InPortCorbaCdrUDPProvider.h

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// -*- C++ -*-
#ifndef RTC_INPORTCORBACDRUDPPROVIDER_H
#define RTC_INPORTCORBACDRUDPPROVIDER_H
 
#include <rtm/idl/DataPortUDPSkel.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>
 
namespace RTC
{
  class InPortCorbaCdrUDPProvider
    : public InPortProvider,
      public virtual POA_OpenRTM::InPortCdrUDP,
      public virtual PortableServer::RefCountServantBase
  {
  public:
    InPortCorbaCdrUDPProvider(void);
    
    ~InPortCorbaCdrUDPProvider(void) override;
 
    void init(coil::Properties& prop) override;
 
    void setBuffer(BufferBase<ByteData>* buffer) override;
 
    void setListener(ConnectorInfo& info,
                             ConnectorListenersBase* listeners) override;
 
    void setConnector(InPortConnector* connector) override;
 
    void put(const ::OpenRTM::CdrData& data) override;
    
  private:
 
 
    
    inline void onBufferWrite(ByteData& data)
    {
      m_listeners->notifyIn(ConnectorDataListenerType::ON_BUFFER_WRITE,
                            m_profile, data);
    }
 
    inline void onBufferFull(ByteData& data)
    {
      m_listeners->notifyIn(ConnectorDataListenerType::ON_BUFFER_FULL,
                            m_profile, data);
    }
 
    inline void onBufferWriteTimeout(ByteData& data)
    {
      m_listeners->notifyIn(ConnectorDataListenerType::ON_BUFFER_WRITE_TIMEOUT,
                            m_profile, data);
    }
 
    inline void onBufferWriteOverwrite(ByteData& data)
    {
      m_listeners->notifyIn(ConnectorDataListenerType::ON_BUFFER_OVERWRITE,
                            m_profile, data);
    }
 
    inline void onReceived(ByteData& data)
    {
      m_listeners->notifyIn(ConnectorDataListenerType::ON_RECEIVED,
                            m_profile, data);
    }
 
    inline void onReceiverFull(ByteData& data)
    {
      m_listeners->notifyIn(ConnectorDataListenerType::ON_RECEIVER_FULL,
                            m_profile, data);
    }
 
    inline void onReceiverTimeout(ByteData& data)
    {
      m_listeners->notifyIn(ConnectorDataListenerType::ON_RECEIVER_TIMEOUT,
                            m_profile, data);
    }
 
    inline void onReceiverError(ByteData& data)
    {
      m_listeners->notifyIn(ConnectorDataListenerType::ON_RECEIVER_ERROR,
                            m_profile, data);
    }
 
  private:
    void convertReturn(BufferStatus status, ByteData& data);
 
    CdrBufferBase* m_buffer;
    ::OpenRTM::InPortCdrUDP_var m_objref;
    ConnectorListenersBase* m_listeners;
    ConnectorInfo m_profile;
    InPortConnector* m_connector;
    ByteData m_cdr;
 
  };  // class InPortCorCdrbaProvider
} // namespace RTC
 
extern "C"
{
  void InPortCorbaCdrUDPProviderInit(void);
}
 
#endif // RTC_INPORTCORBACDRUDPPROVIDER_H