jp.go.aist.rtm.RTC.port.publisher
Class PublisherPeriodic

java.lang.Object
  jp.go.aist.rtm.RTC.port.publisher.PublisherBase
      jp.go.aist.rtm.RTC.port.publisher.PublisherPeriodic

All Implemented Interfaces:

java.lang.Runnable, ObjectCreator<PublisherBase>, ObjectDestructor

public class PublisherPeriodic
extends PublisherBase
implements java.lang.Runnable, ObjectCreator<PublisherBase>, ObjectDestructor

一定時間おきにコンシューマの送出処理を呼び出すPublisherです。

Nested Class Summary

protected static class

PublisherPeriodic.Policy

Field Summary

protected Logbuf

rtcout

Constructor Summary

PublisherPeriodic()
Constructor

Method Summary

ReturnCode	activate() activate
protected ReturnCode	convertReturn(ReturnCode status, org.omg.CORBA.portable.OutputStream data) convertReturn
protected boolean	createTask(Properties prop) Setting Task
PublisherBase	creator_() creator_
ReturnCode	deactivate() deactivate
void	destructor_(java.lang.Object obj) destructor_
java.lang.String	getName() getName
ReturnCode	init(Properties prop) Initialization
protected ReturnCode	invokeListener(ReturnCode status, org.omg.CORBA.portable.OutputStream data)
boolean	isActive() write
protected void	onBufferEmpty() Connector listener functions
protected void	onBufferFull(org.omg.CORBA.portable.OutputStream data)
protected void	onBufferRead(org.omg.CORBA.portable.OutputStream data)
protected void	onBufferWrite(org.omg.CORBA.portable.OutputStream data) Connector data listener functions
protected void	onBufferWriteTimeout(org.omg.CORBA.portable.OutputStream data)
protected void	onReceived(org.omg.CORBA.portable.OutputStream data)
protected void	onReceiverError(org.omg.CORBA.portable.OutputStream data)
protected void	onReceiverFull(org.omg.CORBA.portable.OutputStream data)
protected void	onReceiverTimeout(org.omg.CORBA.portable.OutputStream data)
protected void	onSend(org.omg.CORBA.portable.OutputStream data)
protected void	onSenderEmpty()
protected void	onSenderError()
int	open() 当該Publisherの駆動を開始します。
static void	PublisherPeriodicInit() PublisherPeriodicInit
protected ReturnCode	pushAll() pushAll
protected ReturnCode	pushFifo() pushFifo
protected ReturnCode	pushNew() pushNew
protected ReturnCode	pushSkip() pushSkip
void	release() 駆動フラグがオフとなり、Publisherの駆動が停止します。
void	run() 当該Publisherを駆動するスレッドコンテキストです。コンシューマの送出処理が呼び出されます。
ReturnCode	setBuffer(BufferBase<org.omg.CORBA.portable.OutputStream> buffer) setBuffer
ReturnCode	setConsumer(InPortConsumer consumer) setConsumer
ReturnCode	setListener(ConnectorBase.ConnectorInfo info, ConnectorListeners listeners) Setting buffer pointer
protected void	setPushPolicy(Properties prop) Setting PushPolicy
int	svc() 当該Publisherを駆動するスレッドコンテキストです。コンシューマの送出処理が呼び出されます。
void	update() 本Publisher実装では、何も行いません。
ReturnCode	write(org.omg.CORBA.portable.OutputStream data)
ReturnCode	write(org.omg.CORBA.portable.OutputStream data, int sec, int usec) Write data

Methods inherited from class java.lang.Object

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

Field Detail

rtcout

protected Logbuf rtcout

Constructor Detail

PublisherPeriodic

public PublisherPeriodic()

Constructor

Method Detail

update

public void update()

本Publisher実装では、何も行いません。

svc

public int svc()

当該Publisherを駆動するスレッドコンテキストです。コンシューマの送出処理が呼び出されます。

pushAll

protected ReturnCode pushAll()

pushAll

push all policy

Returns:

ReturnCode

pushFifo

protected ReturnCode pushFifo()

pushFifo

push "fifo" policy

Returns:

ReturnCode

pushSkip

protected ReturnCode pushSkip()

pushSkip

push "skip" policy

Returns:

ReturnCode

pushNew

protected ReturnCode pushNew()

pushNew

push "new" policy

Returns:

ReturnCode

run

public void run()

当該Publisherを駆動するスレッドコンテキストです。コンシューマの送出処理が呼び出されます。

Specified by:

run in interface java.lang.Runnable

open

public int open()

当該Publisherの駆動を開始します。

release

public void release()

駆動フラグがオフとなり、Publisherの駆動が停止します。

ただし、最大１回のみコンシューマの送出処理が呼び出されることがあります。

Overrides:

release in class PublisherBase

init

public ReturnCode init(Properties 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)

Specified by:

init in class PublisherBase

Parameters:

prop - Property objects that includes the control information of this Publisher

Returns:

PORT_OK normal return INVALID_ARGS Properties with invalid values.

setPushPolicy

protected void setPushPolicy(Properties prop)

Setting PushPolicy

createTask

protected boolean createTask(Properties prop)

Setting Task

setConsumer

public ReturnCode setConsumer(InPortConsumer consumer)

setConsumer

Store InPort consumer

Specified by:

setConsumer in class PublisherBase

Parameters:

consumer -

Returns:

ReturnCode

setBuffer

public ReturnCode setBuffer(BufferBase<org.omg.CORBA.portable.OutputStream> buffer)

setBuffer

Setting buffer

Specified by:

setBuffer in class PublisherBase

Parameters:

buffer -

Returns:

ReturnCode

setListener

public ReturnCode setListener(ConnectorBase.ConnectorInfo info,
                              ConnectorListeners listeners)

Setting buffer pointer

Specified by:

setListener in class PublisherBase

Returns:

ReturnCode

write

public ReturnCode write(org.omg.CORBA.portable.OutputStream data,
                        int sec,
                        int 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.

Specified by:

write in class PublisherBase

Parameters:

data - Data to be wrote to the buffer

sec - Timeout time in unit seconds

usec - Timeout time in unit micro-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.

write

public ReturnCode write(org.omg.CORBA.portable.OutputStream data)

Specified by:

write in class PublisherBase

isActive

public boolean isActive()

write

Specified by:

isActive in class PublisherBase

Returns:

boolean

activate

public ReturnCode activate()

activate

Specified by:

activate in class PublisherBase

Returns:

ReturnCode

deactivate

public ReturnCode deactivate()

deactivate

Specified by:

deactivate in class PublisherBase

Returns:

ReturnCode

creator_

public PublisherBase creator_()

creator_

Specified by:

creator_ in interface ObjectCreator<PublisherBase>

Returns:

Object Created instances

destructor_

public void destructor_(java.lang.Object obj)

destructor_

Specified by:

destructor_ in interface ObjectDestructor

Parameters:

obj - The target instances for destruction

convertReturn

protected ReturnCode convertReturn(ReturnCode status,
                                   org.omg.CORBA.portable.OutputStream data)

convertReturn

invokeListener

protected ReturnCode invokeListener(ReturnCode status,
                                    org.omg.CORBA.portable.OutputStream data)

PublisherPeriodicInit

public static void PublisherPeriodicInit()

PublisherPeriodicInit

getName

public java.lang.String getName()

getName

Specified by:

getName in class PublisherBase

Returns:

String

onBufferWrite

protected void onBufferWrite(org.omg.CORBA.portable.OutputStream data)

Connector data listener functions

onBufferFull

protected void onBufferFull(org.omg.CORBA.portable.OutputStream data)

onBufferWriteTimeout

protected void onBufferWriteTimeout(org.omg.CORBA.portable.OutputStream data)

onBufferRead

protected void onBufferRead(org.omg.CORBA.portable.OutputStream data)

onSend

protected void onSend(org.omg.CORBA.portable.OutputStream data)

onReceived

protected void onReceived(org.omg.CORBA.portable.OutputStream data)

onReceiverFull

protected void onReceiverFull(org.omg.CORBA.portable.OutputStream data)

onReceiverTimeout

protected void onReceiverTimeout(org.omg.CORBA.portable.OutputStream data)

onReceiverError

protected void onReceiverError(org.omg.CORBA.portable.OutputStream data)

onBufferEmpty

protected void onBufferEmpty()

Connector listener functions

onSenderEmpty

protected void onSenderEmpty()

onSenderError

protected void onSenderError()