InPortSHMConsumer.h

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// -*- C++ -*-
#ifndef RTC_INPORTSHMCONSUMER_H
#define RTC_INPORTSHMCONSUMER_H
 
 
 
#include <rtm/SharedMemoryPort.h>
#include <rtm/CorbaConsumer.h>
#include <rtm/InPortConsumer.h>
#include <rtm/Manager.h>
#include <rtm/InPortCorbaCdrConsumer.h>
 
namespace RTC
{
  class InPortSHMConsumer
       : public InPortConsumer,
         public CorbaConsumer< ::OpenRTM::PortSharedMemory >
  {
  public:
    InPortSHMConsumer();
    
    ~InPortSHMConsumer() override;
 
    void init(coil::Properties& prop) override;
    DataPortStatus put(ByteData& data) override;
    bool setObject(CORBA::Object_ptr obj) override;
    void publishInterfaceProfile(SDOPackage::NVList& properties) override;
    bool subscribeInterface(const SDOPackage::NVList& properties) override;
    void unsubscribeInterface(const SDOPackage::NVList& properties) override;
  
private:
    bool subscribeFromIor(const SDOPackage::NVList& properties);
    bool subscribeFromRef(const SDOPackage::NVList& properties);
    bool unsubscribeFromIor(const SDOPackage::NVList& properties);
    bool unsubscribeFromRef(const SDOPackage::NVList& properties);
 
protected:
    static DataPortStatus convertReturnCode(OpenRTM::PortStatus ret);
 
   coil::Properties m_properties;
   std::mutex m_mutex;
   std::string m_shm_address;
   SharedMemoryPort m_shmem;
   int m_memory_size{0};
   bool m_endian{true};
   mutable Logger rtclog{"InPortSHMConsumer"};
  };
} // namespace RTC
 
extern "C"
{
  void InPortSHMConsumerInit(void);
}
 
#endif // RTC_INPORTCORBACDRCONSUMER_H