RpcServer.h

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/*
 * Copyright (C) 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * Copyright (C) 2006-2010 RobotCub Consortium
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_OS_RPCSERVER_H
#define YARP_OS_RPCSERVER_H
 
#include <yarp/os/AbstractContactable.h>
 
namespace yarp {
namespace os {
 
class YARP_os_API RpcServer : public AbstractContactable
{
public:
    RpcServer();
 
    ~RpcServer() override;
 
    virtual bool write(const PortWriter& writer,
                       const PortWriter* callback = nullptr) const override;
 
    virtual bool write(const PortWriter& writer,
                       PortReader& reader,
                       const PortWriter* callback = nullptr) const override;
 
    // documented in UnbufferedContactable
    bool read(PortReader& reader, bool willReply = true) override;
 
    void setInputMode(bool expectInput) override;
    void setOutputMode(bool expectOutput) override;
    void setRpcMode(bool expectRpc) override;
 
    Port& asPort() override
    {
        return port;
    }
 
    const Port& asPort() const override
    {
        return port;
    }
 
private:
    // an RpcServer may be implemented with a regular port
    Port port;
 
    // forbid copy constructor and assignment operator by making them private
    // and not implementing them
    RpcServer(const RpcServer& alt);
    const RpcServer& operator=(const RpcServer& alt);
};
 
} // namespace os
} // namespace yarp
 
#endif // YARP_OS_RPCSERVER_H