LocalCarrier.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_IMPL_LOCALCARRIER_H
#define YARP_OS_IMPL_LOCALCARRIER_H
 
#include <yarp/os/AbstractCarrier.h>
#include <yarp/os/InputStream.h>
#include <yarp/os/OutputStream.h>
#include <yarp/os/Portable.h>
#include <yarp/os/Semaphore.h>
#include <yarp/os/TwoWayStream.h>
 
#include <mutex>
 
namespace yarp {
namespace os {
namespace impl {
 
class LocalCarrier;
 
class LocalCarrierManager
{
public:
    LocalCarrierManager();
 
    void setSender(LocalCarrier* sender);
    LocalCarrier* getReceiver();
    LocalCarrier* getSender(LocalCarrier* receiver);
    void revoke(LocalCarrier* carrier);
 
private:
    std::mutex senderMutex;
    std::mutex receiverMutex;
    yarp::os::Semaphore received;
    LocalCarrier *sender, *receiver;
};
 
 
class LocalCarrierStream :
        public TwoWayStream,
        public InputStream,
        public OutputStream
{
public:
    void attach(LocalCarrier* owner, bool sender);
 
    InputStream& getInputStream() override;
    OutputStream& getOutputStream() override;
    const Contact& getLocalAddress() const override;
    const Contact& getRemoteAddress() const override;
    bool setTypeOfService(int tos) override;
 
    using yarp::os::InputStream::read;
    yarp::conf::ssize_t read(yarp::os::Bytes& b) override;
 
    using yarp::os::OutputStream::write;
    void write(const yarp::os::Bytes& b) override;
 
    void reset() override;
    void beginPacket() override;
    void endPacket() override;
    void interrupt() override;
    void close() override;
    bool isOk() const override;
 
private:
    Contact localAddress, remoteAddress;
    LocalCarrier* owner;
    bool sender;
    bool done;
};
 
class LocalCarrier :
        public AbstractCarrier
{
public:
    LocalCarrier();
 
    virtual ~LocalCarrier();
 
    Carrier* create() const override;
 
    std::string getName() const override;
 
    bool requireAck() const override;
    bool isConnectionless() const override;
    bool canEscape() const override;
    bool isLocal() const override;
    virtual std::string getSpecifierName() const;
    bool checkHeader(const Bytes& header) override;
    void getHeader(Bytes& header) const override;
    void setParameters(const Bytes& header) override;
    bool sendHeader(ConnectionState& proto) override;
    bool expectExtraHeader(ConnectionState& proto) override;
    virtual bool becomeLocal(ConnectionState& proto, bool sender);
    bool write(ConnectionState& proto, SizedWriter& writer) override;
    bool respondToHeader(ConnectionState& proto) override;
    bool expectReplyToHeader(ConnectionState& proto) override;
    bool expectIndex(ConnectionState& proto) override;
 
    void removePeer();
    void shutdown();
    void accept(yarp::os::Portable* ref);
 
protected:
    bool doomed;
    yarp::os::Portable* ref;
    LocalCarrier* peer;
    std::mutex peerMutex;
    yarp::os::Semaphore sent;
    yarp::os::Semaphore received;
    std::string portName;
 
    static LocalCarrierManager manager;
};
 
} // namespace impl
} // namespace os
} // namespace yarp
 
#endif // YARP_OS_IMPL_LOCALCARRIER_H