Orocos Real-Time Toolkit  2.5.0
RemotePorts.hpp
00001 /***************************************************************************
00002   tag: Peter Soetens  Thu Oct 22 11:59:07 CEST 2009  RemotePorts.hpp
00003 
00004                         RemotePorts.hpp -  description
00005                            -------------------
00006     begin                : Thu October 22 2009
00007     copyright            : (C) 2009 Peter Soetens
00008     email                : peter@thesourcworks.com
00009 
00010  ***************************************************************************
00011  *   This library is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU General Public                   *
00013  *   License as published by the Free Software Foundation;                 *
00014  *   version 2 of the License.                                             *
00015  *                                                                         *
00016  *   As a special exception, you may use this file as part of a free       *
00017  *   software library without restriction.  Specifically, if other files   *
00018  *   instantiate templates or use macros or inline functions from this     *
00019  *   file, or you compile this file and link it with other files to        *
00020  *   produce an executable, this file does not by itself cause the         *
00021  *   resulting executable to be covered by the GNU General Public          *
00022  *   License.  This exception does not however invalidate any other        *
00023  *   reasons why the executable file might be covered by the GNU General   *
00024  *   Public License.                                                       *
00025  *                                                                         *
00026  *   This library is distributed in the hope that it will be useful,       *
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00028  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00029  *   Lesser General Public License for more details.                       *
00030  *                                                                         *
00031  *   You should have received a copy of the GNU General Public             *
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00033  *   Foundation, Inc., 59 Temple Place,                                    *
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00035  *                                                                         *
00036  ***************************************************************************/
00037 
00038 
00039 #ifndef RTT_CORBA_REMOTE_PORTS_HPP
00040 #define RTT_CORBA_REMOTE_PORTS_HPP
00041 
00042 #include "../../base/PortInterface.hpp"
00043 #include "../../base/ChannelElement.hpp"
00044 #include "../../InputPort.hpp"
00045 #include "../../OutputPort.hpp"
00046 #include "DataFlowI.h"
00047 #include <cassert>
00048 
00049 namespace RTT {
00050     namespace corba {
00061         template<typename PortClass>
00062         class RemotePort : public PortClass
00063         {
00064         protected:
00065             types::TypeInfo const* type_info;
00066             CDataFlowInterface_var dataflow;
00067             PortableServer::POA_var mpoa;
00068 
00069             bool connectionAdded( base::ChannelElementBase::shared_ptr channel, ConnPolicy const& policy ) { assert(false && "Can/Should not add connection to remote port object !");return false; }
00070 
00071         public:
00072             RemotePort(types::TypeInfo const* type_info,
00073                     CDataFlowInterface_ptr dataflow,
00074                     std::string const& name,
00075                     PortableServer::POA_ptr poa);
00076 
00077             PortableServer::POA_ptr _default_POA();
00078             CDataFlowInterface_ptr getDataFlowInterface() const;
00079 
00080             internal::ConnID* getPortID() const;
00081 
00082             types::TypeInfo const* getTypeInfo() const;
00083             int serverProtocol() const;
00084             bool connected() const;
00085             bool createStream( const ConnPolicy& policy );
00086             virtual bool addConnection(internal::ConnID* port_id, base::ChannelElementBase::shared_ptr channel_input, ConnPolicy const& policy);
00087             void disconnect();
00088             bool disconnect(base::PortInterface* p);
00089         };
00090 
00096         class RemoteOutputPort
00097             : public RemotePort<base::OutputPortInterface>
00098         {
00099         public:
00100             RemoteOutputPort(types::TypeInfo const* type_info,
00101                     CDataFlowInterface_ptr dataflow,
00102                     std::string const& name,
00103                     PortableServer::POA_ptr poa);
00104 
00105             bool keepsLastWrittenValue() const;
00106             void keepLastWrittenValue(bool new_flag);
00107 
00108             using base::OutputPortInterface::createConnection;
00109             bool createConnection( base::InputPortInterface& sink, ConnPolicy const& policy );
00110 
00111             virtual base::DataSourceBase::shared_ptr getDataSource() const;
00112 
00113             base::PortInterface* clone() const;
00114             base::PortInterface* antiClone() const;
00115         };
00116 
00123         class RemoteInputPort
00124             : public RemotePort<base::InputPortInterface>,
00125               public internal::ConnFactory
00126         {
00127             typedef std::map<base::ChannelElementBase*,RTT::corba::CChannelElement_var> ChannelMap;
00128             ChannelMap channel_map;
00129         protected:
00137             virtual bool addConnection(internal::ConnID* port_id, base::ChannelElementBase::shared_ptr channel_input, ConnPolicy const& policy) { return true; }
00138         public:
00139             RemoteInputPort(types::TypeInfo const* type_info,
00140                     CDataFlowInterface_ptr dataflow,
00141                     std::string const& name,
00142                     PortableServer::POA_ptr poa);
00143 
00144             internal::ConnFactory* getConnFactory();
00145 
00158             base::ChannelElementBase::shared_ptr buildRemoteChannelOutput(
00159                     base::OutputPortInterface& output_port,
00160                     types::TypeInfo const* type,
00161                     base::InputPortInterface& reader_,
00162                     ConnPolicy const& policy);
00163 
00164             base::PortInterface* clone() const;
00165             base::PortInterface* antiClone() const;
00166 
00167             base::DataSourceBase* getDataSource();
00168 
00176             virtual bool channelReady(base::ChannelElementBase::shared_ptr channel);
00177         };
00178     }
00179 }
00180 
00181 #endif
00182