InPortPushConnector.h

[詳解]

// -*- C++ -*-
#ifndef RTC_INPORTPUSHCONNECTOR_H
#define RTC_INPORTPUSHCONNECTOR_H
 
#include <rtm/InPortConnector.h>
#include <rtm/InPortConsumer.h>
#include <rtm/PublisherBase.h>
 
namespace RTC
{
  class InPortProvider;
 
  class InPortPushConnector
    : public InPortConnector
  {
  public:
 
    InPortPushConnector(ConnectorInfo info,
                        InPortProvider* provider,
                        ConnectorListenersBase* listeners,
                        CdrBufferBase* buffer = nullptr);
 
    ~InPortPushConnector() override;
 
    DataPortStatus read(ByteDataStreamBase* data) override;
 
    DataPortStatus disconnect() override;
 
    void activate() override {}  // do nothing
 
    void deactivate() override {}  // do nothing
 
  protected:
    virtual CdrBufferBase* createBuffer(ConnectorInfo& info);
 
    BufferStatus write(ByteData &cdr) override;
 
    void onConnect();
 
    void onDisconnect();
    
    inline void onBufferRead(ByteData& data)
    {
      m_listeners->notifyIn(ConnectorDataListenerType::ON_BUFFER_READ,
                            m_profile, data);
 
    }
    void onBufferEmpty(ByteData&  /*data*/)
    {
      m_listeners->notify(ConnectorListenerType::ON_BUFFER_EMPTY, m_profile);
 
    }
    void onBufferReadTimeout(ByteData&  /*data*/)
    {
      m_listeners->notify(ConnectorListenerType::ON_BUFFER_READ_TIMEOUT,
                          m_profile);
    }
 
  private:
    InPortProvider* m_provider;
 
    ConnectorListenersBase* m_listeners;
 
    bool m_deleteBuffer;
 
    bool m_sync_readwrite;
 
    struct WorkerThreadCtrl
    {
        WorkerThreadCtrl() {}
        std::mutex mutex_;
        std::condition_variable cond_;
        bool completed_{false};
    };
    WorkerThreadCtrl m_writecompleted_worker;
    WorkerThreadCtrl m_readcompleted_worker;
    WorkerThreadCtrl m_readready_worker;
 
    ByteData m_data;
 
  };
} // namespace RTC
 
#endif  // RTC_PUSH_CONNECTOR_H