CPipe.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef mrpt_synch_pipe_H
#define mrpt_synch_pipe_H
 
#include <mrpt/utils/CStream.h>
#include <string>
#include <memory>  // for unique_ptr<>
 
namespace mrpt
{
namespace synch
{
class CPipeReadEndPoint;
class CPipeWriteEndPoint;
 
/** A pipe, portable across different OS.
  * Pipes can be used as intraprocess (inter-threads) or interprocess
 * communication mechanism.
  * Read more on pipes here:
 * http://www.gnu.org/software/libc/manual/html_node/Pipes-and-FIFOs.html
  *
  *  \code
  *    std::unique_ptr<CPipeReadEndPoint>  read_pipe;
  *    std::unique_ptr<CPipeWriteEndPoint> write_pipe;
  *
  *    CPipe::createPipe(read_pipe,write_pipe);
  *
  *  \endcode
  *
  * See also the example: MRPT/samples/threadsPipe/
  *
  * \ingroup synch_grp
  */
class CPipe
{
   public:
        /** Creates a new pipe and returns the read & write end-points as newly
         * allocated objects.
          * \exception std::exception On any error during the pipe creation
          */
        /** Creates a new pipe and returns the read & write end-points as newly
         * allocated objects. */
        template <typename ReadPtr, typename WritePtr>
        static void createPipe(ReadPtr& outReadPipe, WritePtr& outWritePipe);
 
        static void initializePipe(
                CPipeReadEndPoint& outReadPipe, CPipeWriteEndPoint& outWritePipe);
 
   private:
        /** No need to create any object of this class. */
        CPipe();
        ~CPipe();
};  // end of CPipe
 
/** Common interface of read & write pipe end-points */
class CPipeBaseEndPoint : public mrpt::utils::CStream
{
        friend class CPipe;
 
   public:
        CPipeBaseEndPoint();
 
        CPipeBaseEndPoint(const CPipeBaseEndPoint&) = delete;
        CPipeBaseEndPoint& operator=(const CPipeBaseEndPoint&) = delete;
 
        virtual ~CPipeBaseEndPoint();
 
        /** De-serializes one end-point description, for example, from a parent
         * process. */
        explicit CPipeBaseEndPoint(const std::string& serialized);
 
        /** Converts the end-point into a string suitable for reconstruction at a
         * child process.
          * This *invalidates* this object, since only one real end-point can exist
         * at once.
          */
        std::string serialize();
 
        /** (Default=0) Timeout for read operations: microseconds (us) to wait for
         * the first byte. 0 means infinite timeout. */
        unsigned int timeout_read_start_us;
        /** (Default=0) Timeout between burst reads operations: microseconds (us) to
         * wait between two partial reads inside one large read. 0 means infinite
         * timeout. */
        unsigned int timeout_read_between_us;
 
        /** Returns false if the pipe was closed due to some error. */
        inline bool isOpen() const { return m_pipe_file != 0; }
        /** Closes the pipe (normally not needed to be called by users,
         * automatically done at destructor) */
        void close();
 
   protected:
#ifdef MRPT_OS_WINDOWS
        void* m_pipe_file;
#else
        int m_pipe_file;
#endif
        virtual size_t Read(void* Buffer, size_t Count) override;
        virtual size_t Write(const void* Buffer, size_t Count) override;
 
        /** Without effect in this class */
        virtual uint64_t Seek(
                uint64_t Offset, CStream::TSeekOrigin Origin = sFromBeginning) override;
        /** Without effect in this class */
        virtual uint64_t getTotalBytesCount() override;
        /** Without effect in this class */
        virtual uint64_t getPosition() override;
};  // end of CPipeBaseEndPoint
static_assert(
        !std::is_copy_constructible<CPipeBaseEndPoint>::value &&
                !std::is_copy_assignable<CPipeBaseEndPoint>::value,
        "Copy Check");
 
/** The read end-point in a pipe created with mrpt::synch::CPipe.
  * Use the method mrpt::utils::CStream::ReadBuffer() of the base class CStream
 * for blocking reading. */
class CPipeReadEndPoint : public CPipeBaseEndPoint
{
        friend class CPipe;
 
   public:
        /** De-serializes one end-point description, for example, from a parent
         * process. */
        explicit CPipeReadEndPoint(const std::string& serialized);
 
   private:
        CPipeReadEndPoint();
        /** Hide the write method in this read-only pipe. */
        void WriteBuffer(const void* Buffer, size_t Count);
 
};  // end of CPipeReadEndPoint
 
/** The write end-point in a pipe created with mrpt::synch::CPipe.
  * Use the method mrpt::utils::CStream::WriteBuffer() of the base class CStream
 * for blocking writing. */
class CPipeWriteEndPoint : public CPipeBaseEndPoint
{
        friend class CPipe;
 
   public:
        /** De-serializes one end-point description, for example, from a parent
         * process. */
        explicit CPipeWriteEndPoint(const std::string& serialized);
 
   private:
        CPipeWriteEndPoint();
        /** Hide the read method in this write-only pipe. */
        size_t ReadBuffer(void* Buffer, size_t Count);
 
};  // end of CPipeWriteEndPoint
 
template <typename ReadPtr, typename WritePtr>
void CPipe::createPipe(ReadPtr& outReadPipe, WritePtr& outWritePipe)
{
        outReadPipe = ReadPtr(new CPipeReadEndPoint);
        outWritePipe = WritePtr(new CPipeWriteEndPoint);
        CPipe::initializePipe(*outReadPipe, *outWritePipe);
}
 
}  // End of namespace
 
}  // End of namespace
 
#endif