PortMonitor.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * 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 PORTMONITOR_INC
#define PORTMONITOR_INC
 
#include <yarp/os/ModifyingCarrier.h>
#include <yarp/os/DummyConnector.h>
#include <yarp/os/Election.h>
#include <yarp/os/NullConnectionReader.h>
#include <yarp/os/Things.h>
 
#include "MonitorBinding.h"
#include "MonitorEvent.h"
 
#include <mutex>
 
 
class PortMonitor;
 
class PortMonitorGroup :
        public yarp::os::PeerRecord<PortMonitor>
{
public:
    virtual ~PortMonitorGroup() {}
    virtual bool acceptIncomingData(PortMonitor *source);
};
 
 
 
class PortMonitor :
        public yarp::os::ModifyingCarrier
{
 
public:
    PortMonitor() = default;
    PortMonitor(const PortMonitor&) = delete;
    PortMonitor(PortMonitor&&) = delete;
    PortMonitor& operator=(const PortMonitor&) = delete;
    PortMonitor& operator=(PortMonitor&&) = delete;
 
    ~PortMonitor() override
    {
        if (!portName.empty()) {
            getPeers().remove(portName,this);
        }
        delete binder;
    }
 
    Carrier *create() const override
    {
        return new PortMonitor();
    }
 
    std::string getName() const override
    {
        return "portmonitor";
    }
 
    std::string toString() const override
    {
        return "portmonitor_carrier";
    }
 
    bool configure(yarp::os::ConnectionState& proto) override;
    bool configureFromProperty(yarp::os::Property& options) override;
 
    //bool modifiesIncomingData() override;
    bool acceptIncomingData(yarp::os::ConnectionReader& reader) override;
 
    yarp::os::ConnectionReader& modifyIncomingData(yarp::os::ConnectionReader& reader) override;
 
    const yarp::os::PortWriter& modifyOutgoingData(const yarp::os::PortWriter& writer) override;
 
    bool acceptOutgoingData(const yarp::os::PortWriter& writer) override;
 
    yarp::os::PortReader& modifyReply(yarp::os::PortReader& reader) override;
 
    void setCarrierParams(const yarp::os::Property& params) override;
 
    void getCarrierParams(yarp::os::Property& params) const override;
 
 
    void lock() const { mutex.lock(); }
    void unlock() const { mutex.unlock(); }
 
    MonitorBinding* getBinder()
    {
        if(!bReady) {
            return nullptr;
        }
        return binder;
    }
 
public:
    std::string portName;
    std::string sourceName;
 
private:
    static yarp::os::ElectionOf<PortMonitorGroup> *peers;
    static yarp::os::ElectionOf<PortMonitorGroup>& getPeers();
 
 
private:
    bool bReady {false};
    yarp::os::DummyConnector con;
    yarp::os::ConnectionReader* localReader {nullptr};
    yarp::os::Things thing;
    MonitorBinding* binder {nullptr};
    PortMonitorGroup *group {nullptr};
    mutable std::mutex mutex;
};
 
#endif //PORTMONITOR_INC