InPortSHMProvider.h

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// -*- C++ -*-
 
#ifndef RTC_INPORTSHMPROVIDER_H
#define RTC_INPORTSHMPROVIDER_H
 
#include <rtm/SharedMemoryPort.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 InPortSHMProvider
    : public InPortProvider,
      public virtual SharedMemoryPort
  {
  public:
    InPortSHMProvider();
    
    ~InPortSHMProvider() 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;

    ::OpenRTM::PortStatus put() override;
    
  private:
 
    ::OpenRTM::PortStatus
    convertReturn(BufferStatus status,
                  ByteData& data);
 
    
    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:
    CdrBufferBase* m_buffer{nullptr};
    ::OpenRTM::PortSharedMemory_var  m_objref;
    ConnectorListenersBase* m_listeners;
    ConnectorInfo m_profile;
    InPortConnector* m_connector{nullptr};
    ByteData m_cdr;
 
  };  // class InPortCorCdrbaProvider
} // namespace RTC
 
extern "C"
{
  void InPortSHMProviderInit();
}
 
#endif // RTC_INPORTCORBACDRPROVIDER_H