OutputPort.h

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/* ============================================================
 *
 * This file is a part of CCA project
 *
 * Copyright (C) 2011 by Arne Nordmann <anordman at cor-lab dot uni-bielefeld dot de>
 *
 * This file may be licensed under the terms of the
 * GNU Lesser General Public License Version 3 (the ``LGPL''),
 * or (at your option) any later version.
 *
 * Software distributed under the License is distributed
 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
 * express or implied. See the LGPL for the specific language
 * governing rights and limitations.
 *
 * You should have received a copy of the LGPL along with this
 * program. If not, go to http://www.gnu.org/licenses/lgpl.html
 * or write to the Free Software Foundation, Inc.,
 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * The development of this software was supported by:
 *   CoR-Lab, Research Institute for Cognition and Robotics
 *     Bielefeld University
 *
 * ============================================================ */

#pragma once

#include <iostream>
#include <typeinfo>

#include <boost/shared_ptr.hpp>

#include <rsb/Informer.h>
#include <rsb/Factory.h>

#include "cca/Port.h"
#include "cca/dto/DataTransferObject.h"

namespace cca {

class OutputPortBase;
typedef ::boost::shared_ptr<OutputPortBase> OutputPortPtr;

class OutputPortBase: public Port {
public:
    OutputPortBase(bool optional = false);
    ~OutputPortBase();
};

template<class DATATYPE>
class OutputPort: public OutputPortBase {

public:

    typedef ::boost::shared_ptr<DATATYPE> DataPtr;

    typedef ::boost::shared_ptr<OutputPort<DATATYPE> > Ptr;

    OutputPort(bool optional = Port::MANDATORY) :
            OutputPortBase(optional) {
    }

    virtual ~OutputPort() {
    }

    void publish(DataPtr data) {

        if (!this->configured) {
            throw ::std::runtime_error("OutputPort::publish() Output port not yet configured.");
        }

        try {
            this->informer->uncheckedPublish(data);
        } catch (::std::runtime_error &e) {
            std::cout
                    << "[OutputPort] caught exception while trying to publish: "
                    << e.what() << std::endl;
        } catch (::std::exception &e) {
            std::cout
                    << "[OutputPort] caught exception while trying to publish: "
                    << e.what() << std::endl;
        }
    }

    static Ptr create() {
        return Ptr(new OutputPort<DATATYPE>());
    }

    virtual ::std::string print() const {
        ::std::ostringstream outstream(::std::ostringstream::out);
        outstream << "<" << rsc::runtime::typeName<DATATYPE>() << ">";
        if (configured) {
            outstream << " " << getConfig()->print();
            outstream << "(" << getScopePtr()->toString() << ")";
        } else {
            outstream << " <unconfigured>";
        }
        if (optional) {
            outstream << " [optional]";
        }
        return outstream.str();
    }

    virtual void configureSpecifics() {
        this->informer = rsb::getFactory().createInformer < DATATYPE
                > (*(config->getScopePtr()), config->rsbConfig());
    }

protected:
    OutputPort(OutputPort &port);

    void operator=(const OutputPort &port);

    typename ::rsb::Informer<DATATYPE>::Ptr informer;
};

}