InPortCorbaCdrUDPConsumer.h

[詳解]

// -*- C++ -*-
 
#ifndef RTC_INPORTCORBACDRUDPCONSUMER_H
#define RTC_INPORTCORBACDRUDPCONSUMER_H
 
 
 
#include <rtm/idl/DataPortUDPSkel.h>
#include <rtm/CorbaConsumer.h>
#include <rtm/InPortConsumer.h>
#include <rtm/Manager.h>
 
namespace RTC
{
  class InPortCorbaCdrUDPConsumer
    : public InPortConsumer,
      public CorbaConsumer< ::OpenRTM::InPortCdrUDP >
  {
  public:
    InPortCorbaCdrUDPConsumer(void);
    
    ~InPortCorbaCdrUDPConsumer(void) 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:
 
 
    mutable Logger rtclog;
    coil::Properties m_properties;
    ::OpenRTM::CdrData m_data;
  };
} // namespace RTC
 
extern "C"
{
  void InPortCorbaCdrUDPConsumerInit(void);
}
 
#endif // RTC_INPORTCORBACDRUDPCONSUMER_H