OutPortConnector.h

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

#include <rtm/SystemLogger.h>
#include <rtm/ConnectorBase.h>
#include <rtm/ConnectorListener.h>
#include <rtm/DirectInPortBase.h>
#include <rtm/PortBase.h>



namespace RTC
{
  class InPortBase;
  class OutPortConnector
    : public ConnectorBase
  {
  public:
    DATAPORTSTATUS_ENUM

    OutPortConnector(ConnectorInfo& info, ConnectorListeners& listeners);

    virtual ~OutPortConnector();
    const ConnectorInfo& profile();

    const char* id();

    const char* name();

    virtual ReturnCode disconnect() = 0;

    virtual CdrBufferBase* getBuffer() = 0;

    virtual ReturnCode write(cdrMemoryStream& data) = 0;

    virtual void setEndian(const bool endian_type);

    virtual bool isLittleEndian();

    template <class DataType>
    ReturnCode write(DataType& data)
    {
      if (m_directInPort != NULL)
        {
          DirectInPortBase<DataType>* inport = dynamic_cast<DirectInPortBase<DataType>*>(m_directInPort->getDirectPort());
          if(inport)
            {       
              if (inport->isNew())
                {
                  // ON_BUFFER_OVERWRITE(In,Out), ON_RECEIVER_FULL(In,Out) callback
                  m_listeners.
                    connectorData_[ON_BUFFER_OVERWRITE].notify(m_profile, data);
                  m_inPortListeners->
                    connectorData_[ON_BUFFER_OVERWRITE].notify(m_profile, data);
                  m_listeners.
                    connectorData_[ON_RECEIVER_FULL].notify(m_profile, data);
                  m_inPortListeners->
                    connectorData_[ON_RECEIVER_FULL].notify(m_profile, data);
                  RTC_PARANOID(("ON_BUFFER_OVERWRITE(InPort,OutPort), "
                                "ON_RECEIVER_FULL(InPort,OutPort) "
                                "callback called in direct mode."));
                }
              // ON_BUFFER_WRITE(In,Out) callback
              m_listeners.
                connectorData_[ON_BUFFER_WRITE].notify(m_profile, data);
              m_inPortListeners->
                connectorData_[ON_BUFFER_WRITE].notify(m_profile, data);
              RTC_PARANOID(("ON_BUFFER_WRITE(InPort,OutPort), "
                                "callback called in direct mode."));
              inport->write(data);  // write to InPort variable!!
              // ON_RECEIVED(In,Out) callback
              m_listeners.
                connectorData_[ON_RECEIVED].notify(m_profile, data);
              m_inPortListeners->
                connectorData_[ON_RECEIVED].notify(m_profile, data);
              RTC_PARANOID(("ON_RECEIVED(InPort,OutPort), "
                            "callback called in direct mode."));
              return PORT_OK;
            }
          // ON_BUFFER_WRITE(In,Out) callback
          m_listeners.
            connectorData_[ON_BUFFER_WRITE].notify(m_profile, data);
          m_inPortListeners->
            connectorData_[ON_BUFFER_WRITE].notify(m_profile, data);
          RTC_PARANOID(("ON_BUFFER_WRITE(InPort,OutPort), "
                            "callback called in direct mode."));
          inport->write(data); // write to InPort variable!!
          // ON_RECEIVED(In,Out) callback
          m_listeners.
            connectorData_[ON_RECEIVED].notify(m_profile, data);
          m_inPortListeners->
            connectorData_[ON_RECEIVED].notify(m_profile, data);
          RTC_PARANOID(("ON_RECEIVED(InPort,OutPort), "
                        "callback called in direct mode."));
          return PORT_OK;
        }
      // normal case
      m_cdr.rewindPtrs();
      RTC_TRACE(("connector endian: %s", isLittleEndian() ? "little":"big"));
      m_cdr.setByteSwapFlag(isLittleEndian());
      data >>= m_cdr;
      return write(m_cdr);
    }

    bool setInPort(InPortBase* directInPort);
    virtual void setPullDirectMode();
    virtual bool pullDirectMode();
  protected:
    Logger rtclog;
    ConnectorInfo m_profile;
    bool m_littleEndian;
    cdrMemoryStream m_cdr;

    PortBase* m_directInPort;

    ConnectorListeners& m_listeners;

    ConnectorListeners* m_inPortListeners;

    bool m_directMode;

  };
}; // namespace RTC

#endif // RTC_CONNECTORBASE_H