Port.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_PORT_H
#define YARP_OS_PORT_H
 
#include <yarp/os/api.h>
 
#include <yarp/os/PortReader.h>
#include <yarp/os/PortReaderCreator.h>
#include <yarp/os/PortWriter.h>
#include <yarp/os/Portable.h>
#include <yarp/os/UnbufferedContactable.h>
 
 
namespace yarp {
namespace os {
 
class YARP_os_API Port : public UnbufferedContactable
{
 
public:
    Port();
 
    ~Port() override;
 
    // Documented in Contactable
    bool open(const std::string& name) override;
 
    // Documented in Contactable
    bool open(const Contact& contact, bool registerName = true) override;
 
    bool sharedOpen(Port& port);
 
    bool openFake(const std::string& name);
 
    // Documented in Contactable
    bool addOutput(const std::string& name) override;
 
    // Documented in Contactable
    bool addOutput(const std::string& name, const std::string& carrier) override;
 
    // Documented in Contactable
    bool addOutput(const Contact& contact) override;
 
    // Documented in Contactable
    void close() override;
 
    // Documented in Contactable
    void interrupt() override;
 
    // Documented in Contactable
    void resume() override;
 
    // Documented in Contactable
    Contact where() const override;
 
    // Documented in UnbufferedContactable
    bool write(const PortWriter& writer,
               const PortWriter* callback = nullptr) const override;
 
    // Documented in UnbufferedContactable
    bool write(const PortWriter& writer,
               PortReader& reader,
               const PortWriter* callback = nullptr) const override;
 
    // Documented in UnbufferedContactable
    bool read(PortReader& reader, bool willReply = false) override;
 
    // Documented in UnbufferedContactable
    bool reply(PortWriter& writer) override;
 
    // Documented in UnbufferedContactable
    bool replyAndDrop(PortWriter& writer) override;
 
    // Documented in Contactable
    void setReader(PortReader& reader) override;
 
    // Documented in Contactable
    void setAdminReader(PortReader& reader) override;
 
    void setReaderCreator(PortReaderCreator& creator);
 
    void enableBackgroundWrite(bool backgroundFlag);
 
 
    // Documented in Contactable
    bool isWriting() override;
 
    // Documented in Contactable
    bool setEnvelope(PortWriter& envelope) override;
 
    // Documented in Contactable
    bool getEnvelope(PortReader& envelope) override;
 
    // Documented in Contactable
    int getInputCount() override;
 
    // Documented in Contactable
    int getOutputCount() override;
 
    // Documented in Contactable
    void getReport(PortReport& reporter) override;
 
    // Documented in Contactable
    void setReporter(PortReport& reporter) override;
 
    // Documented in Contactable
    void resetReporter() override;
 
    void setAdminMode(bool adminMode = true);
 
    // Documented in Contactable
    void setInputMode(bool expectInput) override;
 
    // Documented in Contactable
    void setOutputMode(bool expectOutput) override;
 
    // Documented in Contactable
    void setRpcMode(bool expectRpc) override;
 
    bool setTimeout(float timeout);
 
#ifndef YARP_NO_DEPRECATED // Since YARP 3.4
 
    YARP_DEPRECATED_MSG("Use LogComponent instead")
    void setVerbosity(int level);
 
    YARP_DEPRECATED
    int getVerbosity();
#endif
 
    // Documented in Contactable
    Type getType() override;
 
    // Documented in Contactable
    void promiseType(const Type& typ) override;
 
    // Documented in Contactable
    Property* acquireProperties(bool readOnly) override;
 
    // Documented in Contactable
    void releaseProperties(Property* prop) override;
 
    // Documented in Contactable
    void includeNodeInName(bool flag) override;
 
    bool isOpen() const;
 
#ifndef YARP_NO_DEPRECATED // Since YARP 3.3
YARP_WARNING_PUSH
YARP_DISABLE_DEPRECATED_WARNING
    // Documented in Contactable
    YARP_DEPRECATED_MSG("Use setCallbackLock with std::mutex instead")
    bool setCallbackLock(yarp::os::Mutex* mutex) override;
YARP_WARNING_POP
#endif
 
    // Documented in Contactable
    bool setCallbackLock(std::mutex* mutex = nullptr) override;
 
    // Documented in Contactable
    bool removeCallbackLock() override;
 
    // Documented in Contactable
    bool lockCallback() override;
 
    // Documented in Contactable
    bool tryLockCallback() override;
 
    // Documented in Contactable
    void unlockCallback() override;
 
private:
    void* implementation;
    bool owned;
 
    void* needImplementation() const;
 
    bool open(const Contact& contact,
              bool registerName,
              const char* fakeName);
};
 
} // namespace os
} // namespace yarp
 
#endif // YARP_OS_PORT_H