PublisherPeriodic.h

説明を見る。

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

#include <coil/Task.h>
#include <coil/Mutex.h>
#include <coil/Condition.h>
#include <coil/PeriodicTask.h>

#include <rtm/RTC.h>
#include <rtm/PublisherBase.h>
#include <rtm/CdrBufferBase.h>
#include <rtm/SystemLogger.h>
#include <rtm/ConnectorBase.h>
#include <rtm/ConnectorListener.h>

namespace coil
{
  class Properties;
};

namespace RTC
{
  class InPortConsumer;
  class PublisherPeriodic
    : public PublisherBase
  {
  public: 
    typedef coil::Mutex Mutex;
    typedef coil::Condition<Mutex> Condition;
    typedef coil::Guard<coil::Mutex> Guard;
    DATAPORTSTATUS_ENUM

    PublisherPeriodic(void);
    
    virtual ~PublisherPeriodic(void);
    
    virtual ReturnCode init(coil::Properties& prop);

    virtual ReturnCode setConsumer(InPortConsumer* consumer);

    virtual ReturnCode setBuffer(CdrBufferBase* buffer);

    virtual ReturnCode setListener(ConnectorInfo& info,
                                   ConnectorListeners* listeners);
    virtual ReturnCode write(const cdrMemoryStream& data,
                             unsigned long sec,
                             unsigned long usec);
    virtual bool isActive();

    virtual ReturnCode activate();

    virtual ReturnCode deactivate();
    
    virtual int svc(void);
    
  protected:
    enum Policy
      {
        ALL,
        FIFO,
        SKIP,
        NEW
      };

    void setPushPolicy(const coil::Properties& prop);

    bool createTask(const coil::Properties& prop);

    ReturnCode pushAll();

    ReturnCode pushFifo();

    ReturnCode pushSkip();

    ReturnCode pushNew();

    ReturnCode convertReturn(BufferStatus::Enum status,
                             const cdrMemoryStream& data);


    ReturnCode invokeListener(DataPortStatus::Enum status,
                              const cdrMemoryStream& data);

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

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

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

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

    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);
    }

    inline void onBufferEmpty()
    {
      m_listeners->
        connector_[ON_BUFFER_EMPTY].notify(m_profile);
    }

    inline void onSenderEmpty()
    {
      m_listeners->
        connector_[ON_SENDER_EMPTY].notify(m_profile);
    }

    inline void onSenderError()
    {
      m_listeners->
        connector_[ON_SENDER_ERROR].notify(m_profile);
    }


  private:
    bool bufferIsEmpty()
    {
      if (m_buffer->empty() && !m_readback)
        {
          RTC_DEBUG(("buffer empty"));
          onBufferEmpty();
          onSenderEmpty();
          return true;
        }
      return false;
    }

    Logger rtclog;
    InPortConsumer* m_consumer;
    CdrBufferBase* m_buffer;
    ConnectorInfo m_profile;
    coil::PeriodicTaskBase* m_task;
    ConnectorListeners* m_listeners;
    ReturnCode m_retcode;
    Mutex m_retmutex;
    Policy m_pushPolicy;
    int m_skipn;
    bool m_active;
    bool m_readback;
    int m_leftskip;
  };
};     // namespace RTC

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

#endif // RTC_PUBLISHERPERIODIC_H

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