iLab Neuromorphic Robotics Toolkit  0.1
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ConnectorImpl.H
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1 /*! @file
2  @author Laurent Itti
3  @copyright GNU Public License (GPL v3)
4  @section License
5  @verbatim
6  // ////////////////////////////////////////////////////////////////////////
7  // The iLab Neuromorphic Robotics Toolkit (NRT) //
8  // Copyright 2010-2012 by the University of Southern California (USC) //
9  // and the iLab at USC. //
10  // //
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12  // Hedco Neurociences Building, Room HNB-10 //
13  // Los Angeles, Ca 90089-2520 - USA //
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15  // See http://ilab.usc.edu for information about this project. //
16  // ////////////////////////////////////////////////////////////////////////
17  // This file is part of The iLab Neuromorphic Robotics Toolkit. //
18  // //
19  // The iLab Neuromorphic Robotics Toolkit is free software: you can //
20  // redistribute it and/or modify it under the terms of the GNU General //
21  // Public License as published by the Free Software Foundation, either //
22  // version 3 of the License, or (at your option) any later version. //
23  // //
24  // The iLab Neuromorphic Robotics Toolkit is distributed in the hope //
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32  // ////////////////////////////////////////////////////////////////////////
33  @endverbatim */
34 
35 
36 #ifndef INCLUDE_NRT_CORE_BLACKBOARD_DETAILS_CONNECTORIMPL_H
37 #define INCLUDE_NRT_CORE_BLACKBOARD_DETAILS_CONNECTORIMPL_H
38 
39 // ######################################################################
40 template <class Posting> inline
42 MessagePosterConnector(std::string const & instanceId_, std::string const & namespc_, ConnectorType const type_,
43  std::string const & topicfilt_, std::string const & topic_) :
44  nrt::ConnectorBase(nrt::ConnectorFlavor::Poster, nrt::MessageType<typename Posting::MsgType>(),
45  nrt::MessageType<typename Posting::RetType>(), instanceId_, namespc_, type_, topic_, topicfilt_)
46 {
47  // MessageType() checks for void or deriving from nrt::MessageBase, here we just forbid a void MsgType:
48  static_assert(! std::is_same<void, typename Posting::MsgType>::value, "Posting::MsgType cannot be void");
49 }
50 
51 // ######################################################################
52 template <class Posting> inline
54 { }
55 
56 // ######################################################################
57 // ######################################################################
58 // ######################################################################
59 template <class Checking> inline
61 MessageCheckerConnector(std::string const & instanceId_, std::string const & namespc_, ConnectorType const type_,
62  std::string const & topic_, std::string const & topicfilt_) :
63  nrt::ConnectorBase(nrt::ConnectorFlavor::Checker, nrt::MessageType<typename Checking::MsgType>(),
64  "", instanceId_, namespc_, type_, topic_, topicfilt_)
65 {
66  // MessageType() checks for void or deriving from nrt::MessageBase, here we just forbid a void MsgType:
67  static_assert(! std::is_same<void, typename Checking::MsgType>::value, "Checking::MsgType cannot be void");
68 }
69 
70 // ######################################################################
71 template <class Checking> inline
73 { }
74 
75 // ######################################################################
76 // ######################################################################
77 // ######################################################################
78 template <class Subscription> inline
80 MessageSubscriberConnector(std::string const & instanceId_, std::string const & namespc_, ConnectorType const type_,
81  std::string const & topic_, std::string const & topicfilt_) :
82  nrt::ConnectorBase(nrt::ConnectorFlavor::Subscriber, nrt::MessageType<typename Subscription::MsgType>(),
83  nrt::MessageType<typename Subscription::RetType>(), instanceId_, namespc_, type_,
84  topic_, topicfilt_)
85 {
86  // MessageType() checks for void or deriving from nrt::MessageBase, here we just forbid a void MsgType:
87  static_assert(! std::is_same<void, typename Subscription::MsgType>::value, "Subscription::MsgType cannot be void");
88 }
89 
90 // ######################################################################
91 template <class Subscription> inline
93 { }
94 
95 #endif // INCLUDE_NRT_CORE_BLACKBOARD_DETAILS_CONNECTORIMPL_H