WireBottle.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 YARP2_WIREBOTTLE
#define YARP2_WIREBOTTLE
 
#include <yarp/os/SizedWriter.h>
 
#include <yarp/wire_rep_utils/api.h>
 
namespace yarp {
namespace wire_rep_utils {
 
class YARP_wire_rep_utils_API SizedWriterTail :
        public yarp::os::SizedWriter
{
private:
    yarp::os::SizedWriter *delegate;
    size_t payload_index, payload_offset;
public:
    void setDelegate(yarp::os::SizedWriter *delegate, int index,
                     int offset) {
        this->delegate = delegate;
        payload_index = index;
        payload_offset = offset;
    }
 
    size_t length() const override {
        return delegate->length()-payload_index;
    }
 
    size_t headerLength() const override {
        return 0; // not supported
    }
 
    size_t length(size_t index) const override {
        index += payload_index;
        if (index==payload_index) return delegate->length(index)-payload_offset;
        return delegate->length(index);
    }
 
    const char *data(size_t index) const override {
        index += payload_index;
        if (index==payload_index) return delegate->data(index)+payload_offset;
        return delegate->data(index);
    }
 
    yarp::os::PortReader *getReplyHandler() override {
        return delegate->getReplyHandler();
    }
 
    yarp::os::Portable *getReference() override {
        return delegate->getReference();
    }
 
    bool dropRequested() override { return false; }
 
 
    void startWrite() const override {
    }
 
    void stopWrite() const override {
    }
};
 
class YARP_wire_rep_utils_API WireBottle
{
public:
    static bool checkBottle(void *cursor, int len);
    static bool extractBlobFromBottle(yarp::os::SizedWriter& src,
                                      SizedWriterTail& dest);
};
 
} // namespace wire_rep_utils
} // namespace yarp
 
#endif