RTC::OutPortBase Class Reference

Output base class. More...

#include <OutPortBase.h>

Inheritance diagram for RTC::OutPortBase:

Public Member Functions
	OutPortBase (const char name, const char data_type)
	Constructor.
virtual	~OutPortBase (void)
	Destructor.
void	init (coil::Properties &prop)
	Initializing properties.
virtual bool	write ()=0
	Write data.
coil::Properties &	properties ()
	Get properties.
const std::vector < OutPortConnector * > &	connectors ()
	Connector list.
ConnectorInfoList	getConnectorProfiles ()
	ConnectorProfile list.
coil::vstring	getConnectorIds ()
	ConnectorId list.
coil::vstring	getConnectorNames ()
	Connector name list.
OutPortConnector *	getConnectorById (const char *id)
	Getting ConnectorProfile by ID.
OutPortConnector *	getConnectorByName (const char *name)
	Getting Connector by name.
bool	getConnectorProfileById (const char *id, ConnectorInfo &prof)
	Getting ConnectorProfile by name.
bool	getConnectorProfileByName (const char *name, ConnectorInfo &prof)
	Getting ConnectorProfile by name.
virtual void	activateInterfaces ()
	Activate all Port interfaces.
virtual void	deactivateInterfaces ()
	Deactivate all Port interfaces.
void	addConnectorDataListener (ConnectorDataListenerType listener_type, ConnectorDataListener *listener, bool autoclean=true)
	Adding BufferDataListener type listener.
void	removeConnectorDataListener (ConnectorDataListenerType listener_type, ConnectorDataListener *listener)
	Removing BufferDataListener type listener.
void	addConnectorListener (ConnectorListenerType callback_type, ConnectorListener *listener, bool autoclean=true)
	Adding ConnectorListener type listener.
void	removeConnectorListener (ConnectorListenerType callback_type, ConnectorListener *listener)
	Removing BufferDataListener type listener.
bool	isLittleEndian ()
	return it whether endian setting.
virtual ReturnCode_t	connect (ConnectorProfile &connector_profile) throw (CORBA::SystemException)
	[CORBA interface] Connect the Port
Public Attributes
DATAPORTSTATUS_ENUM typedef std::vector< OutPortConnector * >	ConnectorList
Protected Member Functions
void	configure ()
	Configureing outport.
virtual ReturnCode_t	publishInterfaces (ConnectorProfile &connector_profile)
	Publish interface information.
virtual ReturnCode_t	subscribeInterfaces (const ConnectorProfile &connector_profile)
	Subscribe to the interface.
virtual void	unsubscribeInterfaces (const ConnectorProfile &connector_profile)
	Disconnect the interface connection.
void	initProviders ()
	OutPort provider initialization.
void	initConsumers ()
	InPort consumer initialization.
bool	checkEndian (const coil::Properties &prop, bool &littleEndian)
	Checking endian flag of serializer.
OutPortProvider *	createProvider (ConnectorProfile &cprof, coil::Properties &prop)
	OutPort provider creation.
InPortConsumer *	createConsumer (const ConnectorProfile &cprof, coil::Properties &prop)
	InPort consumer creation.
OutPortConnector *	createConnector (const ConnectorProfile &cprof, coil::Properties &prop, InPortConsumer *consumer)
	OutPortPushConnector creation.
OutPortConnector *	createConnector (const ConnectorProfile &cprof, coil::Properties &prop, OutPortProvider *provider)
	OutPortPullConnector creation.
Protected Attributes
coil::Properties	m_properties
	Properties.
std::vector< OutPortConnector * >	m_connectors
	Connection list.
coil::vstring	m_providerTypes
	Available providers.
coil::vstring	m_consumerTypes
	Available consumers.
bool	m_littleEndian
	Connected Endian.
ConnectorListeners	m_listeners
	ConnectorDataListener listener.

Detailed Description

Output base class.

The base class of OutPort<T> which are implementations of OutPort

Form a kind of Observer pattern with OutPortBase and PublisherBase. attach(), detach(), notify() of OutPortBase and push() of PublisherBase are methods associated with the Observer pattern.

Since:: 0.2.0

Constructor & Destructor Documentation

RTC::OutPortBase::OutPortBase	(	const char *	name,
		const char *	data_type
	)

Constructor.

Constructor

Parameters:

	name	Port name
	data_type	Data type

virtual RTC::OutPortBase::~OutPortBase ( void ) [virtual]

Destructor.

Destructor Detach all subscribed Publishers.

Member Function Documentation

virtual void RTC::OutPortBase::activateInterfaces ( ) [virtual]

Activate all Port interfaces.

This operation activate all interfaces that is registered in the ports.

Implements RTC::PortBase.

void RTC::OutPortBase::addConnectorDataListener	(	ConnectorDataListenerType	listener_type,
		ConnectorDataListener *	listener,
		bool	autoclean = `true`
	)

Adding BufferDataListener type listener.

This operation adds certain listeners related to buffer writing and reading events. The following listener types are available.

ON_BUFFER_WRITE: At the time of buffer write
ON_BUFFER_FULL: At the time of buffer full
ON_BUFFER_WRITE_TIMEOUT: At the time of buffer write timeout
ON_BUFFER_OVERWRITE: At the time of buffer overwrite
ON_BUFFER_READ: At the time of buffer read
ON_SEND: At the time of sending to InPort
ON_RECEIVED: At the time of finishing sending to InPort
ON_SENDER_TIMEOUT: At the time of timeout of OutPort
ON_SENDER_ERROR: At the time of error of OutPort
ON_RECEIVER_FULL: At the time of bufferfull of InPort
ON_RECEIVER_TIMEOUT: At the time of timeout of InPort
ON_RECEIVER_ERROR: At the time of error of InPort

Listeners should have the following function operator().

ConnectorDataListener:: operator()(const ConnectorProfile&, const cdrStream&)

The ownership of the given listener object is transferred to this OutPort object in default. The given listener object will be destroied automatically in the OutPort's dtor or if the listener is deleted by removeConnectorDataListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters:

	listener_type	A listener type
	listener	A pointer to a listener object
	autoclean	A flag for automatic listener destruction

void RTC::OutPortBase::addConnectorListener	(	ConnectorListenerType	callback_type,
		ConnectorListener *	listener,
		bool	autoclean = `true`
	)

Adding ConnectorListener type listener.

This operation adds certain listeners related to buffer writing and reading events. The following listener types are available.

ON_BUFFER_EMPTY: At the time of buffer empty
ON_BUFFER_READTIMEOUT: At the time of buffer read timeout

Listeners should have the following function operator().

ConnectorListener::operator()(const ConnectorProfile&)

The ownership of the given listener object is transferred to this OutPort object in default. The given listener object will be destroied automatically in the OutPort's dtor or if the listener is deleted by removeConnectorListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters:

	listener_type	A listener type
	listener	A pointer to a listener object
	autoclean	A flag for automatic listener destruction

bool RTC::OutPortBase::checkEndian	(	const coil::Properties &	prop,
		bool &	littleEndian
	)			`[protected]`

Checking endian flag of serializer.

This operation checks endian flag of data serializer that is specified properties. If valid specification is found, this operation returns true and set argument littleEndian. True means little endian, false means big endian.

Parameters:

	prop	Properties
	littleEndian	Endian Information(true:little,false:big)

Returns:: true:"Serializer" key doesn't exist. or "Serializer" key exists and there is a content. false:There is no content though "Serializer" key exists. or ithe content is not "Little. " though "Serializer" key exists, or the content is not "little" or "big" though "Serializer" key exists.

void RTC::OutPortBase::configure ( ) [protected]

Configureing outport.

This operation configures the outport based on the properties.

virtual ReturnCode_t RTC::OutPortBase::connect ( ConnectorProfile & connector_profile ) throw (CORBA::SystemException) [virtual]

[CORBA interface] Connect the Port

This operation establishes connection according to the given ConnectionProfile inforamtion. This function is premised on calling from mainly application program or tools.

Parameters:

connector_profile

The ConnectorProfile.

Returns:: ReturnCode_t The return code of ReturnCode_t type.

Reimplemented from RTC::PortBase.

const std::vector<OutPortConnector*>& RTC::OutPortBase::connectors ( )

Connector list.

This operation returns connector list

Returns:: connector list

OutPortConnector* RTC::OutPortBase::createConnector	(	const ConnectorProfile &	cprof,
		coil::Properties &	prop,
		OutPortProvider *	provider
	)			`[protected]`

OutPortPullConnector creation.

OutPortConnector* RTC::OutPortBase::createConnector	(	const ConnectorProfile &	cprof,
		coil::Properties &	prop,
		InPortConsumer *	consumer
	)			`[protected]`

OutPortPushConnector creation.

InPortConsumer* RTC::OutPortBase::createConsumer	(	const ConnectorProfile &	cprof,
		coil::Properties &	prop
	)			`[protected]`

InPort consumer creation.

OutPortProvider* RTC::OutPortBase::createProvider	(	ConnectorProfile &	cprof,
		coil::Properties &	prop
	)			`[protected]`

OutPort provider creation.

virtual void RTC::OutPortBase::deactivateInterfaces ( ) [virtual]

Deactivate all Port interfaces.

This operation deactivate all interfaces that is registered in the ports.

Implements RTC::PortBase.

OutPortConnector* RTC::OutPortBase::getConnectorById ( const char * id )

Getting ConnectorProfile by ID.

This operation returns Connector specified by ID.

Parameters:

id

Connector ID

Returns:: A pointer to connector

OutPortConnector* RTC::OutPortBase::getConnectorByName ( const char * name )

Getting Connector by name.

This operation returns Connector specified by name.

Parameters:

id

Connector ID

Returns:: A pointer to connector

coil::vstring RTC::OutPortBase::getConnectorIds ( )

ConnectorId list.

This operation returns ConnectorId list

Returns:: connector list

coil::vstring RTC::OutPortBase::getConnectorNames ( )

Connector name list.

This operation returns Connector name list

Returns:: connector name list

bool RTC::OutPortBase::getConnectorProfileById	(	const char *	id,
		ConnectorInfo &	prof
	)

Getting ConnectorProfile by name.

This operation returns ConnectorProfile specified by name

Parameters:

	id	Connector ID
	prof	ConnectorProfile

Returns:: false　specified ID does not exist

bool RTC::OutPortBase::getConnectorProfileByName	(	const char *	name,
		ConnectorInfo &	prof
	)

Getting ConnectorProfile by name.

This operation returns ConnectorProfile specified by name

Parameters:

	id	Connector ID
	prof	ConnectorProfile

Returns:: false specified name does not exist

ConnectorInfoList RTC::OutPortBase::getConnectorProfiles ( )

ConnectorProfile list.

This operation returns ConnectorProfile list

Returns:: connector list

void RTC::OutPortBase::init ( coil::Properties & prop )

Initializing properties.

This operation initializes outport's properties

Parameters:

prop

Property for setting ports

void RTC::OutPortBase::initConsumers ( ) [protected]

InPort consumer initialization.

void RTC::OutPortBase::initProviders ( ) [protected]

OutPort provider initialization.

bool RTC::OutPortBase::isLittleEndian ( )

return it whether endian setting.

Returns:: Return true in the case of "little", false in "big" than it.

coil::Properties& RTC::OutPortBase::properties ( )

Get properties.

Getting properties of this OutPort

Returns:: OutPort's properties

virtual ReturnCode_t RTC::OutPortBase::publishInterfaces ( ConnectorProfile & connector_profile ) [protected, virtual]

Publish interface information.

This operation is pure virutal function that would be called at the beginning of the notify_connect() process sequence. In the notify_connect(), the following methods would be called in order.

This operation should create the new connection for the new connector_id, and should update the connection for the existing connection_id.

Parameters:

connector_profile

The connection profile information

Returns:: The return code of ReturnCode_t type.

Implements RTC::PortBase.

void RTC::OutPortBase::removeConnectorDataListener	(	ConnectorDataListenerType	listener_type,
		ConnectorDataListener *	listener
	)

Removing BufferDataListener type listener.

This operation removes a specified listener.

Parameters:

	listener_type	A listener type
	listener	A pointer to a listener object

void RTC::OutPortBase::removeConnectorListener	(	ConnectorListenerType	callback_type,
		ConnectorListener *	listener
	)

Removing BufferDataListener type listener.

This operation removes a specified listener.

Parameters:

	listener_type	A listener type
	listener	A pointer to a listener object

virtual ReturnCode_t RTC::OutPortBase::subscribeInterfaces ( const ConnectorProfile & connector_profile ) [protected, virtual]

Subscribe to the interface.

This operation is pure virutal function that would be called at the middle of the notify_connect() process sequence. In the notify_connect(), the following methods would be called in order.

Parameters:

connector_profile

The connection profile information

Returns:: The return code of ReturnCode_t type.

Implements RTC::PortBase.

virtual void RTC::OutPortBase::unsubscribeInterfaces ( const ConnectorProfile & connector_profile ) [protected, virtual]

Disconnect the interface connection.

This operation is pure virutal function that would be called at the end of the notify_disconnect() process sequence. In the notify_disconnect(), the following methods would be called.

Parameters:

connector_profile

The profile information associated with the connection

Implements RTC::PortBase.

virtual bool RTC::OutPortBase::write ( ) [pure virtual]

Write data.

Write data to the port. Write the value, which was set to the bound variable, to the port.