InPortCorbaCdrConsumer.h

[詳解]

// -*- C++ -*-
 
#ifndef RTC_INPORTCORBACDRCONSUMER_H
#define RTC_INPORTCORBACDRCONSUMER_H
 
 
 
#include <rtm/idl/DataPort_OpenRTMSkel.h>
#include <rtm/CorbaConsumer.h>
#include <rtm/InPortConsumer.h>
#include <rtm/Manager.h>
 
namespace RTC
{
  class InPortCorbaCdrConsumer
    : public InPortConsumer,
      public CorbaConsumer< ::OpenRTM::InPortCdr >
  {
  public:
    InPortCorbaCdrConsumer();

    ~InPortCorbaCdrConsumer() override;

    void init(coil::Properties& prop) override;

    DataPortStatus put(ByteData& data) override;

    void publishInterfaceProfile(SDOPackage::NVList& properties) override;

    bool subscribeInterface(const SDOPackage::NVList& properties) override;

    void unsubscribeInterface(const SDOPackage::NVList& properties) override;
 
  private:
    bool subscribeFromIor(const SDOPackage::NVList& properties);

    bool subscribeFromRef(const SDOPackage::NVList& properties);

    bool unsubscribeFromIor(const SDOPackage::NVList& properties);

    bool unsubscribeFromRef(const SDOPackage::NVList& properties);
 
  private:
    static DataPortStatus convertReturnCode(OpenRTM::PortStatus ret);
 
    mutable Logger rtclog;
    coil::Properties m_properties;
    ::OpenRTM::CdrData m_data;
  };
} // namespace RTC
 
extern "C"
{
  void InPortCorbaCdrConsumerInit(void);
}
 
#endif  // RTC_INPORTCORBACDRCONSUMER_H