InPortCorbaCdrProvider.h

説明を見る。

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

#include <rtm/idl/DataPortSkel.h>
#include <rtm/BufferBase.h>
#include <rtm/InPortProvider.h>
#include <rtm/CORBA_SeqUtil.h>
#include <rtm/Manager.h>
#include <rtm/ConnectorListener.h>
#include <rtm/ConnectorBase.h>

#ifdef WIN32
#pragma warning( disable : 4290 )
#endif

namespace RTC
{
  class InPortCorbaCdrProvider
    : public InPortProvider,
      public virtual POA_OpenRTM::InPortCdr,
      public virtual PortableServer::RefCountServantBase
  {
  public:
    InPortCorbaCdrProvider(void);
    
    virtual ~InPortCorbaCdrProvider(void);

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

    virtual void setBuffer(BufferBase<cdrMemoryStream>* buffer);

    virtual void setListener(ConnectorInfo& info,
                             ConnectorListeners* listeners);

    virtual void setConnector(InPortConnector* connector);

    virtual ::OpenRTM::PortStatus put(const ::OpenRTM::CdrData& data)
      throw (CORBA::SystemException);
    
  private:
    ::OpenRTM::PortStatus
    convertReturn(BufferStatus::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 onBufferWriteOverwrite(const cdrMemoryStream& data)
    {
      m_listeners->
        connectorData_[ON_BUFFER_OVERWRITE].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:
    CdrBufferBase* m_buffer;
    ::OpenRTM::InPortCdr_var m_objref;
    ConnectorListeners* m_listeners;
    ConnectorInfo m_profile;
    InPortConnector* m_connector;

  };  // class InPortCorCdrbaProvider
};    // namespace RTC

extern "C"
{
  void InPortCorbaCdrProviderInit(void);
};

#ifdef WIN32
#pragma warning( default : 4290 )
#endif

#endif // RTC_INPORTCORBACDRPROVIDER_H

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