Provides access to the OLDB to read and write datapoints. More...

#include <oldbAdapter.hpp>

Inheritance diagram for rtctk::componentFramework::OldbAdapter:

Public Member Functions
	OldbAdapter ()=delete
	Do not allow construction with no arguments. More...

	OldbAdapter (const OldbAdapter &)=delete
	This class cannot be copy constructed. More...

OldbAdapter &	operator= (const OldbAdapter &)=delete
	This class cannot be copy assigned. More...

	OldbAdapter (OldbAdapter &&)=default
	Objects of this class can be moved. More...

OldbAdapter &	operator= (OldbAdapter &&)=default
	Objects of this class can be moved with the move assignment operator. More...

	OldbAdapter (const elt::mal::Uri &baseuri)
	Constructs an adapter for the OLDB service with the default OLDB API interface. More...

	OldbAdapter (const elt::mal::Uri &baseuri, const std::shared_ptr< elt::oldb::CiiOldb > &oldb)
	Constructs an adapter for the OLDB service with a specific OLDB API interface. More...

virtual	~OldbAdapter ()
	Destroys the adapter for the OLDB service releasing allocated resources. More...

void	CreateDataPoint (const DataPointPath &path, const std::type_info &type) override
	Creates a new datapoint in the OLDB. More...

void	DeleteDataPoint (const DataPointPath &path) override
	Deletes a datapoint in the OLDB. More...

const std::type_info &	GetDataPointType (const DataPointPath &path) const override
	Retrieves the corresponding C++ type for the datapoint from the OLDB. More...

std::size_t	GetDataPointSize (const DataPointPath &path) const override
	Returns the size of a datapoint in the OLDB. More...

bool	DataPointExists (const DataPointPath &path) const override
	Checks for the existence of a datapoint in the repository. More...

std::pair< PathList, PathList >	GetChildren (const DataPointPath &path) const override
	Queries the datapoints and child paths for a given path. More...

Response	SendReadRequest (const ReadRequest &request) const override
	Sends a request to read data from the repository. More...

Response	SendWriteRequest (const WriteRequest &request) override
	Sends a request to write data to the repository. More...

Response	SendSubscribeRequest (const SubscribeRequest &request) const override
	This is called to asynchronously send a subscription request for datapoints. More...

Response	SendUnsubscribeRequest (const UnsubscribeRequest &request) const override
	This is called to asynchronously send a request to unsubscribe from various notifications. More...

template<typename T , typename U , typename V >
void	CastAndRegisterSubscription (const SubscribeRequest::Parameters &params, const std::shared_ptr< CiiOldbTypedDataBase > &datapoint, std::function< void(T *, const std::shared_ptr< CiiOldbDpValue< U >> &)> write_function) const

virtual void	CreateDataPoint (const DataPointPath &path, const std::type_info &type)=0
	Creates a new datapoint in the repository with a specified type. More...

template<typename T >
void	CreateDataPoint (const DataPointPath &path)
	Creates a new datapoint in the repository. More...

template<typename T >
void	CreateDataPoint (const DataPointPath &path, const T default_value)
	Creates a new datapoint in the repository and sets a default value. More...

template<>
void	CreateDataPoint (const DataPointPath &path, const char *default_value)

Public Member Functions inherited from rtctk::componentFramework::OldbIf
virtual	~OldbIf ()=default

Public Member Functions inherited from rtctk::componentFramework::RepositoryIf
virtual	~RepositoryIf ()

template<typename T >
void	CreateDataPoint (const DataPointPath &path)
	Creates a new datapoint in the repository. More...

template<typename T >
void	CreateDataPoint (const DataPointPath &path, const T default_value)
	Creates a new datapoint in the repository and sets a default value. More...

template<typename T >
T	GetDataPoint (const DataPointPath &path) const
	Fetches a datapoint from the repository. More...

template<typename T >
void	SetDataPoint (const DataPointPath &path, const T value)
	Sets a datapoint in the repository. More...

template<typename T >
void	ReadDataPoint (const DataPointPath &path, T &buffer) const
	Reads a datapoint from the repository. More...

template<typename T >
void	WriteDataPoint (const DataPointPath &path, const T &buffer)
	Writes a datapoint to the repository. More...

void	WriteDataPoint (const DataPointPath &path, const char *buffer)

template<>
void	CreateDataPoint (const DataPointPath &path, const char *default_value)

template<>
void	SetDataPoint (const DataPointPath &path, const char *value)

Public Member Functions inherited from rtctk::componentFramework::RepositorySubscriberIf
virtual	~RepositorySubscriberIf ()

template<typename T , typename F >
void	Subscribe (const DataPointPath &path, T &buffer, F handler) const
	A convenience template function that will register a callback to receive new datapoint values in a synchronous manner. More...

void	Unsubscribe (const DataPointPath &path) const
	A simple convenience function that will deregister all callbacks for receiving new datapoint values. More...

Static Public Member Functions
static void	InitMetadata ()
	Initialises the type metadata in the CII configuration service for the OLDB. More...

Static Public Member Functions inherited from rtctk::componentFramework::OldbIf
static std::unique_ptr< OldbIf >	CreateAdapter (const elt::mal::Uri &uri)
	Factory method used to create the appropriate OLDB adapter depending on the URI scheme. More...

Protected Member Functions
void	SetMetadataInstanceMap (const std::map< std::type_index, std::string > &map)
	Sets the type_index to OLDB metadata instance name map. More...

void	SetTypeInfoMap (const std::map< std::string, const std::type_info & > &map)
	Sets the OLDB metadata instance name to type_info map. More...

Additional Inherited Members
Public Types inherited from rtctk::componentFramework::RepositoryIf
using	PathList = std::vector< DataPointPath >

Detailed Description

Provides access to the OLDB to read and write datapoints.

Uses the OLDB API under the hood, but standardises the interface to be compatible with other repositories in the RTC Toolkit.

Thread Safety: thread-safe

Constructor & Destructor Documentation

◆ OldbAdapter() [1/5]

rtctk::componentFramework::OldbAdapter::OldbAdapter ( )

delete

Do not allow construction with no arguments.

◆ OldbAdapter() [2/5]

rtctk::componentFramework::OldbAdapter::OldbAdapter ( const OldbAdapter & )

delete

This class cannot be copy constructed.

◆ OldbAdapter() [3/5]

rtctk::componentFramework::OldbAdapter::OldbAdapter ( OldbAdapter && )

default

Objects of this class can be moved.

◆ OldbAdapter() [4/5]

rtctk::componentFramework::OldbAdapter::OldbAdapter ( const elt::mal::Uri & baseuri )

explicit

Constructs an adapter for the OLDB service with the default OLDB API interface.

Parameters

[in] baseuri The OLDB URI containing a base path where the datapoints are stored. The URI must use the cii.oldb scheme.

◆ OldbAdapter() [5/5]

rtctk::componentFramework::OldbAdapter::OldbAdapter	(	const elt::mal::Uri &	baseuri,
		const std::shared_ptr< elt::oldb::CiiOldb > &	oldb
	)

explicit

Constructs an adapter for the OLDB service with a specific OLDB API interface.

Parameters

[in]	baseuri	The OLDB URI containing a base path where the datapoints are stored. The URI must use the cii.oldb scheme.
[in]	oldb	The OLDB API client object to use under the hood.

◆ ~OldbAdapter()

rtctk::componentFramework::OldbAdapter::~OldbAdapter ( )

virtual

Destroys the adapter for the OLDB service releasing allocated resources.

Member Function Documentation

◆ CastAndRegisterSubscription()

template<typename T , typename U , typename V >

void rtctk::componentFramework::OldbAdapter::CastAndRegisterSubscription	(	const SubscribeRequest::Parameters &	params,
		const std::shared_ptr< CiiOldbTypedDataBase > &	datapoint,
		std::function< void(T *, const std::shared_ptr< CiiOldbDpValue< U >> &)>	write_function
	)		const

◆ CreateDataPoint() [1/5]

template<typename T >

void rtctk::componentFramework::RepositoryIf::CreateDataPoint ( typename T )

Creates a new datapoint in the repository.

The type of the datapoint is derived from the template argument type.

Template Parameters

T	The type of the datapoint to create.

Parameters

[in] path The datapoint path that should be created.

Thread Safety: thread-safe

Exception Safety: basic

◆ CreateDataPoint() [2/5]

template<>

void rtctk::componentFramework::RepositoryIf::CreateDataPoint ( )

◆ CreateDataPoint() [3/5]

void rtctk::componentFramework::OldbAdapter::CreateDataPoint	(	const DataPointPath &	path,
		const std::type_info &	type
	)

overridevirtual

Creates a new datapoint in the OLDB.

Parameters

[in]	path	The path of the new datapoint.
[in]	type	The data type of the datapoint. More specifically this corresponds to the metadata instance name as configured in the CII configuration service that is supported by OLDB.

Exceptions

CiiOldbDpExistsException	If there is already a datapoint with the given path.
CiiOldbInvalidUriException	If the path is in violation of OLDB URI rules.
CiiOldbUndefinedMetadataException	If datapoint info does not exist.
CiiOldbStorageError	If the data provider has problems with reading/storing datapoints.
CiiOldbException	If an unknown OLDB error occurs.

Thread Safety: thread-safe

Exception Safety: basic

Implements rtctk::componentFramework::RepositoryIf.

◆ CreateDataPoint() [4/5]

virtual void rtctk::componentFramework::RepositoryIf::CreateDataPoint

Creates a new datapoint in the repository with a specified type.

Parameters

[in]	path	The datapoint path that should be created.
[in]	type	A type identifier object returned by `typeid` indicating the type of the new datapoint. Supported values are indicated below.

The following are the supported values for the type argument:

typeid(bool)
typeid(int32_t)
typeid(int64_t)
typeid(float)
typeid(double)
typeid(std::string)
typeid(std::vector<bool>)
typeid(std::vector<int32_t>)
typeid(std::vector<int64_t>)
typeid(std::vector<float>)
typeid(std::vector<double>)
typeid(std::vector<std::string>)
typeid(MatrixBuffer<bool>)
typeid(MatrixBuffer<int32_t>)
typeid(MatrixBuffer<int64_t>)
typeid(MatrixBuffer<float>)
typeid(MatrixBuffer<double>)
typeid(MatrixBuffer<std::string>)

Thread Safety: thread-safe

Exception Safety: basic

◆ CreateDataPoint() [5/5]

template<typename T >

void rtctk::componentFramework::RepositoryIf::CreateDataPoint ( typename T )

Creates a new datapoint in the repository and sets a default value.

The type of the datapoint is derived from the template argument type.

Template Parameters

T	The type of the datapoint to create.

Parameters

[in]	path	The datapoint path that should be created.
[in]	default_value	The default value that should be set for the new datapoint.

Thread Safety: thread-safe

Exception Safety: basic

◆ DataPointExists()

bool rtctk::componentFramework::OldbAdapter::DataPointExists ( const DataPointPath & path ) const

overridevirtual

Checks for the existence of a datapoint in the repository.

Parameters

[in] path The datapoint path to check.

Returns: true if the datapoint path exists in the repository and false otherwise.

Thread Safety: thread-safe

Exception Safety: strong

Implements rtctk::componentFramework::RepositoryIf.

◆ DeleteDataPoint()

void rtctk::componentFramework::OldbAdapter::DeleteDataPoint ( const DataPointPath & path )

overridevirtual

Deletes a datapoint in the OLDB.

Parameters

[in] path The path of an existing datapoint to delete.

Exceptions

CiiOldbDpUndefinedException	If there is no datapoint with the specified path. Either such URL does not exist, or the URL is not a datapoint but a hierarchy element (folder).
CiiOldbStorageError	If the data provider has problems with reading/writing datapoints.
CiiOldbException	If an unknown OLDB error occurs.

Thread Safety: thread-safe

Exception Safety: basic

Implements rtctk::componentFramework::RepositoryIf.

◆ GetChildren()

std::pair< PathList, PathList > rtctk::componentFramework::OldbAdapter::GetChildren ( const DataPointPath & path ) const

overridevirtual

Queries the datapoints and child paths for a given path.

This method will query all the available datapoints that are leaf nodes immediately below the given path and also the child paths, i.e. sub-folders when interpreting the repository as a hierarchical folder like structure. The set of immediate datapoint and child paths is returned as two separate lists.

If an error occurs when querying the the repository a rtctk::componentFramework::RtctkException is thrown.

Parameters

[in] path The path in which to search for datapoints and child paths.

Returns: A std::pair of path lists, i.e. std::vector<DataPointPath>, with the first list in the pair containing the datapoints found and the second list containing the child paths found. If no datapoints are found then the list for datapoints is empty. Similarly if not child paths are found then the child path list is empty.

Thread Safety: thread-safe

Exception Safety: strong

Implements rtctk::componentFramework::RepositoryIf.

◆ GetDataPointSize()

std::size_t rtctk::componentFramework::OldbAdapter::GetDataPointSize ( const DataPointPath & path ) const

overridevirtual

Returns the size of a datapoint in the OLDB.

This method will return the size in bytes for all scalar types. For strings it returns the number of characters in the string. For vectors and matrices it returns the total number of elements. For binary blobs it returns the total number of bytes.

Parameters

[in] path The path of the datapoint.

Returns: The size of the datapoint.

Exceptions

CiiOldbInvalidUriException	If the path is in violation of OLDB URI rules.
CiiOldbDpUndefinedException	If there is no datapoint with the specified path. Either such URL does not exist, or the URL is not a datapoint but a hierarchy element (folder).
CiiOldbStorageError	If the data provider has problems with reading/storing datapoints.
CiiOldbException	If an unknown OLDB error occurs.

Thread Safety: thread-safe

Exception Safety: strong

Implements rtctk::componentFramework::RepositoryIf.

◆ GetDataPointType()

const std::type_info & rtctk::componentFramework::OldbAdapter::GetDataPointType ( const DataPointPath & path ) const

overridevirtual

Retrieves the corresponding C++ type for the datapoint from the OLDB.

Parameters

[in] path The path of the datapoint.

Returns: The type_info corresponding to the type that was used during datapoint creation.

Exceptions

CiiOldbInvalidUriException	If the path is in violation of OLDB URI rules.
CiiOldbDpUndefinedException	If there is no datapoint with the specified path. Either such URL does not exist, or the URL is not a datapoint but a hierarchy element (folder).
CiiOldbStorageError	If the data provider has problems with reading/storing datapoints.
CiiOldbException	If an unknown OLDB error occurs.

Thread Safety: thread-safe

Exception Safety: strong

Implements rtctk::componentFramework::RepositoryIf.

◆ InitMetadata()

void rtctk::componentFramework::OldbAdapter::InitMetadata ( )

static

Initialises the type metadata in the CII configuration service for the OLDB.

Default metadata related to standard data types needs to be initialised in the CII configuration service before the OldbAdapter can be used properly. This function will create the needed metadata if it is missing. If the metadata for the types already exists then this function will reset the values.

Note: This method normally only needs to be called in the context of unit tests that are using an in-memory OLDB. A proper OLDB service should have the metadata for standard types initialised as part of the installation of the service, independently of the RTC Toolkit.

Exceptions

InitialisationException For any error that occurs in the CII system.

◆ operator=() [1/2]

OldbAdapter& rtctk::componentFramework::OldbAdapter::operator= ( const OldbAdapter & )

delete

This class cannot be copy assigned.

◆ operator=() [2/2]

OldbAdapter& rtctk::componentFramework::OldbAdapter::operator= ( OldbAdapter && )

default

Objects of this class can be moved with the move assignment operator.

◆ SendReadRequest()

Response rtctk::componentFramework::OldbAdapter::SendReadRequest ( const ReadRequest & request ) const

overridevirtual

Sends a request to read data from the repository.

This method allows non-blocking and asynchronous reading of datapoints form the repository. The method returns immediately, allowing other work to be done in the calling thread while the read request is completed in the background. If any callback handlers were registered in request, they will be called as soon as the data is available for the respective datapoint.

Note: The buffers for the datapoints added to request must not be accessed until the Wait method of the response object returns successfully, i.e. without a timeout.

If an error occurs then a rtctk::componentFramework::RtctkException is thrown.

Note: This method is not transactional or fully atomic. If an error occurs while reading the datapoints, some or all of the datapoint buffers registered with the read request may be left unmodified. It is however guaranteed that any particular datapoint buffer is either updated completely or not modified at all.

Parameters

[in] request The request object that contains all the datapoints to read.

Returns: A response object that must be used to synchronise with the completion of the read request.

Implements rtctk::componentFramework::RepositoryIf.

◆ SendSubscribeRequest()

Response rtctk::componentFramework::OldbAdapter::SendSubscribeRequest ( const SubscribeRequest & request ) const

overridevirtual

This is called to asynchronously send a subscription request for datapoints.

One or more datapoints can be subscribed to by constructing a SubscribeRequest object and sending it to the repository service with this method. A typical usage is indicated in the following code sample:

void OnRemoved(const DataPointPath& path) {
  ...
}
void OnNewValue(const DataPointPath& path, int64_t& buffer) {
  ...
}
 
RepositorySubscriberIf& repo = ...;
int64_t buffer = ...;
SubscribeRequest request;
request.AddRemoveHandler("/test/datapoint"_dppath, OnRemoved);
request.AddNewValueHandler("/test/datapoint"_dppath, buffer, OnNewValue);
auto response = repo.SendSubscribeRequest(request);
  ... can do some work here ...
response.Wait();

Note: One must not access the buffers added to a SubscribeRequest object once SendSubscribeRequest has been invoked. At least not without using some form of synchronisation, e.g. a mutex, since the buffers will be updated asynchronously in different threads to the one used by the caller.

Parameters

[in] request The subscription request to send to the repository.

Returns: A response object (a future) that is used to wait for completion of the request.

Thread Safety: thread-safe

Exception Safety: basic

Implements rtctk::componentFramework::RepositorySubscriberIf.

◆ SendUnsubscribeRequest()

Response rtctk::componentFramework::OldbAdapter::SendUnsubscribeRequest ( const UnsubscribeRequest & request ) const

overridevirtual

This is called to asynchronously send a request to unsubscribe from various notifications.

One can stop receiving notifications for one or more datapoints by constructing a UnsubscribeRequest object and sending it to the repository service with this method. A typical usage is indicated in the following code sample:

void OnRemoved(const DataPointPath& path) {
  ...
}
void OnNewValue(const DataPointPath& path, int64_t& buffer) {
  ...
}
 
RepositorySubscriberIf& repo = ...;
UnsubscribeRequest request;
request.AddRemoveHandler("/test/datapoint"_dppath);
request.AddNewValueHandler("/test/datapoint"_dppath);
auto response = repo.SendUnsubscribeRequest(request);
  ... can do some work here ...
response.Wait();

Parameters

[in] request The request to send to the repository.

Returns: A response object (a future) that is used to wait for completion of the request.

Thread Safety: thread-safe

Exception Safety: basic

Implements rtctk::componentFramework::RepositorySubscriberIf.

◆ SendWriteRequest()

Response rtctk::componentFramework::OldbAdapter::SendWriteRequest ( const WriteRequest & request )

overridevirtual

Sends a request to write data to the repository.

This method allows non-blocking writing of datapoints to the repository. The method returns immediately, allowing other work to be done in the calling thread while the write request is completed in the background. If any callback handlers were registered in request, they will be called as soon as the respective datapoint's data has been sent and the buffer will no longer be accessed by the API, i.e. the caller can modify or release the buffer from that point on.

Note: The buffers for the datapoints added to request must not be modified or released until the Wait method of the response object returns successfully, i.e. without a timeout.

If an error occurs then a rtctk::componentFramework::RtctkException is thrown.

Note: This method is not transactional or fully atomic. If an error occurs while writing the datapoints, only some of the datapoints registered with the write request may be actually updated in the repository. It is however guaranteed that any particular datapoint is either updated completely in the repository or not at all.

Parameters

[in] request The request object that contains all the datapoints to write.

Returns: A response object that must be used to synchronise with the completion of the write request.

Implements rtctk::componentFramework::RepositoryIf.

◆ SetMetadataInstanceMap()

void rtctk::componentFramework::OldbAdapter::SetMetadataInstanceMap ( const std::map< std::type_index, std::string > & map )

protected

Sets the type_index to OLDB metadata instance name map.

Parameters

[in] map The new map to use. This object must be kept alive and unmodified for the lifetime of all OldbAdapter instances.

Note: This method should only be used in the constructor of the child class.

Thread Safety: ❗thread-hostile❗

Exception Safety: basic

◆ SetTypeInfoMap()

void rtctk::componentFramework::OldbAdapter::SetTypeInfoMap ( const std::map< std::string, const std::type_info & > & map )

protected

Sets the OLDB metadata instance name to type_info map.

Parameters

[in] map The new map to use. This object must be kept alive and unmodified for the lifetime of all OldbAdapter instances.

Note: This method should only be used in the constructor of the child class.

Thread Safety: ❗thread-hostile❗

Exception Safety: basic

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

componentFramework/services/oldb/src/include/rtctk/componentFramework/oldbAdapter.hpp
componentFramework/services/oldb/src/oldbAdapter.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ OldbAdapter() [1/5]

◆ OldbAdapter() [2/5]

◆ OldbAdapter() [3/5]

◆ OldbAdapter() [4/5]

◆ OldbAdapter() [5/5]

◆ ~OldbAdapter()

Member Function Documentation

◆ CastAndRegisterSubscription()

◆ CreateDataPoint() [1/5]

◆ CreateDataPoint() [2/5]

◆ CreateDataPoint() [3/5]

◆ CreateDataPoint() [4/5]

◆ CreateDataPoint() [5/5]

◆ DataPointExists()

◆ DeleteDataPoint()

◆ GetChildren()

◆ GetDataPointSize()

◆ GetDataPointType()

◆ InitMetadata()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ SendReadRequest()

◆ SendSubscribeRequest()

◆ SendUnsubscribeRequest()

◆ SendWriteRequest()

◆ SetMetadataInstanceMap()

◆ SetTypeInfoMap()