bool read(PortReader& reader, bool willReply = false) {
// called by user
// user claimed they would reply to last read, but then
// decided not to.
if (replyDue) {
Bottle emptyMessage;
reply(emptyMessage,false,false);
replyDue = false;
dropDue = false;
}
if (willReply) {
replyDue = true;
}
stateMutex.wait();
readActive = true;
readDelegate = &reader;
writeDelegate = NULL;
this->willReply = willReply;
consume.post(); // happy consumer
stateMutex.post();
produce.wait();
stateMutex.wait();
if (!readBackground) {
readDelegate = NULL;
}
stateMutex.post();
bool result = readResult;
return result;
}
void configReader(PortReader& reader) {
stateMutex.wait();
readActive = true;
readBackground = true;
readDelegate = &reader;
consume.post(); // just do this once
stateMutex.post();
}
void finishReading() {
if (!readBackground) {
stateMutex.wait();
closed = true;
consume.post();
consume.post();
stateMutex.post();
}
}
bool reply(PortWriter& writer, bool drop, bool /*interrupted*/) {
// send reply even if interrupt has happened in interim
if (!replyDue) return false;
replyDue = false;
dropDue = drop;
writeDelegate = &writer;
consume.post();
produce.wait();
bool result = readResult;
return result;
}
virtual ~Private()
{
Port *closePort = nullptr;
stateSema.wait();
if (port!=nullptr) {
closePort = port;
}
stateSema.post();
if (closePort!=nullptr) {
closePort->close();
}
stateSema.wait();
clear();
//stateSema.post(); // never give back mutex
}
virtual bool read(ConnectionReader& reader) {
// called by comms code
readBlock.wait();
if (!reader.isValid()) {
// termination
stateMutex.wait();
if (readDelegate!=NULL) {
readResult = readDelegate->read(reader);
}
stateMutex.post();
produce.post();
readBlock.post();
return false;
}
// wait for happy consumer - don't want to miss a packet
if (!readBackground) {
consume.wait();
}
if (closed) {
YARP_DEBUG(Logger::get(),"Port::read shutting down");
readBlock.post();
return false;
}
stateMutex.wait();
readResult = false;
if (readDelegate!=NULL) {
readResult = readDelegate->read(reader);
} else {
// read and ignore
YARP_DEBUG(Logger::get(),"data received in Port, no reader for it");
Bottle b;
b.read(reader);
}
if (!readBackground) {
readDelegate = NULL;
writeDelegate = NULL;
}
bool result = readResult;
stateMutex.post();
if (!readBackground) {
produce.post();
}
if (result&&willReply) {
consume.wait();
if (closed) {
YARP_DEBUG(Logger::get(),"Port::read shutting down");
readBlock.post();
return false;
}
if (writeDelegate!=NULL) {
stateMutex.wait();
ConnectionWriter *writer = reader.getWriter();
if (writer!=NULL) {
result = readResult = writeDelegate->write(*writer);
}
stateMutex.post();
}
if (dropDue) {
reader.requestDrop();
}
produce.post();
}
readBlock.post();
return result;
}
void openable() {
stateMutex.wait();
closed = false;
opened = true;
stateMutex.post();
}
void promiseType(const Type& typ) {
stateMutex.wait();
this->typ = typ;
stateMutex.post();
}
Type getType() {
stateMutex.wait();
Type t = typ;
stateMutex.post();
return t;
}
void resumeFull() {
while (produce.check()) {}
while (readBlock.check()) {}
resume();
readBlock.post();
}