Contactable.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_OS_CONTACTABLE_H
#define YARP_OS_CONTACTABLE_H
 
#include <yarp/os/Contact.h>
#include <yarp/os/PortReader.h>
#include <yarp/os/PortReport.h>
#include <yarp/os/PortWriter.h>
 
#include <mutex>
 
// Forward declarations:
namespace yarp::os {
 
class Property;
 
class YARP_os_API Contactable
{
 
public:
    virtual ~Contactable();
 
    virtual bool open(const std::string& name) = 0;
 
    virtual bool open(const Contact& contact, bool registerName = true) = 0;
 
    virtual bool addOutput(const std::string& name) = 0;
 
    virtual bool addOutput(const std::string& name, const std::string& carrier) = 0;
 
    virtual bool addOutput(const Contact& contact) = 0;
 
    virtual void close() = 0;
 
    virtual void interrupt() = 0;
 
    virtual void resume() = 0;
 
    virtual Contact where() const = 0;
 
    virtual std::string getName() const;
 
 
    virtual bool setEnvelope(PortWriter& envelope) = 0;
 
 
    virtual bool getEnvelope(PortReader& envelope) = 0;
 
 
    virtual int getInputCount() = 0;
 
    virtual int getOutputCount() = 0;
 
    virtual void getReport(PortReport& reporter) = 0;
 
 
    virtual void setReporter(PortReport& reporter) = 0;
 
    virtual void resetReporter() = 0;
 
    virtual bool isWriting() = 0;
 
 
    virtual void setReader(PortReader& reader) = 0;
 
    virtual void setAdminReader(PortReader& reader) = 0;
 
    virtual void setInputMode(bool expectInput) = 0;
 
    virtual void setOutputMode(bool expectOutput) = 0;
 
    virtual void setRpcMode(bool expectRpc) = 0;
 
    virtual Type getType() = 0;
 
    virtual void promiseType(const Type& typ) = 0;
 
    virtual Property* acquireProperties(bool readOnly) = 0;
 
    virtual void releaseProperties(Property* prop) = 0;
 
    virtual void includeNodeInName(bool flag) = 0;
 
    void setReadOnly();
 
    void setWriteOnly();
 
    void setRpcServer();
 
    void setRpcClient();
 
    virtual bool setCallbackLock(std::mutex* mutex = nullptr) = 0;
 
    virtual bool removeCallbackLock() = 0;
 
    virtual bool lockCallback() = 0;
 
    virtual bool tryLockCallback() = 0;
 
    virtual void unlockCallback() = 0;
};
 
} // namespace yarp::os
 
#endif // YARP_OS_CONTACTABLE_H