InPortConnector.h

[詳解]

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

#include <rtm/ConnectorListener.h>
#include <rtm/ConnectorBase.h>
#include <rtm/DirectOutPortBase.h>
#include <rtm/PortBase.h>


namespace RTC
{
  class OutPortBase;
  class InPortConnector
    : public ConnectorBase
  {
  public:
    DATAPORTSTATUS_ENUM
    InPortConnector(ConnectorInfo& info,
                    ConnectorListeners& listeners,
                    CdrBufferBase* buffer);

    virtual ~InPortConnector();

    virtual const ConnectorInfo& profile();

    virtual const char* id();

    virtual const char* name();

    virtual ReturnCode disconnect() = 0;

    virtual CdrBufferBase* getBuffer();

    virtual ReturnCode read(cdrMemoryStream& data) = 0;

    virtual void setEndian(const bool endian_type);

    virtual bool isLittleEndian();


    bool setOutPort(OutPortBase* directOutPort);

    template <typename DataType>
    bool getDirectData(DataType &data)
    {
        if (m_directOutPort == NULL)
        {
            return false;
        }
        DirectOutPortBase<DataType>* outport;
        outport = static_cast<DirectOutPortBase<DataType>*>(m_directOutPort->getDirectPort());
        
        
        if (outport->isEmpty())
        {
            m_listeners.
                connector_[ON_BUFFER_EMPTY].notify(m_profile);
            m_outPortListeners->
                connector_[ON_SENDER_EMPTY].notify(m_profile);
            RTC_PARANOID(("ON_BUFFER_EMPTY(InPort,OutPort), "
                "ON_SENDER_EMPTY(InPort,OutPort) "
                "callback called in direct mode."));
        }
        outport->read(data);
        m_outPortListeners->connectorData_[ON_BUFFER_READ].notify(m_profile, data);
        RTC_TRACE(("ON_BUFFER_READ(OutPort), "));
        RTC_TRACE(("callback called in direct mode."));
        m_outPortListeners->connectorData_[ON_SEND].notify(m_profile, data);
        RTC_TRACE(("ON_SEND(OutPort), "));
        RTC_TRACE(("callback called in direct mode."));
        m_listeners.connectorData_[ON_RECEIVED].notify(m_profile, data);
        RTC_TRACE(("ON_RECEIVED(InPort), "));
        RTC_TRACE(("callback called in direct mode."));
        m_listeners.connectorData_[ON_SEND].notify(m_profile, data);
        RTC_TRACE(("ON_BUFFER_WRITE(InPort), "));
        RTC_TRACE(("callback called in direct mode."));
        

        return true;

    };

  protected:
    Logger rtclog;
    ConnectorInfo m_profile;
    ConnectorListeners& m_listeners;
    CdrBufferBase* m_buffer;
    bool m_littleEndian;
    ConnectorListeners* m_outPortListeners;
    PortBase* m_directOutPort;

  };
}; // namespace RTC

#endif // RTC_INPORTCONNECTOR_H