InPortSHMConsumer.h

Go to the documentation of this file.

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


//#include <rtm/BufferBase.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 >
  {
    typedef coil::Guard<coil::Mutex> Guard;
  public:
    DATAPORTSTATUS_ENUM
    InPortSHMConsumer();
    
    virtual ~InPortSHMConsumer();

    virtual void init(coil::Properties& prop);
    virtual InPortConsumer::ReturnCode put(cdrMemoryStream& data);
    virtual bool setObject(CORBA::Object_ptr obj);
    virtual void publishInterfaceProfile(SDOPackage::NVList& properties);
    virtual bool subscribeInterface(const SDOPackage::NVList& properties);
    virtual void unsubscribeInterface(const SDOPackage::NVList& properties);

  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:
    InPortConsumer::ReturnCode convertReturnCode(OpenRTM::PortStatus ret);

  private:
    coil::Mutex m_mutex;
    mutable Logger rtclog;
    coil::Properties m_properties;

    int m_memorySize;
    std::string m_shmAddress;
    SharedMemoryPort m_shmem;
    bool m_endian;
  };
};     // namespace RTC

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

#endif // RTC_INPORTCORBACDRCONSUMER_H