PortReaderBuffer.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_PORTREADERBUFFER_H
#define YARP_OS_PORTREADERBUFFER_H
 
#include <yarp/os/Bottle.h>
#include <yarp/os/LocalReader.h>
#include <yarp/os/Port.h>
#include <yarp/os/PortReader.h>
#include <yarp/os/PortReaderBufferBase.h>
#include <yarp/os/PortReaderBufferBaseCreator.h>
#include <yarp/os/Thread.h>
#include <yarp/os/TypedReader.h>
#include <yarp/os/TypedReaderCallback.h>
#include <yarp/os/TypedReaderThread.h>
 
#include <cstdio>
#include <string>
 
namespace yarp {
namespace os {
 
template <typename T>
class PortReaderBuffer :
        public yarp::os::TypedReader<T>,
        public yarp::os::LocalReader<T>,
        public yarp::os::PortReaderBufferBaseCreator
{
public:
    PortReaderBuffer(unsigned int maxBuffer = 0);
 
    virtual ~PortReaderBuffer();
 
    void detach();
 
    // documented in TypedReader
    void setStrict(bool strict = true) override;
 
    bool check();
 
    // documented in TypedReader
    int getPendingReads() override;
 
    // documented in TypedReader
    T* read(bool shouldWait = true) override;
 
    // documented in TypedReader
    void interrupt() override;
 
    // documented in TypedReader
    T* lastRead() override;
 
    void attach(Port& port);
 
    // documented in TypedReader
    void useCallback(TypedReaderCallback<T>& callback) override;
 
    // documented in TypedReader
    void disableCallback() override;
 
    virtual bool read(ConnectionReader& connection);
 
    PortReader* create() const override;
 
    // documented in TypedReader
    void setReplier(PortReader& reader) override;
 
    virtual bool getEnvelope(PortReader& envelope);
 
    // documented in TypedReader
    bool isClosed() override;
 
    // documented in TypedReader
    std::string getName() const override;
 
    // documented in LocalReader
    bool acceptObject(T* obj, PortWriter* wrapper) override;
 
    // documented in LocalReader
    bool forgetObject(T* obj, yarp::os::PortWriter* wrapper) override;
 
    // documented in TypedReader
    void* acquire() override;
 
    // documented in TypedReader
    void release(void* handle) override;
 
    // documented in TypedReader
    void setTargetPeriod(double period) override;
 
private:
    yarp::os::PortReaderBufferBase implementation;
    bool autoDiscard;
    T* last;
    T* default_value;
    TypedReaderThread<T>* reader;
};
 
} // namespace os
} // namespace yarp
 
#include <yarp/os/PortReaderBuffer-inl.h>
 
#endif // YARP_OS_PORTREADERBUFFER_H