PortCoreInputUnit.h

Go to the documentation of this file.

/*
 * 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_PORTCOREINPUTUNIT_H
#define YARP_OS_IMPL_PORTCOREINPUTUNIT_H
 
#include <yarp/os/InputProtocol.h>
#include <yarp/os/Semaphore.h>
#include <yarp/os/impl/PortCore.h>
#include <yarp/os/impl/PortCoreUnit.h>
 
namespace yarp {
namespace os {
namespace impl {
 
class PortCoreInputUnit :
        public PortCoreUnit
{
public:
    PortCoreInputUnit(PortCore& owner,
                      int index,
                      InputProtocol* ip,
                      bool reversed);
 
    virtual ~PortCoreInputUnit();
 
    bool start() override;
 
    void run() override;
 
    bool isInput() override;
 
    void close() override;
 
    bool isFinished() override;
 
    const std::string& getName();
 
    Route getRoute() override;
 
    bool interrupt() override;
 
    void setCarrierParams(const yarp::os::Property& params) override;
 
    void getCarrierParams(yarp::os::Property& params) override;
 
    // return the protocol object
    InputProtocol* getInPutProtocol();
 
    bool isBusy() override;
 
private:
    InputProtocol* ip;
    yarp::os::Semaphore phase, access;
    bool closing, finished, running;
    std::string name;
    yarp::os::PortReader* localReader;
    Route officialRoute;
    bool reversed;
 
    void closeMain();
 
    bool skipIncomingData(yarp::os::ConnectionReader& reader);
 
    static void envelopeReadCallback(void* data, const Bytes& envelope);
};
 
} // namespace impl
} // namespace os
} // namespace yarp
 
#endif // YARP_OS_IMPL_PORTCOREINPUTUNIT_H