JPL::RealtimeObject< T, Options > Class Template Reference

#include <JPLSpatial/Utilities/RealtimeObject.h>

Classes
class	ScopedAccess

Public Types
using	allocator_type = std::pmr::polymorphic_allocator<>
using	RealtimeAcquireReturnType = std::conditional_t< Options==RealtimeObjectOptions::nonRealtimeMutatable, const T, T >
using	NonRealtimeAcquireReturnType = std::conditional_t< Options==RealtimeObjectOptions::realtimeMutatable, const T, T >

Public Member Functions
	RealtimeObject ()=default
	RealtimeObject (const T &obj, const allocator_type &allocator={})
	RealtimeObject (T &&obj, const allocator_type &allocator={})
	~RealtimeObject ()=default
RealtimeAcquireReturnType &	realtimeAcquire () noexcept
void	realtimeRelease () noexcept
template<typename... Args> requires (Options == RealtimeObjectOptions::realtimeMutatable)
void	realtimeReplace (Args &&... args) noexcept
NonRealtimeAcquireReturnType &	nonRealtimeAcquire ()
void	nonRealtimeRelease ()
template<typename... Args> requires (Options == RealtimeObjectOptions::nonRealtimeMutatable)
void	nonRealtimeReplace (Args &&... args)

Detailed Description

template<typename T, RealtimeObjectOptions Options>
class JPL::RealtimeObject< T, Options >

Useful class to synchronise access to an object from multiple threads with the additional feature that one designated thread will never wait to get access to the object.

Essentially Faiban Renn's RealtimeObject (https://github.com/hogliux/farbot), with some modifications:

• memory is managed by polymorphic allocator instead of std::unique_ptr
• asumed only one non-realtime thread will access the object

Member Typedef Documentation

allocator_type

template<typename T , RealtimeObjectOptions Options>

using JPL::RealtimeObject< T, Options >::allocator_type = std::pmr::polymorphic_allocator<>

NonRealtimeAcquireReturnType

template<typename T , RealtimeObjectOptions Options>

using JPL::RealtimeObject< T, Options >::NonRealtimeAcquireReturnType = std::conditional_t<Options == RealtimeObjectOptions::realtimeMutatable, const T, T>

RealtimeAcquireReturnType

template<typename T , RealtimeObjectOptions Options>

using JPL::RealtimeObject< T, Options >::RealtimeAcquireReturnType = std::conditional_t<Options == RealtimeObjectOptions::nonRealtimeMutatable, const T, T>

Constructor & Destructor Documentation

RealtimeObject() [1/3]

template<typename T , RealtimeObjectOptions Options>

JPL::RealtimeObject< T, Options >::RealtimeObject ( )

default

Creates a default constructed T

RealtimeObject() [2/3]

template<typename T , RealtimeObjectOptions Options>

JPL::RealtimeObject< T, Options >::RealtimeObject ( const T &  obj, const allocator_type &  allocator = {}  )

inlineexplicit

Creates a copy of T

RealtimeObject() [3/3]

template<typename T , RealtimeObjectOptions Options>

JPL::RealtimeObject< T, Options >::RealtimeObject ( T &&  obj, const allocator_type &  allocator = {}  )

inlineexplicit

Moves T into this realtime wrapper

~RealtimeObject()

template<typename T , RealtimeObjectOptions Options>

JPL::RealtimeObject< T, Options >::~RealtimeObject ( )

default

Member Function Documentation

nonRealtimeAcquire()

template<typename T , RealtimeObjectOptions Options>

NonRealtimeAcquireReturnType & JPL::RealtimeObject< T, Options >::nonRealtimeAcquire ( )

inline

Returns a reference to T. Use this method on the non real-time thread. It must be matched by nonRealtimeRelease when you are finished using the object. Alternatively, use the ScopedAccess helper class below.

Multiple non-realtime threads can acquire an object at the same time.

This method uses a lock should not be used on a realtime thread.

nonRealtimeRelease()

template<typename T , RealtimeObjectOptions Options>

void JPL::RealtimeObject< T, Options >::nonRealtimeRelease ( )

inline

Releases the lock on T previously acquired by nonRealtimeAcquire.

This method uses both a lock and a spin loop and should not be used on a realtime thread.

nonRealtimeReplace()

template<typename T , RealtimeObjectOptions Options>

template<typename... Args>
requires (Options == RealtimeObjectOptions::nonRealtimeMutatable)

void JPL::RealtimeObject< T, Options >::nonRealtimeReplace ( Args &&...  args )

inline

Replace the underlying value with a new instance of T by forwarding the method's arguments to T's constructor

realtimeAcquire()

template<typename T , RealtimeObjectOptions Options>

RealtimeAcquireReturnType & JPL::RealtimeObject< T, Options >::realtimeAcquire ( )

inlinenoexcept

Returns a reference to T. Use this method on the real-time thread. It must be matched by realtimeRelease when you are finished using the object. Alternatively, use the ScopedAccess helper class below.

Only a single real-time thread can acquire this object at once!

This method is wait- and lock-free.

realtimeRelease()

template<typename T , RealtimeObjectOptions Options>

void JPL::RealtimeObject< T, Options >::realtimeRelease ( )

inlinenoexcept

Releases the lock on T previously acquired by realtimeAcquire.

This method is wait- and lock-free.

realtimeReplace()

template<typename T , RealtimeObjectOptions Options>

template<typename... Args>
requires (Options == RealtimeObjectOptions::realtimeMutatable)

void JPL::RealtimeObject< T, Options >::realtimeReplace ( Args &&...  args )

inlinenoexcept

Replace the underlying value with a new instance of T by forwarding the method's arguments to T's constructor

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

• JPLSpatial/Utilities/RealtimeObject.h