BufferedPort.h

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/*
 * Copyright (C) 2006-2020 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_BUFFEREDPORT_H
#define YARP_OS_BUFFEREDPORT_H
 
#include <yarp/os/Contactable.h>
#include <yarp/os/Port.h>
#include <yarp/os/PortReaderBuffer.h>
#include <yarp/os/PortWriterBuffer.h>
 
 
namespace yarp {
namespace os {
 
template <typename T>
class BufferedPort : public Contactable, public TypedReader<T>, public TypedReaderCallback<T>
{
public:
    using yarp::os::TypedReaderCallback<T>::onRead;
 
    typedef T ContentType;
 
    BufferedPort();
 
    BufferedPort(Port& port);
 
    virtual ~BufferedPort();
 
    // Documented in Contactable
    bool open(const std::string& name) override;
 
    // Documented in Contactable
    bool open(const Contact& contact, bool registerName = true) override;
 
    // Documented in Contactable
    bool addOutput(const std::string& name) override;
 
    // Documented in Contactable
    bool addOutput(const std::string& name, const std::string& carrier) override;
 
    // Documented in Contactable
    bool addOutput(const Contact& contact) override;
 
    // Documented in Contactable
    void close() override;
 
    // Documented in Contactable
    void interrupt() override;
 
    void resume() override;
 
    int getPendingReads() override;
 
    // Documented in Contactable
    Contact where() const override;
 
    // Documented in Contactable
    std::string getName() const override;
 
 
    T& prepare();
 
    bool unprepare();
 
    void write(bool forceStrict = false);
 
    void writeStrict();
 
    void waitForWrite();
 
    // Documented in TypedReader
    void setStrict(bool strict = true) override;
 
    // Documented in TypedReader
    T* read(bool shouldWait = true) override;
 
    // Documented in TypedReader
    T* lastRead() override;
 
    // Documented in TypedReader
    bool isClosed() override;
 
    // Documented in TypedReader
    void setReplier(PortReader& reader) override;
 
    // Documented in Contactable
    void setReader(PortReader& reader) override;
 
    // Documented in Contactable
    void setAdminReader(PortReader& reader) override;
 
    void onRead(T& datum) override;
 
    // Documented in TypedReader
    void useCallback(TypedReaderCallback<T>& callback) override;
 
    void useCallback();
 
    // Documented in TypedReader
    void disableCallback() override;
 
    // documented in Contactable
    bool setEnvelope(PortWriter& envelope) override;
 
    // documented in Contactable
    bool getEnvelope(PortReader& envelope) override;
 
    // documented in Contactable
    int getInputCount() override;
 
    // documented in Contactable
    int getOutputCount() override;
 
    // documented in Contactable
    bool isWriting() override;
 
    // documented in Contactable
    void getReport(PortReport& reporter) override;
 
    // documented in Contactable
    void setReporter(PortReport& reporter) override;
 
    // documented in Contactable
    void resetReporter() override;
 
    // documented in TypedReader
    void* acquire() override;
 
    // documented in TypedReader
    void release(void* handle) override;
 
    // documented in TypedReader
    void setTargetPeriod(double period) override;
 
    // documented in Contactable
    Type getType() override;
 
    // documented in Contactable
    void promiseType(const Type& typ) override;
 
    // documented in Contactable
    void setInputMode(bool expectInput) override;
 
    // documented in Contactable
    void setOutputMode(bool expectOutput) override;
 
    // documented in Contactable
    void setRpcMode(bool expectRpc) override;
 
    // documented in Contactable
    Property* acquireProperties(bool readOnly) override;
 
    // documented in Contactable
    void releaseProperties(Property* prop) override;
 
    // documented in Contactable
    void includeNodeInName(bool flag) override;
 
#ifndef YARP_NO_DEPRECATED // Since YARP 3.3
YARP_WARNING_PUSH
YARP_DISABLE_DEPRECATED_WARNING
    // documented in Contactable
    YARP_DEPRECATED_MSG("Use setCallbackLock with std::mutex instead")
    bool setCallbackLock(yarp::os::Mutex* mutex) override;
YARP_WARNING_POP
#endif
 
    // documented in Contactable
    bool setCallbackLock(std::mutex* mutex) override;
 
    // documented in Contactable
    bool removeCallbackLock() override;
 
    // documented in Contactable
    bool lockCallback() override;
 
    // documented in Contactable
    bool tryLockCallback() override;
 
    // documented in Contactable
    void unlockCallback() override;
 
private:
    PortWriterBuffer<T> writer;
    Port port;
    PortReaderBuffer<T> reader;
    bool interrupted;
    bool attached;
 
    // forbid this
    BufferedPort(const BufferedPort& alt) = delete;
    const BufferedPort& operator=(const BufferedPort& alt) = delete;
 
    void attachIfNeeded();
    bool sharedOpen(Port& port);
};
 
} // namespace os
} // namespace yarp
 
#include <yarp/os/BufferedPort-inl.h>
 
#endif // YARP_OS_BUFFEREDPORT_H