PortReaderBufferBase.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_PORTREADERBUFFERBASE_H
#define YARP_OS_PORTREADERBUFFERBASE_H
 
#include <yarp/os/PortReader.h>
 
#include <string>
 
namespace yarp {
namespace os {
 
class Port;
class PortReaderBufferBaseCreator;
class PortWriter;
 
class YARP_os_API PortReaderBufferBase :
        public yarp::os::PortReader
{
public:
    PortReaderBufferBase(unsigned int maxBuffer);
    virtual ~PortReaderBufferBase();
 
    void setCreator(PortReaderBufferBaseCreator* creator);
 
    void setReplier(yarp::os::PortReader& reader);
 
    void setPrune(bool flag = true);
 
    void setTargetPeriod(double period);
 
    std::string getName() const;
 
    unsigned int getMaxBuffer();
 
    bool isClosed();
 
    void clear();
 
    virtual yarp::os::PortReader* create();
 
    int check();
 
    bool read(yarp::os::ConnectionReader& connection) override;
 
    yarp::os::PortReader* readBase(bool& missed, bool cleanup);
 
    void interrupt();
 
    void attachBase(yarp::os::Port& port);
 
    // direct writer-buffer to reader-buffer pointer sharing methods
 
    virtual bool acceptObjectBase(yarp::os::PortReader* obj,
                                  yarp::os::PortWriter* wrapper);
 
    virtual bool forgetObjectBase(yarp::os::PortReader* obj,
                                  yarp::os::PortWriter* wrapper);
 
    virtual bool getEnvelope(PortReader& envelope);
 
    // user takes control of the current read object
    void* acquire();
 
    // user gives back an object
    void release(void* key);
 
#ifndef DOXYGEN_SHOULD_SKIP_THIS
private:
    class Private;
    Private* mPriv;
#endif // DOXYGEN_SHOULD_SKIP_THIS
};
 
 
} // namespace os
} // namespace yarp
 
#endif // YARP_OS_PORTREADERBUFFERBASE_H