &&other)
move assignment — release ours, steal theirs, null out the moved-from reader
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inline void setSource(void *handle, void (*acquire)(void*), void (*release)(void*))
Install (or replace) the opaque keep-alive source. Called only from the SWIG layer after a subscribe completes. The caller has already taken the one reference we adopt here (so we do NOT call acquire); subsequent C++ copies acquire, destructors release.
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inline const messageType &operator()()
constructor
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inline bool isLinked()
check if this msg has been connected to
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inline bool isWritten()
check if the message has been ever written to
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inline uint64_t timeWritten()
return the time at which the message was written
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inline int64_t moduleID()
return the moduleID of who wrote wrote the message
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inline void subscribeToC(void *source)
subscribe to a C message
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inline void subscribeToAddr(uint64_t sourceAddr)
Subscribe to the message located at the sourceAddr in memory.
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inline void subscribeToCAddr(uint64_t sourceAddr)
Subscribe to the C message located at the sourceAddr in memory.
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inline void subscribeTo(Message<messageType> *source)
Subscribe to a C++ message.
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inline void unsubscribe()
Unsubscribe to the connected message, noop if no message was connected.
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inline uint8_t isSubscribedToC(void *source)
Check if self has been subscribed to a C message.
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inline uint8_t isSubscribedTo(Message<messageType> *source)
Check if self has been subscribed to a Cpp message.
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inline uint8_t isSubscribedToAddr(uint64_t sourceAddr)
Check if self has been subscribed to the message at sourceAddr.
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inline uint8_t isSubscribedToCAddr(uint64_t sourceAddr)
Check if self has been subscribed to the message at sourceAddr.
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inline Recorder<messageType> recorder(uint64_t timeDiff = 0)
Recorder method description.
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inline uintptr_t getPayloadPtrAddress() const
Return the address of the internal payloadPointer member.
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inline uintptr_t getLinkedAddress() const
Return the address of the internal initialized flag.
Public Members
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BSKLogger bskLogger
< — BSK Logging
— bsk logging instance
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messageType zeroMsgPayload = {}
— zero’d copy of the message payload type
Private Functions
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inline void releaseHandle_()
release our hold on the current source (if any), then forget it
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inline void adoptHandleFrom_(const ReadFunctor &other)
copy the keep-alive trio from another reader and take an additional reference to it
Private Members
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messageType *payloadPointer
— pointer to the incoming msg data
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bool initialized
— flag indicating if the input message is connect to another message
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void *sourceHandle = nullptr
— opaque owner token (a PyObject* in practice)
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void (*acquireSource)(void*) = nullptr
— +1 the owner (Py_INCREF under the GIL)
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void (*releaseSource)(void*) = nullptr
— -1 the owner (Py_DECREF under the GIL)
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bool replacingSource = false
— prevents ownership changes during a release callback
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inline ReadFunctor()
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template<typename messageType>
class WriteFunctor - #include <messaging.h>
Write Functor
Public Functions
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inline WriteFunctor()
write functor constructor
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inline WriteFunctor(messageType *payloadPointer, MsgHeader *headerPointer)
write functor constructor
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inline void operator()(messageType *payload, int64_t moduleID, uint64_t callTime)
write functor constructor
Private Members
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messageType *payloadPointer
pointer to the message payload
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inline WriteFunctor()
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template<typename messageType>
class Message - #include <messaging.h>
forward-declare sim message for use by read functor
base class template for bsk messages
Public Functions
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ReadFunctor<messageType> addSubscriber()
— request read rights. returns reference to class
readvariable
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WriteFunctor<messageType> addAuthor()
— request write rights.
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messageType *subscribeRaw(MsgHeader **msgPtr)
for plain ole c modules
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messageType *getMsgPointers(MsgHeader **msgPtr)
for plain ole c modules
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inline Recorder<messageType> recorder(uint64_t timeDiff = 0)
Recorder object.
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inline bool isLinked()
check if this msg has been connected to
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inline uint64_t getPayloadSize()
Return the memory size of the payload, be careful about dynamically sized things.
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inline uintptr_t getPayloadAddress()
Return the raw address of the message payload struct.
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inline uintptr_t getHeaderAddress()
Return the raw address of the message header struct.
Public Members
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WriteFunctor<messageType> write = WriteFunctor<messageType>(&payload, &header)
write functor to this message
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messageType zeroMsgPayload = {}
zero’d copy of the message payload structure
Private Members
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messageType payload = {}
struct defining message payload, zero’d on creation
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ReadFunctor<messageType> read = ReadFunctor<messageType>(&payload, &header)
read functor instance
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ReadFunctor<messageType> addSubscriber()
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template<typename messageType>
class Recorder : public SysModel - #include <messaging.h>
Keep a time history of messages accessible to users from python
Public Functions
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inline Recorder()
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inline Recorder(Message<messageType> *message, uint64_t timeDiff = 0)
— Use this to record cpp messages
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inline Recorder(void *message, uint64_t timeDiff = 0)
— Use this to record C messages
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inline Recorder(ReadFunctor<messageType> *messageReader, uint64_t timeDiff = 0)
— Use this to keep track of what someone is reading
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inline Recorder(const Recorder &obj)
— Copy recorder state while keeping a unique SysModel module ID
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inline Recorder &operator=(const Recorder &obj)
— Copy recorder state while preserving this recorder’s module ID
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inline ~Recorder()
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inline void setSource(void *handle, void (*acquire)(void*), void (*release)(void*))
Install an opaque owner on the recorder’s reader for the SWIG keep-alive bridge.
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inline void SelfInit()
— self initialization
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inline void IntegratedInit()
— cross initialization
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inline void UpdateState(uint64_t CurrentSimNanos)
— Read and record the message
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inline void Reset(uint64_t CurrentSimNanos)
Reset method.
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inline std::vector<unsigned long long> times()
recorded times, copied out as a std::vector so the Python interface is unchanged. The element type is “unsigned long long” (not uint64_t) to match the SWIG TimeVector template exactly; on LP64 platforms uint64_t is “unsigned long”, a distinct type that would fail to copy-construct.
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inline std::vector<unsigned long long> timesWritten()
message-written times, copied out as a std::vector (see times() for the element-type rationale)
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inline std::deque<messageType> &record()
internal accessor: the recorded-payload deque by reference, used by the SWIG recorder typemaps
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inline std::vector<messageType> recordList()
recorded payloads copied out as a std::vector, exposed to Python so the result is randomly indexable
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inline size_t size()
size of the record so far
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inline std::string findMsgName(std::string msgName)
determine message name
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inline void clear()
clear the recorded messages, i.e. purge the history
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inline void updateTimeInterval(uint64_t timeDiff)
method to update the minimum time interval before recording the next message
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inline void recordOnChange(bool enabled = true)
method to record messages only when the payload content changes
Public Members
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BSKLogger bskLogger
— BSK Logging
Private Functions
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inline void logInvalidMessageWarning()
log warning if message is invalid but don’t change behavior
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inline void recordMessage(uint64_t CurrentSimNanos, const messageType &messageData)
record the supplied message payload
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inline void scheduleNextUpdate(uint64_t CurrentSimNanos)
schedule the next eligible recorder update
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inline bool messagePayloadChanged(const messageType &messageData)
check if the payload differs from the last recorded payload
Private Members
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std::deque<messageType> msgRecord
deque of recorded messages (deque avoids the geometric reallocation spikes a vector incurs as the history grows; see issue #788)
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std::deque<uint64_t> msgRecordTimes
deque of times at which messages are recorded
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std::deque<uint64_t> msgWrittenTimes
deque of times at which messages are written
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uint64_t nextUpdateTime = 0
[ns] earliest time at which the msg is recorded again
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uint64_t timeInterval = 0
[ns] recording time interval
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uint64_t lastUpdateTime = 0
[ns] last time the msg was checked for recording
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bool hasLastUpdateTime = false
flag indicating whether the msg was checked
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bool recordOnlyOnChange = false
flag to record only changed message payloads
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ReadFunctor<messageType> readMessage
method description
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inline Recorder()