OpenRTM_aist.PublisherPeriodic.PublisherPeriodic Class Reference

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Inheritance diagram for OpenRTM_aist.PublisherPeriodic.PublisherPeriodic:

Public Member Functions
def	__init__ (self)
def	__del__ (self)
def	exit (self)
def	setPushPolicy (self, prop)
def	createTask (self, prop)
def	init (self, prop)
def	setConsumer (self, consumer)
def	setBuffer (self, buffer)
def	setListener (self, info, listeners)
def	write (self, data, sec, usec)
def	isActive (self)
def	activate (self)
def	deactivate (self)
def	svc (self)
def	pushAll (self)
	push all policy More...
def	pushFifo (self)
	push "fifo" policy More...
def	pushSkip (self)
	push "skip" policy More...
def	pushNew (self)
	push "new" policy More...
def	convertReturn (self, status, data)
def	invokeListener (self, status, data)
def	onBufferWrite (self, data)
def	onBufferFull (self, data)
def	onBufferWriteTimeout (self, data)
def	onBufferRead (self, data)
def	onSend (self, data)
def	onReceived (self, data)
def	onReceiverFull (self, data)
def	onReceiverTimeout (self, data)
def	onReceiverError (self, data)
def	onBufferEmpty (self)
def	onSenderEmpty (self)
def	onSenderError (self)
def	bufferIsEmpty (self)
Public Member Functions inherited from OpenRTM_aist.PublisherBase.PublisherBase
def	init (self, prop)
def	release (self)
Public Member Functions inherited from OpenRTM_aist.DataPortStatus.DataPortStatus
def	toString (status)

Additional Inherited Members
Static Public Attributes inherited from OpenRTM_aist.DataPortStatus.DataPortStatus
int	PORT_OK = 0

Detailed Description

PublisherPeriodic class

Publisher for periodic data transmitting. Usually this class object exists in a Connector object, and it is associated with a buffer and a consumer. This publisher periodically gets data from the buffer and publish it into the consumer.

Constructor & Destructor Documentation

__init__()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.__init__

(

self

)

Constructor

Reimplemented from OpenRTM_aist.DataPortStatus.DataPortStatus.

__del__()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.__del__

(

self

)

Destructor

Member Function Documentation

activate()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.activate

(

self

)

activation

This function activates the publisher. By calling this function, this publisher starts the thread that pushes data to InPort. If precondition such as initialization process and so on is not met, the error code PRECONDITION_NOT_MET is returned.

Returns

PORT_OK normal return PRECONDITION_NOT_MET precondition is not met

PublisherBase::ReturnCode PublisherPeriodic::activate()

Reimplemented from OpenRTM_aist.PublisherBase.PublisherBase.

bufferIsEmpty()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.bufferIsEmpty

(

self

)

Whether a buffer is empty.

bool bufferIsEmpty()

convertReturn()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.convertReturn	(		self,
			status,
			data
	)

Convertion from BufferStatus to DataPortStatus

This function converts return value from the buffer to DataPortStatus::Enum typed return value. The conversion rule is as follows. Callback functions are also shown, if it exists.

• BUFFER_OK: PORT_OK
  • None
• BUFFER_ERROR: BUFFER_ERROR
  • None
• BUFFER_FULL: BUFFER_FULL
  • onBufferFull()
• NOT_SUPPORTED: PORT_ERROR
  • None
• TIMEOUT: BUFFER_TIMEOUT
  • onBufferWriteTimeout()
• PRECONDITION_NOT_MET: PRECONDITION_NOT_MET
  • None
• other: PORT_ERROR
  • None

Parameters

status	BufferStatus
data	cdrMemoryStream

Returns

DataPortStatus typed return code

PublisherBase::ReturnCodea PublisherPeriodic::convertReturn(BufferStatus::Enum status, const cdrMemoryStream& data)

createTask()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.createTask	(		self,
			prop
	)

Setting Task

bool PublisherNew::createTask(const coil::Properties& prop)

deactivate()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.deactivate

(

self

)

deactivation

This function deactivates the publisher. By calling this function, this publisher stops the thread that pushes data to InPort. If precondition such as initialization process and so on is not met, the error code PRECONDITION_NOT_MET is returned.

Returns

PORT_OK normal return PRECONDITION_NOT_MET precondition is not met

PublisherBase::ReturnCode PublisherPeriodic::deactivate()

Reimplemented from OpenRTM_aist.PublisherBase.PublisherBase.

exit()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.exit

(

self

)

Reimplemented from OpenRTM_aist.PublisherBase.PublisherBase.

init()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.init	(		self,
			prop
	)

Initialization

This function have to be called before using this class object. Properties object that includes certain configuration information should be given as an argument. At least, a numerical value of unit of Hz with the key of "dataport.publisher.push_rate" has to be set to the Properties object of argument. The value is the invocation cycle of data sending process. In case of 5 ms period or 200 Hz, the value should be set as 200.0. False will be returned, if there is no value with the key of "dataport.publisher.push_rate".

The following options are available.

• publisher.thread_type: Thread type (string, default: default)
• publisher.push_rate: Publisher sending period (numberical)
• publisher.push_policy: Push policy (all, fifo, skip, new)
• publisher.skip_count: The number of skip count in the "skip" policy
• measurement.exec_time: Task execution time measurement (enable/disable)
• measurement.exec_count: Task execution time measurement count (numerical, number of times)
• measurement.period_time: Task period time measurement (enable/disable)
• measurement.period_count: Task period time measurement count (number, count)

Parameters

property

Property objects that includes the control information of this Publisher

Returns

ReturnCode PORT_OK normal return INVALID_ARGS Properties with invalid values.

PublisherBase::ReturnCode PublisherPeriodic::init(coil::Properties& prop)

Reimplemented from OpenRTM_aist.PublisherBase.PublisherBase.

invokeListener()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.invokeListener	(		self,
			status,
			data
	)

Call listeners according to the DataPortStatus

Parameters

status	DataPortStatus
data	cdrMemoryStream

Returns

Return code

PublisherPeriodic::ReturnCode PublisherPeriodic::invokeListener(DataPortStatus::Enum status, const cdrMemoryStream& data)

isActive()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.isActive

(

self

)

If publisher is active state

A Publisher can be activated/deactivated synchronized with the data port. The active state and the non-active state are made transition by the "activate()" and the "deactivate()" functions respectively. This function confirms if the publisher is in active state.

Returns

Result of state confirmation (Active state:true, Inactive state:false)

bool PublisherPeriodic::isActive()

Reimplemented from OpenRTM_aist.PublisherBase.PublisherBase.

onBufferEmpty()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.onBufferEmpty

(

self

)

Notify an ON_BUFFER_EMPTY event to listeners

inline void onBufferEmpty()

onBufferFull()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.onBufferFull	(		self,
			data
	)

Notify an ON_BUFFER_FULL event to listeners

Parameters

data	cdrMemoryStream

inline void onBufferFull(const cdrMemoryStream& data)

onBufferRead()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.onBufferRead	(		self,
			data
	)

Notify an ON_BUFFER_READ event to listeners

Parameters

data	cdrMemoryStream

inline void onBufferRead(const cdrMemoryStream& data)

onBufferWrite()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.onBufferWrite	(		self,
			data
	)

Notify an ON_BUFFER_WRITE event to listeners

Parameters

data	cdrMemoryStream

inline void onBufferWrite(const cdrMemoryStream& data)

onBufferWriteTimeout()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.onBufferWriteTimeout	(		self,
			data
	)

Notify an ON_BUFFER_WRITE_TIMEOUT event to listeners

Parameters

data	cdrMemoryStream

inline void onBufferWriteTimeout(const cdrMemoryStream& data)

onReceived()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.onReceived	(		self,
			data
	)

Notify an ON_RECEIVED event to listeners

Parameters

data	cdrMemoryStream

inline void onReceived(const cdrMemoryStream& data)

onReceiverError()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.onReceiverError	(		self,
			data
	)

Notify an ON_RECEIVER_ERROR event to listeners

Parameters

data	cdrMemoryStream

inline void onReceiverError(const cdrMemoryStream& data)

onReceiverFull()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.onReceiverFull	(		self,
			data
	)

Notify an ON_RECEIVER_FULL event to listeners

Parameters

data	cdrMemoryStream

inline void onReceiverFull(const cdrMemoryStream& data)

onReceiverTimeout()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.onReceiverTimeout	(		self,
			data
	)

Notify an ON_RECEIVER_TIMEOUT event to listeners

Parameters

data	cdrMemoryStream

inline void onReceiverTimeout(const cdrMemoryStream& data)

onSend()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.onSend	(		self,
			data
	)

Notify an ON_SEND event to listners

Parameters

data	cdrMemoryStream

inline void onSend(const cdrMemoryStream& data)

onSenderEmpty()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.onSenderEmpty

(

self

)

Notify an ON_SENDER_EMPTY event to listeners

inline void onSenderEmpty()

onSenderError()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.onSenderError

(

self

)

Notify an ON_SENDER_ERROR event to listeners

inline void onSenderError()

pushAll()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.pushAll

(

self

)

push all policy

PublisherBase::ReturnCode PublisherPeriodic::pushAll()

pushFifo()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.pushFifo

(

self

)

push "fifo" policy

PublisherBase::ReturnCode PublisherPeriodic::pushFifo()

pushNew()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.pushNew

(

self

)

push "new" policy

PublisherBase::ReturnCode PublisherPeriodic::pushNew()

pushSkip()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.pushSkip

(

self

)

push "skip" policy

PublisherBase::ReturnCode PublisherPeriodic::pushSkip()

setBuffer()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.setBuffer	(		self,
			buffer
	)

Setting buffer pointer

This operation sets a buffer that is associated with this object. If the buffer object is NULL, INVALID_ARGS will be returned.

Parameters

buffer

A pointer to a CDR buffer object.

Returns

ReturnCode PORT_OK normal return INVALID_ARGS given argument has invalid value

PublisherBase::ReturnCode PublisherPeriodic::setBuffer(CdrBufferBase* buffer)

Reimplemented from OpenRTM_aist.PublisherBase.PublisherBase.

setConsumer()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.setConsumer	(		self,
			consumer
	)

Store InPort consumer

This operation sets a consumer that is associated with this object. If the consumer object is NULL, INVALID_ARGS will be returned.

Parameters

consumer

A pointer to a consumer object.

Returns

ReturnCode PORT_OK normal return INVALID_ARGS given argument has invalid value

PublisherBase::ReturnCode PublisherPeriodic::setConsumer(InPortConsumer* consumer)

Reimplemented from OpenRTM_aist.PublisherBase.PublisherBase.

setListener()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.setListener	(		self,
			info,
			listeners
	)

Set the listener.

This function sets ConnectorListeners listener object to the Publisher. By setting ConnectorListeners containing various listeners objects, these listeners are called at the time of reading and writing of a buffer, and transmission of data etc. Since the ownership of the ConnectorListeners object is owned by Port or RTObject, the Publisher never deletes the ConnectorListeners object. If the given ConnectorListeners' pointer is NULL, this function returns INVALID_ARGS.

Parameters

info	ConnectorInfo that is localized object of ConnectorProfile
listeners	ConnectorListeners that holds various listeners

Returns

PORT_OK Normal return INVALID_ARGS Invalid arguments

PublisherBase::ReturnCode PublisherPeriodic::setListener(ConnectorInfo& info, ConnectorListeners* listeners)

Reimplemented from OpenRTM_aist.PublisherBase.PublisherBase.

setPushPolicy()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.setPushPolicy	(		self,
			prop
	)

Setting PushPolicy

void PublisherNew::setPushPolicy(const coil::Properties& prop)

svc()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.svc

(

self

)

Thread execution function A task execution function to be executed by coil::PeriodicTask.

int PublisherPeriodic::svc(void)

write()

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.write	(		self,
			data,
			sec,
			usec
	)

Write data

This function writes data into the buffer associated with this Publisher. If a Publisher object calls this function, without initializing correctly such as a consumer, a buffer, listeners, etc., error code PRECONDITION_NOT_MET will be returned and no operation of the writing to a buffer etc. will be performed.

Since writing into the buffer and sending data to InPort are performed asynchronously, occasionally this function returns return-codes such as CONNECTION_LOST and BUFFER_FULL that indicate the result of sending data to InPort. In this case, writing data into buffer will not be performed.

When publisher writes data to the buffer, if the buffer is filled, returns error, is returned with timeout and returns precondition error, error codes BUFFER_FULL, BUFFER_ERROR, BUFFER_TIMEOUT and PRECONDITION_NOT_MET will be returned respectively.

In other cases, PROT_ERROR will be returned.

Parameters

data	Data to be wrote to the buffer
sec	Timeout time in unit seconds
nsec	Timeout time in unit nano-seconds

Returns

PORT_OK Normal return PRECONDITION_NO_MET Precondition does not met. A consumer, a buffer, listenes are not set properly. CONNECTION_LOST detected that the connection has been lost BUFFER_FULL The buffer is full status. BUFFER_ERROR Some kind of error occurred in the buffer. NOT_SUPPORTED Some kind of operation that is not supported has been performed. TIMEOUT Timeout occurred when writing to the buffer.

PublisherBase::ReturnCode PublisherPeriodic::write(const cdrMemoryStream& data, unsigned long sec, unsigned long usec)

Reimplemented from OpenRTM_aist.PublisherBase.PublisherBase.

---

The documentation for this class was generated from the following file:

• C:/docs/OpenRTM-aist-Python/OpenRTM_aist/PublisherPeriodic.py