OutPortSHMProvider.h

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// -*- C++ -*-
#ifndef RTC_OUTPORTSHMPROVIDER_H
#define RTC_OUTPORTSHMPROVIDER_H
 
#include <rtm/SharedMemoryPort.h>
#include <rtm/BufferBase.h>
#include <rtm/OutPortProvider.h>
#include <rtm/CORBA_SeqUtil.h>
#include <rtm/Manager.h>
#include <rtm/ConnectorListener.h>
#include <rtm/ConnectorBase.h>
 
namespace RTC
{
  class OutPortSHMProvider
    : public OutPortProvider,
      public virtual SharedMemoryPort
  {
  public:
    OutPortSHMProvider();
 
    ~OutPortSHMProvider() override;
 
    void init(coil::Properties& prop) override;
 
    void setBuffer(CdrBufferBase* buffer) override;
 
    void setListener(ConnectorInfo& info,
                             ConnectorListenersBase* listeners) override;
 
    void setConnector(OutPortConnector* connector) override;
 
    ::OpenRTM::PortStatus get() override;
 
    
  private:
    ::OpenRTM::PortStatus convertReturn(BufferStatus status,
                                        ByteData& data);
 
 
    inline void onBufferRead(ByteData& data)
    {
      m_listeners->notifyOut(ConnectorDataListenerType::ON_BUFFER_READ, m_profile, data);
    }
 
    inline void onSend(ByteData& data)
    {
      m_listeners->notifyOut(ConnectorDataListenerType::ON_SEND, m_profile, data);
    }
 
    inline void onBufferEmpty()
    {
      m_listeners->notify(ConnectorListenerType::ON_BUFFER_EMPTY, m_profile);
    }
 
    inline void onBufferReadTimeout()
    {
      m_listeners->notify(ConnectorListenerType::ON_BUFFER_READ_TIMEOUT, m_profile);
    }
 
    inline void onSenderEmpty()
    {
      m_listeners->notify(ConnectorListenerType::ON_SENDER_EMPTY, m_profile);
    }
 
    inline void onSenderTimeout()
    {
      m_listeners->notify(ConnectorListenerType::ON_SENDER_TIMEOUT, m_profile);
    }
 
    inline void onSenderError()
    {
      m_listeners->notify(ConnectorListenerType::ON_SENDER_ERROR, m_profile);
    }
    
  private:
    CdrBufferBase* m_buffer{nullptr};
    ::OpenRTM::PortSharedMemory_var m_objref;
    ConnectorListenersBase* m_listeners;
    ConnectorInfo m_profile;
    OutPortConnector* m_connector{nullptr};
    std::string m_shm_address;
    int m_memory_size{0};
    ByteData m_cdr;
  };  // class OutPortCorbaCdrProvider
} // namespace RTC
 
extern "C"
{
  void OutPortSHMProviderInit(void);
}
 
#endif // RTC_OUTPORTSHMPROVIDER_H