chrono::ros::ipc::IPCChannel Class Reference

Description

Bidirectional IPC channel using shared memory ring buffers.

#include <ChROSIPCChannel.h>

Public Member Functions
	~IPCChannel ()
	Destructor.
bool	SendMessage (const Message &message)
	Send a message through the channel. More...
bool	ReceiveMessage (Message &message)
	Receive a message from the channel (non-blocking) More...
bool	IsReady () const
	Check if channel is ready for communication.
const std::string &	GetName () const
	Get the channel name.

Static Public Member Functions
static std::unique_ptr< IPCChannel >	CreateMainChannel (const std::string &channel_name, size_t buffer_size=512 *1024 *1024)
	Create IPC channel for the main process (creates shared memory) More...
static std::unique_ptr< IPCChannel >	ConnectToChannel (const std::string &channel_name)
	Connect to existing IPC channel from subprocess (opens existing shared memory) More...

Member Function Documentation

ConnectToChannel()

std::unique_ptr< IPCChannel > chrono::ros::ipc::IPCChannel::ConnectToChannel ( const std::string &  channel_name )

static

Connect to existing IPC channel from subprocess (opens existing shared memory)

Parameters

channel_name

Name of the IPC channel to connect to

CreateMainChannel()

std::unique_ptr< IPCChannel > chrono::ros::ipc::IPCChannel::CreateMainChannel ( const std::string &  channel_name, size_t  buffer_size = 512 * 1024 * 1024  )

static

Create IPC channel for the main process (creates shared memory)

Parameters

channel_name	Unique name for this IPC channel
buffer_size	Size of each ring buffer in bytes (default: 512MB for high-bandwidth sensor data) Note: Total shared memory is 2x this size (bidirectional buffers) 512MB allows ~145 full 1280x720 RGBA8 images or ~15 4K images per direction

ReceiveMessage()

bool chrono::ros::ipc::IPCChannel::ReceiveMessage

(

Message &

message

)

Receive a message from the channel (non-blocking)

Parameters

message

Output message buffer

Returns

true if message received, false if no message available

SendMessage()

bool chrono::ros::ipc::IPCChannel::SendMessage

(

const Message &

message

)

Send a message through the channel.

Parameters

message

Message to send

Returns

true if successful, false if channel is full

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

• /builds/uwsbel/chrono/src/chrono_ros/ipc/ChROSIPCChannel.h
• /builds/uwsbel/chrono/src/chrono_ros/ipc/ChROSIPCChannel.cpp