RpcClient.cpp

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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.
 */
 
#include <yarp/os/RpcClient.h>
 
#include <yarp/os/impl/LogComponent.h>
 
using namespace yarp::os;
using namespace yarp::os::impl;
 
namespace {
YARP_OS_LOG_COMPONENT(RPCCLIENT, "yarp.os.RpcClient")
} // namespace
 
class RpcClient::Private
{
public:
    // an RpcClient may be implemented with a regular port
    Port port;
};
 
 
RpcClient::RpcClient() :
        mPriv(new Private)
{
    mPriv->port.setInputMode(false);
    mPriv->port.setOutputMode(true);
    mPriv->port.setRpcMode(true);
}
 
RpcClient::~RpcClient()
{
    mPriv->port.close();
    delete mPriv;
}
 
bool RpcClient::read(PortReader& reader, bool willReply)
{
    YARP_UNUSED(reader);
    YARP_UNUSED(willReply);
    yCError(RPCCLIENT,
            "cannot read from RpcClient %s, please use a regular Port for that",
            mPriv->port.getName().c_str());
    return false;
}
 
bool RpcClient::reply(PortWriter& writer)
{
    YARP_UNUSED(writer);
    return false;
}
 
bool RpcClient::replyAndDrop(PortWriter& writer)
{
    YARP_UNUSED(writer);
    return false;
}
 
void RpcClient::setInputMode(bool expectInput)
{
    yCAssert(RPCCLIENT, !expectInput);
}
 
void RpcClient::setOutputMode(bool expectOutput)
{
    yCAssert(RPCCLIENT, expectOutput);
}
 
void RpcClient::setRpcMode(bool expectRpc)
{
    yCAssert(RPCCLIENT, expectRpc);
}
 
Port& RpcClient::asPort()
{
    return mPriv->port;
}
 
const Port& RpcClient::asPort() const
{
    return mPriv->port;
}