jp.go.aist.rtm.RTC.port
Class InPortPullConnector

java.lang.Object
  jp.go.aist.rtm.RTC.port.ConnectorBase
      jp.go.aist.rtm.RTC.port.InPortConnector
          jp.go.aist.rtm.RTC.port.InPortPullConnector

public class InPortPullConnector
extends InPortConnector

InPortPullConnector class

Connector class of InPort for pull type dataflow. When "pull" is specified as dataflow_type at the time of establishing connection, this object is generated and owned by the InPort. This connector and InPortPullConnector make a pair and realize pull type dataflow of data ports. One connector corresponds to one connection which provides a data stream. Connector is distinguished by ID of the UUID that is generated at establishing connection. InPortPullConnector owns and manages the following objects.

• - InPortConsumer
• - Buffer

Data written into the OutPort is passed to the OutPortPullConnector::write(), and is written into the buffer. Consequently, InPort::read() and InPortPullConnector::read() call OutPortConsumer::get(), and it reads data from the buffer of OutPortPullConnector. Finally data would be written into the InPortPullConnector's buffer.

Nested Class Summary

Nested classes/interfaces inherited from class jp.go.aist.rtm.RTC.port.ConnectorBase

ConnectorBase.ConnectorInfo, ConnectorBase.ConnectorInfoHolder

Field Summary

Fields inherited from class jp.go.aist.rtm.RTC.port.InPortConnector

m_buffer, m_isLittleEndian, m_orb, m_profile, m_spi_orb

Constructor Summary

InPortPullConnector(ConnectorBase.ConnectorInfo profile, OutPortConsumer consumer, ConnectorListeners listeners, BufferBase<org.omg.CORBA.portable.OutputStream> buffer)
Constructor.

Method Summary

void	activate() Connector activation
protected BufferBase<org.omg.CORBA.portable.OutputStream>	createBuffer(ConnectorBase.ConnectorInfo profile) create buffer
void	deactivate() Connector deactivation
ReturnCode	disconnect() Disconnect connection
protected void	onConnect() Invoke callback when connection is established
protected void	onDisconnect() Invoke callback when connection is destroied
ReturnCode	read(DataRef<org.omg.CORBA.portable.InputStream> data) Reading data
void	setListener(ConnectorBase.ConnectorInfo profile, ConnectorListeners listeners) Set the listener.

Methods inherited from class jp.go.aist.rtm.RTC.port.InPortConnector

getBuffer, id, isLittleEndian, name, profile, setEndian

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

InPortPullConnector

public InPortPullConnector(ConnectorBase.ConnectorInfo profile,
                           OutPortConsumer consumer,
                           ConnectorListeners listeners,
                           BufferBase<org.omg.CORBA.portable.OutputStream> buffer)
                    throws java.lang.Exception

Constructor.

InPortPullConnector's constructor is given the following arguments. According to ConnectorInfo which includes connection information, a buffer is created. It is also given a pointer to the consumer object for the OutPort interface. The owner-ship of the pointer is owned by this OutPortPullConnector, it has responsibility to destruct the OutPortConsumer. OutPortPullConnector also has ConnectorListeners to provide event callback mechanisms, and they would be called at the proper timing. If data buffer is given by OutPortBase, the pointer to the buffer is also given as arguments.

Parameters:

profile - ConnectorInfo

consumer - consumer OutPortConsumer

listeners - ConnectorListeners type lsitener object list

buffer - CdrBufferBase type buffer

Throws:

java.lang.Exception

Method Detail

read

public ReturnCode read(DataRef<org.omg.CORBA.portable.InputStream> data)

Reading data

This function get data from OutPortConsumer. If data is read properly, this function will return PORT_OK return code. Except normal return, BUFFER_EMPTY, TIMEOUT, PRECONDITION_NOT_MET and PORT_ERROR will be returned as error codes.

Specified by:

read in class InPortConnector

Returns:

PORT_OK Normal return BUFFER_EMPTY Buffer empty TIMEOUT Timeout PRECONDITION_NOT_MET Preconditin not met PORT_ERROR Other error

disconnect

public ReturnCode disconnect()

Disconnect connection

This operation disconnect this connection

Specified by:

disconnect in class InPortConnector

Returns:

ReturnCode

activate

public void activate()

Connector activation

This operation activates this connector

Specified by:

activate in class ConnectorBase

deactivate

public void deactivate()

Connector deactivation

This operation deactivates this connector

Specified by:

deactivate in class ConnectorBase

createBuffer

protected BufferBase<org.omg.CORBA.portable.OutputStream> createBuffer(ConnectorBase.ConnectorInfo profile)

create buffer

This function creates a buffer based on given information.

Parameters:

profile - Connector information

Returns:

The poitner to the buffer

onConnect

protected void onConnect()

Invoke callback when connection is established

onDisconnect

protected void onDisconnect()

Invoke callback when connection is destroied

setListener

public void setListener(ConnectorBase.ConnectorInfo profile,
                        ConnectorListeners listeners)

Set the listener.

InPort provides callback functionality that calls specific listener objects according to the events in the data publishing process. For details, see documentation of ConnectorDataListener class and ConnectorListener class in ConnectorListener.h. In this InPortCorbaCdrProvider provides the following callbacks.

Specified by:

setListener in class InPortConnector

Parameters:

profile - Connector information

listeners - Listener objects