SharedMemoryPort.h

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// -*- C++ -*-
#ifndef SHAREDMEMORYPORT_H
#define SHAREDMEMORYPORT_H
 
 
#include <rtm/Manager.h>
#include <rtm/idl/SharedMemorySkel.h>
#include <coil/SharedMemory.h>
#include <rtm/CORBA_CdrMemoryStream.h>
#include <rtm/ByteData.h>
 
#define DEFAULT_DATA_SIZE 8
#define DEFAULT_SHARED_MEMORY_SIZE 2097152
 
namespace RTC
{
  class SharedMemoryPort
      : public virtual POA_OpenRTM::PortSharedMemory,
      public virtual PortableServer::RefCountServantBase
  {
  public:
    SharedMemoryPort();
    ~SharedMemoryPort() override;
    virtual int string_to_MemorySize(std::string size_str);
    void create_memory(::CORBA::ULongLong memory_size, const char *shm_address) override;
    void open_memory(::CORBA::ULongLong memory_size, const char *shm_address) override;
    void close_memory(::CORBA::Boolean unlink = false) override;
    virtual void write(ByteData& data);
    virtual void read(ByteData& data);
    void setInterface(::OpenRTM::PortSharedMemory_ptr sm) override;
    void setEndian(::CORBA::Boolean endian) override;
    ::OpenRTM::PortStatus put() override;
    ::OpenRTM::PortStatus get() override;
 
    virtual ::OpenRTM::PortSharedMemory_ptr getObjRef();
 
 protected:
    ::OpenRTM::PortSharedMemory_var m_smInterface{OpenRTM::PortSharedMemory::_nil()};
    bool m_endian{true};
    coil::SharedMemory m_shmem;
    
  };  // class SharedMemoryPort
} // namespace RTC
 
#endif // RTC_RTOBJECT