PortCoreOutputUnit.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_PORTCOREOUTPUTUNIT_H
#define YARP_OS_IMPL_PORTCOREOUTPUTUNIT_H
 
#include <yarp/os/OutputProtocol.h>
#include <yarp/os/Semaphore.h>
#include <yarp/os/impl/PortCore.h>
#include <yarp/os/impl/PortCoreUnit.h>
 
#include <mutex>
 
namespace yarp {
namespace os {
namespace impl {
 
class PortCoreOutputUnit :
        public PortCoreUnit
{
public:
    PortCoreOutputUnit(PortCore& owner, int index, OutputProtocol* op);
 
    ~PortCoreOutputUnit() override;
 
    bool start() override;
 
    void run() override;
 
    virtual void runSingleThreaded();
 
    // documented in PortCoreUnit
    bool isOutput() override
    {
        return true;
    }
 
    // documented in PortCoreUnit
    void close() override
    {
        closeMain();
    }
 
    // documented in PortCoreUnit
    bool isFinished() override
    {
        return finished;
    }
 
    // documented in PortCoreUnit
    Route getRoute() override;
 
    // documented in PortCoreUnit
    void* send(const yarp::os::PortWriter& writer,
               yarp::os::PortReader* reader,
               const yarp::os::PortWriter* callback,
               void* tracker,
               const std::string& envelopeString,
               bool waitAfter,
               bool waitBefore,
               bool* gotReply) override;
 
    // documented in PortCoreUnit
    void* takeTracker() override;
 
    // documented in PortCoreUnit
    bool isBusy() override;
 
    // documented in PortCoreUnit
    void setCarrierParams(const yarp::os::Property& params) override;
 
    // documented in PortCoreUnit
    void getCarrierParams(yarp::os::Property& params) override;
 
    // return the protocol object
    OutputProtocol* getOutPutProtocol();
 
private:
    OutputProtocol *op; 
    bool closing;       
    bool finished;      
    bool running;       
    bool threaded;      
    bool sending;       
    yarp::os::Semaphore phase;        
    yarp::os::Semaphore activate;     
    std::mutex trackerMutex; 
    const yarp::os::PortWriter* cachedWriter;   
    yarp::os::PortReader *cachedReader;   
    const yarp::os::PortWriter* cachedCallback; 
    void *cachedTracker;        
    std::string cachedEnvelope;      
 
    bool sendHelper();
 
    void closeBasic();
 
    void closeMain();
};
 
} // namespace impl
} // namespace os
} // namespace yarp
 
#endif // YARP_OS_IMPL_PORTCOREOUTPUTUNIT_H