ConnFactory.hpp

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/***************************************************************************
  tag: Peter Soetens  Thu Oct 22 11:59:08 CEST 2009  ConnFactory.hpp

                        ConnFactory.hpp -  description
                           -------------------
    begin                : Thu October 22 2009
    copyright            : (C) 2009 Peter Soetens
    email                : peter@thesourcworks.com

 ***************************************************************************
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#ifndef ORO_CONN_FACTORY_HPP
#define ORO_CONN_FACTORY_HPP

#include <string>
#include "Channels.hpp"
#include "ConnInputEndPoint.hpp"
#include "ConnOutputEndPoint.hpp"
#include "../base/PortInterface.hpp"
#include "../base/InputPortInterface.hpp"
#include "../base/OutputPortInterface.hpp"
#include "../DataFlowInterface.hpp"

#include "../base/DataObject.hpp"
#include "../base/DataObjectUnSync.hpp"
#include "../base/Buffer.hpp"
#include "../base/BufferUnSync.hpp"
#include "../Logger.hpp"

namespace RTT
{ namespace internal {

    struct LocalConnID : public ConnID
    {
        base::PortInterface const* ptr;
        LocalConnID(base::PortInterface const* obj)
            : ptr(obj) {}
        virtual ConnID* clone() const;
        virtual bool isSameID(ConnID const& id) const;
    };

    struct RTT_API StreamConnID : public ConnID
    {
        std::string name_id;
        StreamConnID(const std::string& name)
            : name_id(name) {}
        virtual ConnID* clone() const;
        virtual bool isSameID(ConnID const& id) const;
    };


    class RTT_API ConnFactory
    {
    public:
        virtual ~ConnFactory() {}

        virtual base::InputPortInterface* inputPort(std::string const& name) const = 0;

        virtual base::OutputPortInterface* outputPort(std::string const& name) const = 0;

        virtual base::ChannelElementBase::shared_ptr buildDataStorage(ConnPolicy const& policy) const = 0;

        virtual base::ChannelElementBase::shared_ptr buildChannelOutput(base::InputPortInterface& port) const = 0;
        virtual base::ChannelElementBase::shared_ptr buildChannelInput(base::OutputPortInterface& port) const = 0;

        template<typename T>
        static base::ChannelElementBase* buildDataStorage(ConnPolicy const& policy, const T& initial_value = T())
        {
            if (policy.type == ConnPolicy::DATA)
            {
                typename base::DataObjectInterface<T>::shared_ptr data_object;
                switch (policy.lock_policy)
                {
#ifndef OROBLD_OS_NO_ASM
                case ConnPolicy::LOCK_FREE:
                    data_object.reset( new base::DataObjectLockFree<T>(initial_value) );
                    break;
#else
        case ConnPolicy::LOCK_FREE:
            RTT::log(Warning) << "lock free connection policy is unavailable on this system, defaulting to LOCKED" << RTT::endlog();
#endif
                case ConnPolicy::LOCKED:
                    data_object.reset( new base::DataObjectLocked<T>(initial_value) );
                    break;
                case ConnPolicy::UNSYNC:
                    data_object.reset( new base::DataObjectUnSync<T>(initial_value) );
                    break;
                }

                ChannelDataElement<T>* result = new ChannelDataElement<T>(data_object);
                return result;
            }
            else if (policy.type == ConnPolicy::BUFFER || policy.type == ConnPolicy::CIRCULAR_BUFFER)
            {
                base::BufferInterface<T>* buffer_object = 0;
                switch (policy.lock_policy)
                {
#ifndef OROBLD_OS_NO_ASM
                case ConnPolicy::LOCK_FREE:
                    buffer_object = new base::BufferLockFree<T>(policy.size, initial_value, policy.type == ConnPolicy::CIRCULAR_BUFFER);
                    break;
#else
        case ConnPolicy::LOCK_FREE:
            RTT::log(Warning) << "lock free connection policy is unavailable on this system, defaulting to LOCKED" << RTT::endlog();
#endif
                case ConnPolicy::LOCKED:
                    buffer_object = new base::BufferLocked<T>(policy.size, initial_value, policy.type == ConnPolicy::CIRCULAR_BUFFER);
                    break;
                case ConnPolicy::UNSYNC:
                    buffer_object = new base::BufferUnSync<T>(policy.size, initial_value, policy.type == ConnPolicy::CIRCULAR_BUFFER);
                    break;
                }
                return new ChannelBufferElement<T>(typename base::BufferInterface<T>::shared_ptr(buffer_object));
            }
            return NULL;
        }

        template<typename T>
        static base::ChannelElementBase::shared_ptr buildChannelInput(OutputPort<T>& port, ConnID* conn_id, base::ChannelElementBase::shared_ptr output_channel)
        {
            assert(conn_id);
            base::ChannelElementBase::shared_ptr endpoint = new ConnInputEndpoint<T>(&port, conn_id);
            if (output_channel)
                endpoint->setOutput(output_channel);
            return endpoint;
        }

        template<typename T>
        static base::ChannelElementBase::shared_ptr buildBufferedChannelInput(OutputPort<T>& port, ConnID* conn_id, ConnPolicy const& policy, base::ChannelElementBase::shared_ptr output_channel)
        {
            assert(conn_id);
            base::ChannelElementBase::shared_ptr endpoint = new ConnInputEndpoint<T>(&port, conn_id);
            base::ChannelElementBase::shared_ptr data_object = buildDataStorage<T>(policy, port.getLastWrittenValue() );
            endpoint->setOutput(data_object);
            if (output_channel)
                data_object->setOutput(output_channel);
            return endpoint;
        }

        template<typename T>
        static base::ChannelElementBase::shared_ptr buildChannelOutput(InputPort<T>& port, ConnID* conn_id)
        {
            assert(conn_id);
            base::ChannelElementBase::shared_ptr endpoint = new ConnOutputEndpoint<T>(&port, conn_id);
            return endpoint;
        }

        template<typename T>
        static base::ChannelElementBase::shared_ptr buildBufferedChannelOutput(InputPort<T>& port, ConnID* conn_id, ConnPolicy const& policy, T const& initial_value = T() )
        {
            assert(conn_id);
            base::ChannelElementBase::shared_ptr endpoint = new ConnOutputEndpoint<T>(&port, conn_id);
            base::ChannelElementBase::shared_ptr data_object = buildDataStorage<T>(policy, initial_value);
            data_object->setOutput(endpoint);
            return data_object;
        }

        template<typename T>
        static bool createConnection(OutputPort<T>& output_port, base::InputPortInterface& input_port, ConnPolicy const& policy)
        {
            if ( !output_port.isLocal() ) {
                log(Error) << "Need a local OutputPort to create connections." <<endlog();
                return false;
            }

            InputPort<T>* input_p = dynamic_cast<InputPort<T>*>(&input_port);

            // This is the input channel element of the output half
            base::ChannelElementBase::shared_ptr output_half = 0;
            if (input_port.isLocal() && policy.transport == 0)
            {
                // Local connection
                if (!input_p)
                {
                    log(Error) << "Port " << input_port.getName() << " is not compatible with " << output_port.getName() << endlog();
                    return false;
                }
                // local ports, create buffer here.
                output_half = buildBufferedChannelOutput<T>(*input_p, output_port.getPortID(), policy, output_port.getLastWrittenValue());
            }
            else
            {
                // if the input is not local, this is a pure remote connection,
                // if the input *is* local, the user requested to use a different transport
                // than plain memory, rare case, but we accept it. The unit tests use this for example
                // to test the OOB transports.
                if ( !input_port.isLocal() ) {
                    output_half = createRemoteConnection( output_port, input_port, policy);
                } else
                    output_half = createOutOfBandConnection<T>( output_port, *input_p, policy);
            }

            if (!output_half)
                return false;

            // Since output is local, buildChannelInput is local as well.
            // This this the input channel element of the whole connection
            base::ChannelElementBase::shared_ptr channel_input =
                buildChannelInput<T>(output_port, input_port.getPortID(), output_half);

            return createAndCheckConnection(output_port, input_port, channel_input, policy );
        }

        template<class T>
        static bool createStream(OutputPort<T>& output_port, ConnPolicy const& policy)
        {
            StreamConnID *sid = new StreamConnID(policy.name_id);
            RTT::base::ChannelElementBase::shared_ptr chan = buildChannelInput( output_port, sid, base::ChannelElementBase::shared_ptr() );
            return createAndCheckStream(output_port, policy, chan, sid);
        }

        static bool createAndCheckStream(base::OutputPortInterface& output_port, ConnPolicy const& policy, base::ChannelElementBase::shared_ptr chan, StreamConnID* conn_id);

        template<class T>
        static bool createStream(InputPort<T>& input_port, ConnPolicy const& policy)
        {
            StreamConnID *sid = new StreamConnID(policy.name_id);
            RTT::base::ChannelElementBase::shared_ptr outhalf = buildChannelOutput( input_port, sid );
            if ( createAndCheckStream(input_port, policy, outhalf, sid) )
                return true;
            input_port.removeConnection(sid);
            return false;
        }

    protected:
        static bool createAndCheckConnection(base::OutputPortInterface& output_port, base::InputPortInterface& input_port, base::ChannelElementBase::shared_ptr channel_input, ConnPolicy policy);

        static bool createAndCheckStream(base::InputPortInterface& input_port, ConnPolicy const& policy, base::ChannelElementBase::shared_ptr outhalf, StreamConnID* conn_id);

        static base::ChannelElementBase::shared_ptr createRemoteConnection(base::OutputPortInterface& output_port, base::InputPortInterface& input_port, ConnPolicy const& policy);

        template<class T>
        static base::ChannelElementBase::shared_ptr createOutOfBandConnection(OutputPort<T>& output_port, InputPort<T>& input_port, ConnPolicy const& policy) {
            StreamConnID* conn_id = new StreamConnID(policy.name_id);
            RTT::base::ChannelElementBase::shared_ptr output_half = ConnFactory::buildChannelOutput<T>(input_port, conn_id);
            return createAndCheckOutOfBandConnection( output_port, input_port, policy, output_half, conn_id);
        }

        static base::ChannelElementBase::shared_ptr createAndCheckOutOfBandConnection( base::OutputPortInterface& output_port,
                                                                                       base::InputPortInterface& input_port,
                                                                                       ConnPolicy const& policy,
                                                                                       base::ChannelElementBase::shared_ptr output_half,
                                                                                       StreamConnID* conn_id);
    };

        typedef boost::shared_ptr<ConnFactory> ConnFactoryPtr;


    }
}

#endif