PublisherPeriodic.h
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00001 // -*- C++ -*-
00020 #ifndef RTC_PUBLISHERPERIODIC_H
00021 #define RTC_PUBLISHERPERIODIC_H
00022 
00023 #include <coil/Task.h>
00024 #include <coil/Mutex.h>
00025 #include <coil/Condition.h>
00026 #include <coil/PeriodicTask.h>
00027 
00028 #include <rtm/RTC.h>
00029 #include <rtm/PublisherBase.h>
00030 #include <rtm/CdrBufferBase.h>
00031 #include <rtm/SystemLogger.h>
00032 #include <rtm/ConnectorBase.h>
00033 #include <rtm/ConnectorListener.h>
00034 
00035 namespace coil
00036 {
00037   class Properties;
00038 };
00039 
00040 namespace RTC
00041 {
00042   class InPortConsumer;
00064   class PublisherPeriodic
00065     : public PublisherBase
00066   {
00067   public: 
00068     typedef coil::Mutex Mutex;
00069     typedef coil::Condition<Mutex> Condition;
00070     typedef coil::Guard<coil::Mutex> Guard;
00071     DATAPORTSTATUS_ENUM
00072 
00082     PublisherPeriodic(void);
00083     
00097     virtual ~PublisherPeriodic(void);
00098     
00160     virtual ReturnCode init(coil::Properties& prop);
00161 
00187     virtual ReturnCode setConsumer(InPortConsumer* consumer);
00188 
00214     virtual ReturnCode setBuffer(CdrBufferBase* buffer);
00215 
00249     virtual ReturnCode setListener(ConnectorInfo& info,
00250                                    ConnectorListeners* listeners);
00326     virtual ReturnCode write(const cdrMemoryStream& data,
00327                              unsigned long sec,
00328                              unsigned long usec);
00356     virtual bool isActive();
00357 
00383     virtual ReturnCode activate();
00384 
00410     virtual ReturnCode deactivate();
00411     
00425     virtual int svc(void);
00426     
00427   protected:
00428     enum Policy
00429       {
00430         ALL,
00431         FIFO,
00432         SKIP,
00433         NEW
00434       };
00435 
00443     void setPushPolicy(const coil::Properties& prop);
00444 
00452     bool createTask(const coil::Properties& prop);
00453 
00457     ReturnCode pushAll();
00458 
00462     ReturnCode pushFifo();
00463 
00467     ReturnCode pushSkip();
00468 
00472     ReturnCode pushNew();
00473 
00529     ReturnCode convertReturn(BufferStatus::Enum status,
00530                              const cdrMemoryStream& data);
00531 
00532 
00550     ReturnCode invokeListener(DataPortStatus::Enum status,
00551                               const cdrMemoryStream& data);
00552 
00562     inline void onBufferWrite(const cdrMemoryStream& data)
00563     {
00564       m_listeners->
00565         connectorData_[ON_BUFFER_WRITE].notify(m_profile, data);
00566     }
00567 
00577     inline void onBufferFull(const cdrMemoryStream& data)
00578     {
00579       m_listeners->
00580         connectorData_[ON_BUFFER_FULL].notify(m_profile, data);
00581     }
00582 
00592     inline void onBufferWriteTimeout(const cdrMemoryStream& data)
00593     {
00594       m_listeners->
00595         connectorData_[ON_BUFFER_WRITE_TIMEOUT].notify(m_profile, data);
00596     }
00597 
00607     inline void onBufferRead(const cdrMemoryStream& data)
00608     {
00609       m_listeners->
00610         connectorData_[ON_BUFFER_READ].notify(m_profile, data);
00611     }
00612 
00622     inline void onSend(const cdrMemoryStream& data)
00623     {
00624       m_listeners->
00625         connectorData_[ON_SEND].notify(m_profile, data);
00626     }
00627 
00637     inline void onReceived(const cdrMemoryStream& data)
00638     {
00639       m_listeners->
00640         connectorData_[ON_RECEIVED].notify(m_profile, data);
00641     }
00642 
00652     inline void onReceiverFull(const cdrMemoryStream& data)
00653     {
00654       m_listeners->
00655         connectorData_[ON_RECEIVER_FULL].notify(m_profile, data);
00656     }
00657 
00667     inline void onReceiverTimeout(const cdrMemoryStream& data)
00668     {
00669       m_listeners->
00670         connectorData_[ON_RECEIVER_TIMEOUT].notify(m_profile, data);
00671     }
00672 
00682     inline void onReceiverError(const cdrMemoryStream& data)
00683     {
00684       m_listeners->
00685         connectorData_[ON_RECEIVER_ERROR].notify(m_profile, data);
00686     }
00687 
00695     inline void onBufferEmpty()
00696     {
00697       m_listeners->
00698         connector_[ON_BUFFER_EMPTY].notify(m_profile);
00699     }
00700 
00708     inline void onSenderEmpty()
00709     {
00710       m_listeners->
00711         connector_[ON_SENDER_EMPTY].notify(m_profile);
00712     }
00713 
00721     inline void onSenderError()
00722     {
00723       m_listeners->
00724         connector_[ON_SENDER_ERROR].notify(m_profile);
00725     }
00726 
00727 
00728   private:
00729     bool bufferIsEmpty()
00730     {
00731       if (m_buffer->empty() && !m_readback)
00732         {
00733           RTC_DEBUG(("buffer empty"));
00734           onBufferEmpty();
00735           onSenderEmpty();
00736           return true;
00737         }
00738       return false;
00739     }
00740 
00741     Logger rtclog;
00742     InPortConsumer* m_consumer;
00743     CdrBufferBase* m_buffer;
00744     ConnectorInfo m_profile;
00745     coil::PeriodicTaskBase* m_task;
00746     ConnectorListeners* m_listeners;
00747     ReturnCode m_retcode;
00748     Mutex m_retmutex;
00749     Policy m_pushPolicy;
00750     int m_skipn;
00751     bool m_active;
00752     bool m_readback;
00753     int m_leftskip;
00754   };
00755 };     // namespace RTC
00756 
00757 extern "C"
00758 {
00759   void DLL_EXPORT PublisherPeriodicInit();
00760 };
00761 
00762 #endif // RTC_PUBLISHERPERIODIC_H
00763 


openrtm_aist
Author(s): Noriaki Ando
autogenerated on Sat Jun 8 2019 18:49:06