OutPortConnector.h
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00001 // -*- C++ -*-
00020 #ifndef RTC_OUTPORTCONNECTOR_H
00021 #define RTC_OUTPORTCONNECTOR_H
00022 
00023 #include <rtm/SystemLogger.h>
00024 #include <rtm/ConnectorBase.h>
00025 
00026 namespace RTC
00027 {
00048   class OutPortConnector
00049     : public ConnectorBase
00050   {
00051   public:
00052     DATAPORTSTATUS_ENUM
00053 
00061     OutPortConnector(ConnectorInfo& info);
00062 
00070     virtual ~OutPortConnector();
00084     const ConnectorInfo& profile();
00085 
00099     const char* id();
00100 
00114     const char* name();
00115 
00129     virtual ReturnCode disconnect() = 0;
00130 
00144     virtual CdrBufferBase* getBuffer() = 0;
00145 
00159     virtual ReturnCode write(const cdrMemoryStream& data) = 0;
00160 
00174     virtual void setEndian(const bool endian_type);
00175 
00193     virtual bool isLittleEndian();
00194 
00208     template <class DataType>
00209     ReturnCode write(const DataType& data)
00210     {
00211       m_cdr.rewindPtrs();
00212       RTC_TRACE(("connector endian: %s", isLittleEndian() ? "little":"big"));
00213       m_cdr.setByteSwapFlag(isLittleEndian());
00214       data >>= m_cdr;
00215       return write(m_cdr);
00216     }
00217 
00218   protected:
00226     Logger rtclog;
00234     ConnectorInfo m_profile;
00242     bool m_littleEndian;
00250     cdrMemoryStream m_cdr;
00251 
00252   };
00253 }; // namespace RTC
00254 
00255 #endif // RTC_CONNECTORBASE_H


openrtm_aist
Author(s): Noriaki Ando
autogenerated on Thu Aug 27 2015 14:16:38