Message

Created by Vladislav Molodtsov for communication between modules without naoqi sockets

Implementation guide for your module

1) Copy the following files to your working directory:

Channels.h Custom.h Custom.cpp Message.h

2) Include source file (Custom.cpp) in your CMake file

3) Include these .h files to your .h file of your module:

#include"Channels.h"
#include"Custom.h"
#include"Message.h"

4) Add namespace in .h file of your module:

using namespace message;

5) Create private field in class of your module:

private:
Message<MessageType<Send>, MessageType<Receive>> message_;

6) Add constructor of Message class in your constructor:

MyModule::MyModule() : message_(FROM_YOUR_MODULE_TO_OTHER, FROM_OTHER_MODULE_TO_YOUR)

Note:

Here FROM_YOUR_MODULE_TO_OTHER and FROM_OTHER _MODULE_TO_YOUR - message types which you can find in channels.h.

7) Customize classes Receive and Send, which are in Custom.h Custom.cpp

Note:

• Class Message uses two templates: one for desctiprion of received data and one for description of sending data.
• Calls SendMessage and ReceiveMessage work with struct MessageType. It's a template struct, which contains field data. You can access this field to call your own methods, that you will write in Custom.h. Also there some examples next.

8) Run endless loop that will receive messages and will call methods of your class

For instance,

void StrategyModule::ReceiveLoop()
{
    std::cout << "start receive loop\n";

    while(1)
    {
        MessageType<Receive> buf = ReceiveMessage();

        // Example of using
        currentGameState = buf.data.state;
    }
}

and call it (for example, in init()) using std::threads:

void StrategyModule::init()
{
    std::thread receive([&](){
        ReceiveLoop();
    });

    receive.detach();
}

For more details about threads: link.

9) Write sending messages in your methods:

MessageType<Send> buf;

// For example:
buf.data.state = currentGameState;
message_.SendMessage(buf);