A base class for sources of typed data. More...

#include <yarp/os/TypedReader.h>

Public Member Functions
virtual void	setStrict (bool strict=true)=0
	Call this to strictly keep all messages, or allow old ones to be quietly dropped.

virtual T *	read (bool shouldWait=true)=0
	Read an available object from the port.

virtual void	interrupt ()=0
	Abort any read operation currently in progress.

virtual T *	lastRead ()=0
	Get the last data returned by read()

virtual bool	isClosed ()=0
	Returns whether the port associated with this reader has been closed.

virtual void	useCallback (TypedReaderCallback< T > &callback)=0
	Set an object whose onRead method will be called when data is available.

virtual void	disableCallback ()=0
	Remove a callback set up with useCallback()

virtual int	getPendingReads ()=0
	Check how many messages are waiting to be read.

virtual	~TypedReader ()=default
	Destructor.

virtual std::string	getName () const =0
	Get name of port being read from.

virtual void	setReplier (PortReader &reader)=0
	If a message is received that requires a reply, use this handler.

virtual void *	acquire ()=0
	Take control of the last object read.

virtual void	release (void *handle)=0
	Return control to YARP of an object previously taken control of with the acquire() method.

virtual void	setTargetPeriod (double period)=0
	Try to provide data periodically.

Detailed Description

template<class T>
class yarp::os::TypedReader< T >

A base class for sources of typed data.

This could be a BufferedPort or a PortReaderBuffer.

Definition at line 21 of file TypedReader.h.

Constructor & Destructor Documentation

◆ ~TypedReader()

template<class T >

virtual yarp::os::TypedReader< T >::~TypedReader ( )

virtualdefault

Destructor.

Member Function Documentation

◆ acquire()

template<class T >

virtual void * yarp::os::TypedReader< T >::acquire ( )

pure virtual

Take control of the last object read.

YARP will not reuse that object until it is explicitly released by the user. Be careful - if you acquire objects without releasing, YARP will keep making new ones to store incoming messages. So you need to release all objects you acquire eventually to avoid running out of memory.

Returns: the handle to call release() with in order to give YARP back control of the last object read.

◆ disableCallback()

template<class T >

virtual void yarp::os::TypedReader< T >::disableCallback ( )

pure virtual

Remove a callback set up with useCallback()

◆ getName()

template<class T >

virtual std::string yarp::os::TypedReader< T >::getName ( ) const

pure virtual

Get name of port being read from.

Returns: name of port

◆ getPendingReads()

template<class T >

virtual int yarp::os::TypedReader< T >::getPendingReads ( )

pure virtual

Check how many messages are waiting to be read.

Returns: number of pending messages

◆ interrupt()

template<class T >

virtual void yarp::os::TypedReader< T >::interrupt ( )

pure virtual

Abort any read operation currently in progress.

◆ isClosed()

template<class T >

virtual bool yarp::os::TypedReader< T >::isClosed ( )

pure virtual

Returns whether the port associated with this reader has been closed.

Returns: true if Port associated with this reader has been closed

◆ lastRead()

template<class T >

virtual T * yarp::os::TypedReader< T >::lastRead ( )

pure virtual

Get the last data returned by read()

Returns: pointer to last data returned by read(), or nullptr on failure.

◆ read()

template<class T >

virtual T * yarp::os::TypedReader< T >::read ( bool shouldWait = true )

pure virtual

Read an available object from the port.

Parameters

shouldWait true if the method should wait until an object is available, false if the call should return immediately if no message is available

Returns: A pointer to an object read from the port, or nullptr if none is available and waiting was not requested. This object is owned by the communication system and should not be deleted by the user. The object is available to the user until the next call to one of the read methods, after which it should not be accessed again.

◆ release()

template<class T >

virtual void yarp::os::TypedReader< T >::release ( void * handle )

pure virtual

Return control to YARP of an object previously taken control of with the acquire() method.

Parameters

handle the pointer returned by acquire() when control of the object was taken by the user.

◆ setReplier()

template<class T >

virtual void yarp::os::TypedReader< T >::setReplier ( PortReader & reader )

pure virtual

If a message is received that requires a reply, use this handler.

No buffering happens.

Parameters

reader the handler to use

◆ setStrict()

template<class T >

virtual void yarp::os::TypedReader< T >::setStrict ( bool strict = true )

pure virtual

Call this to strictly keep all messages, or allow old ones to be quietly dropped.

If you don't call this, old messages will be quietly dropped.

Parameters

strict True to keep all messages until they are read, false to drop old messages when a new one comes in.

Warning: If you can't read them as fast as the come in, watch out.

◆ setTargetPeriod()

template<class T >

virtual void yarp::os::TypedReader< T >::setTargetPeriod ( double period )

pure virtual

Try to provide data periodically.

If no new data arrives in a given period, repeat the last data received (if any). Similarly, the port should not pass on data more frequently than the given period.

Parameters

period target period in (fractional) seconds.

◆ useCallback()

template<class T >

virtual void yarp::os::TypedReader< T >::useCallback ( TypedReaderCallback< T > & callback )

pure virtual

Set an object whose onRead method will be called when data is available.

Parameters

callback the object whose onRead method will be called with data

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

src/libYARP_os/src/yarp/os/TypedReader.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~TypedReader()

Member Function Documentation

◆ acquire()

◆ disableCallback()

◆ getName()

◆ getPendingReads()

◆ interrupt()

◆ isClosed()

◆ lastRead()

◆ read()

◆ release()

◆ setReplier()

◆ setStrict()

◆ setTargetPeriod()

◆ useCallback()