PublisherFlush.h

説明を見る。

// -*- C++ -*-
#ifndef RTC_PUBLISHERFLUSH_H
#define RTC_PUBLISHERFLUSH_H

#include <coil/Condition.h>
#include <rtm/PublisherBase.h>
#include <rtm/SystemLogger.h>
#include <rtm/ConnectorBase.h>
#include <rtm/ConnectorListener.h>

namespace coil
{
  class Properties;
};

namespace RTC
{
  class InPortConsumer;

  class PublisherFlush
    : public PublisherBase
  {
  public:
    typedef coil::Mutex Mutex;
    typedef coil::Condition<Mutex> Condition;
    typedef coil::Guard<coil::Mutex> Guard;
    DATAPORTSTATUS_ENUM

    PublisherFlush();
    
    virtual ~PublisherFlush(void);

    virtual ReturnCode init(coil::Properties& prop);

    virtual ReturnCode setConsumer(InPortConsumer* consumer);

    virtual ReturnCode setBuffer(CdrBufferBase* buffer);

    virtual ::RTC::DataPortStatus::Enum
    setListener(ConnectorInfo& profile,
                RTC::ConnectorListeners* listeners);

    virtual ReturnCode write(const cdrMemoryStream& data,
                             unsigned long sec,
                             unsigned long usec);
    virtual bool isActive();

    virtual ReturnCode activate();

    virtual ReturnCode deactivate();

  protected:
    inline void onSend(const cdrMemoryStream& data)
    {
      m_listeners->
        connectorData_[ON_SEND].notify(m_profile, data);
    }

    inline void onReceived(const cdrMemoryStream& data)
    {
      m_listeners->
        connectorData_[ON_RECEIVED].notify(m_profile, data);
    }

    inline void onReceiverFull(const cdrMemoryStream& data)
    {
      m_listeners->
        connectorData_[ON_RECEIVER_FULL].notify(m_profile, data);
    }

    inline void onReceiverTimeout(const cdrMemoryStream& data)
    {
      m_listeners->
        connectorData_[ON_RECEIVER_TIMEOUT].notify(m_profile, data);
    }

    inline void onReceiverError(const cdrMemoryStream& data)
    {
      m_listeners->
        connectorData_[ON_RECEIVER_ERROR].notify(m_profile, data);
    }
    
  private:
    Logger rtclog;
    InPortConsumer* m_consumer;
    ConnectorInfo m_profile;
    ConnectorListeners* m_listeners;
    ReturnCode m_retcode;
    Mutex m_retmutex;
    bool m_active;
  };

};     // namespace RTC

extern "C"
{
  void DLL_EXPORT PublisherFlushInit();
};

#endif // RTC_PUBLISHERFLUSH_H

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