Things.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 YARP_OS_THINGS_H
#define YARP_OS_THINGS_H
 
#include <yarp/os/ConnectionReader.h>
#include <yarp/os/Portable.h>
 
namespace yarp {
namespace os {
 
class YARP_os_API Things
{
public:
    Things();
 
    virtual ~Things();
 
    void setPortWriter(yarp::os::PortWriter* writer);
 
    yarp::os::PortWriter* getPortWriter();
 
    void setPortReader(yarp::os::PortReader* reader);
 
    yarp::os::PortReader* getPortReader();
 
    bool setConnectionReader(yarp::os::ConnectionReader& reader);
 
    /*
     * Things writer
     */
    bool write(yarp::os::ConnectionWriter& connection);
 
    void reset();
 
    bool hasBeenRead();
 
    template <typename T>
    T* cast_as()
    {
        if (this->writer) {
            return dynamic_cast<T*>(this->writer);
        }
        if (this->reader) {
            return dynamic_cast<T*>(this->reader);
        }
        if (!this->portable) {
            if (!this->conReader) {
                return nullptr;
            }
            this->portable = new T();
            if (!this->portable->read(*this->conReader)) {
                delete this->portable;
                this->portable = nullptr;
                return nullptr;
            }
            beenRead = true;
        }
        return dynamic_cast<T*>(this->portable);
    }
 
private:
    bool beenRead;
    yarp::os::ConnectionReader* conReader;
    yarp::os::PortWriter* writer;
    yarp::os::PortReader* reader;
    yarp::os::Portable* portable;
};
 
} // namespace os
} // namespace yarp
 
#endif // YARP_OS_THINGS_H