LibXR::Topic::Callback Class Reference

Collaboration diagram for LibXR::Topic::Callback:

Data Structures
struct	BlockHeader
struct	Factory
struct	Factory< Function, BoundArg, 3 >
struct	Factory< Function, BoundArg, 4 >
struct	FunctionTraits
struct	FunctionTraits< Return(*)(Args...)>
struct	MessageViewTraits
struct	MessageViewTraits< MessageView< Data > >
struct	PayloadOnlyBlock
struct	TimestampPayloadBlock

Public Member Functions
	Callback (const Callback &)=default
Callback &	operator= (const Callback &)=default
void	Run (bool in_isr, MicrosecondTimestamp timestamp, RawData &data) const
uint32_t	PayloadSize () const

Static Public Member Functions
template<typename BoundArg , typename Callable >
static Callback	Create (Callable fun, BoundArg arg)

Private Types
template<typename T >
using	RemoveCVRef = std::remove_cv_t<std::remove_reference_t<T>>

Private Member Functions
	Callback (BlockHeader *block)

Static Private Member Functions
template<typename PayloadArg >
static consteval uint32_t	PayloadSize ()
template<typename Function , typename BoundArg , typename PayloadArg >
static void	InvokePayload (Function fun, BoundArg &arg, bool in_isr, MicrosecondTimestamp timestamp, RawData &data)
static void	EmptyRun (const BlockHeader *, bool, MicrosecondTimestamp, RawData &)

Private Attributes
BlockHeader *	block_ = &empty_block_

Static Private Attributes
template<typename T >
static constexpr bool	IS_RAW_DATA
template<typename T >
static constexpr bool	IS_MESSAGE_VIEW = MessageViewTraits<RemoveCVRef<T>>::VALUE
template<typename T >
static constexpr bool	IS_TYPED_DATA
template<typename T >
static constexpr bool	IS_CALLBACK_PAYLOAD
static BlockHeader	empty_block_ {&EmptyRun, 0}

Detailed Description

Definition at line 421 of file subscriber.hpp.

Member Typedef Documentation

RemoveCVRef

template<typename T >

using LibXR::Topic::Callback::RemoveCVRef = std::remove_cv_t<std::remove_reference_t<T>>

private

Definition at line 450 of file subscriber.hpp.

Constructor & Destructor Documentation

Callback()

LibXR::Topic::Callback::Callback ( BlockHeader * block )

inlineexplicitprivate

Definition at line 654 of file subscriber.hpp.

: block_(block ? block : &empty_block_) {}

Member Function Documentation

Create()

template<typename BoundArg , typename Callable >

static Callback LibXR::Topic::Callback::Create ( Callable fun, BoundArg arg )

inlinestaticnodiscard

Definition at line 635 of file subscriber.hpp.

  {
    using Function = decltype(+std::declval<Callable>());
    using Traits = FunctionTraits<Function>;
    static_assert(Traits::ARITY == 3 || Traits::ARITY == 4,
                  "LibXR::Topic::Callback::Create expects a capture-free callable "
                  "with bool and bound-argument parameters.");
    return Callback(
        Factory<Function, BoundArg, Traits::ARITY>::Create(+fun, std::move(arg)));
  }

EmptyRun()

static void LibXR::Topic::Callback::EmptyRun ( const BlockHeader * , bool , MicrosecondTimestamp , RawData &  )

inlinestaticprivate

Definition at line 625 of file subscriber.hpp.

{}

InvokePayload()

template<typename Function , typename BoundArg , typename PayloadArg >

static void LibXR::Topic::Callback::InvokePayload ( Function fun, BoundArg & arg, bool in_isr, MicrosecondTimestamp timestamp, RawData & data )

inlinestaticprivate

Definition at line 497 of file subscriber.hpp.

  {
    if constexpr (std::same_as<RemoveCVRef<PayloadArg>, RawData>)
    {
      fun(in_isr, arg, data);
    }
    else if constexpr (std::same_as<RemoveCVRef<PayloadArg>, ConstRawData>)
    {
      ConstRawData const_data(data);
      fun(in_isr, arg, const_data);
    }
    else if constexpr (IS_MESSAGE_VIEW<PayloadArg>)
    {
      using View = MessageViewTraits<RemoveCVRef<PayloadArg>>;
      using Data = typename View::DataType;
      MessageView<Data> message{timestamp, *reinterpret_cast<Data*>(data.addr_)};
      fun(in_isr, arg, message);
    }
    else
    {
      using Data = RemoveCVRef<PayloadArg>;
      fun(in_isr, arg, *reinterpret_cast<Data*>(data.addr_));
    }
  }

PayloadSize() [1/2]

template<typename PayloadArg >

static consteval uint32_t LibXR::Topic::Callback::PayloadSize ( )

inlinestaticconstevalprivate

Definition at line 476 of file subscriber.hpp.

  {
    if constexpr (IS_RAW_DATA<PayloadArg>)
    {
      return 0;
    }
    else if constexpr (IS_MESSAGE_VIEW<PayloadArg>)
    {
      using View = MessageViewTraits<RemoveCVRef<PayloadArg>>;
      return sizeof(typename View::DataType);
    }
    else
    {
      static_assert(IS_TYPED_DATA<PayloadArg>,
                    "LibXR::Topic::Callback payload must be RawData, ConstRawData, "
                    "Topic::MessageView<T>, T, T&, or const T&.");
      return sizeof(RemoveCVRef<PayloadArg>);
    }
  }

PayloadSize() [2/2]

uint32_t LibXR::Topic::Callback::PayloadSize ( ) const

inline

Definition at line 651 of file subscriber.hpp.

{ return block_->payload_size; }

Run()

void LibXR::Topic::Callback::Run ( bool in_isr, MicrosecondTimestamp timestamp, RawData & data ) const

inline

Definition at line 646 of file subscriber.hpp.

  {
    block_->run(block_, in_isr, timestamp, data);
  }

Field Documentation

block_

BlockHeader* LibXR::Topic::Callback::block_ = &empty_block_

private

Definition at line 656 of file subscriber.hpp.

empty_block_

BlockHeader LibXR::Topic::Callback::empty_block_ {&EmptyRun, 0}

inlinestaticprivate

Definition at line 627 of file subscriber.hpp.

{&EmptyRun, 0};

IS_CALLBACK_PAYLOAD

template<typename T >

bool LibXR::Topic::Callback::IS_CALLBACK_PAYLOAD

staticconstexprprivate

Initial value:

=
      IS_RAW_DATA<T> || IS_MESSAGE_VIEW<T> || IS_TYPED_DATA<T>

Definition at line 464 of file subscriber.hpp.

IS_MESSAGE_VIEW

template<typename T >

bool LibXR::Topic::Callback::IS_MESSAGE_VIEW = MessageViewTraits<RemoveCVRef<T>>::VALUE

staticconstexprprivate

Definition at line 457 of file subscriber.hpp.

IS_RAW_DATA

template<typename T >

bool LibXR::Topic::Callback::IS_RAW_DATA

staticconstexprprivate

Initial value:

=
      std::same_as<RemoveCVRef<T>, RawData> || std::same_as<RemoveCVRef<T>, ConstRawData>

Definition at line 453 of file subscriber.hpp.

IS_TYPED_DATA

template<typename T >

bool LibXR::Topic::Callback::IS_TYPED_DATA

staticconstexprprivate

Initial value:

=
      !IS_RAW_DATA<T> && !IS_MESSAGE_VIEW<T> && TopicPayload<RemoveCVRef<T>>

Definition at line 460 of file subscriber.hpp.

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

• src/middleware/message/subscriber.hpp