YarpDataFeedInputPort.hpp

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/*
Copyright 2007, 2008, 2009, 2010, 2011 Instituto de Sistemas e Robotica, Instituto Superior Tecnico

This file is part of MeRMaID.

MeRMaID is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

MeRMaID is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License
along with MeRMaID.  If not, see <http://www.gnu.org/licenses/>.
*/



/**
 * @Filename YarpDataFeedInputPort.hpp
 * @Description YarpDataFeedInputPort declaration
 * @Status Work in Progress
 * @Version $Id: YarpDataFeedInputPort.hpp 1 2011-03-04 18:13:18Z jreis $
 * @Maintainer
 */

#ifndef __COMMUNICATION_YARPDATAFEEDINPUTPORT_H
#define __COMMUNICATION_YARPDATAFEEDINPUTPORT_H

namespace mermaid
{
  namespace support
  {
    namespace communication
    {
      class YarpDataFeedInputPort;
    }
  }
}


#include <Service.hpp>

#include <yarp/os/all.h>

#include <string>

namespace mermaid
{
  namespace support
  {
    namespace communication
    {
    
      using yarp::os::Bottle;
      using yarp::os::BufferedPort;
      
      using boost::shared_ptr;
      using mermaid::support::service::Service;
      
      /**
      * @Class YarpDataFeedInputPort YarpDataFeedInputPort.hpp "YarpDataFeedInputPort.hpp"
      * @Description YarpDataFeedInputPortclass.
      * @Author Marco Barbosa
      */
      class YarpDataFeedInputPort : public BufferedPort<Bottle>
      {
        public:
          YarpDataFeedInputPort (std::string producerEntityName, std::string producerServiceName, std::string datafeedName, shared_ptr<Service> consumerService);
          
          bool connect();
          
          std::string getProducerEntityName();
          std::string getProducerServiceName();
          std::string getDataFeedName();
          shared_ptr<Service> getConsumerService();
          
          virtual ~YarpDataFeedInputPort();
          
          virtual void onRead (Bottle& data);
          
        private:
          std::string producerEntityName_;
          std::string producerServiceName_;
          std::string dataFeedName_;
          shared_ptr<Service> consumerService_;
          
      }; // class YarpServiceAsynchInputPort
    } // namespace communication
  } // namespace support
} // namespace mermaid


#endif // __COMMUNICATION_YARPDATAFEEDINPUTPORT_H