RTC::InPortProvider Class Reference

#include <InPortProvider.h>

Inheritance diagram for RTC::InPortProvider:

Classes
struct	publishInterfaceFunc
	Functor to publish interface profile. More...
struct	publishInterfaceProfileFunc
	Functor to publish interface profile. More...
Public Member Functions
DATAPORTSTATUS_ENUM	InPortProvider ()
	Constructor.
virtual	~InPortProvider (void)
	Destructor.
virtual void	init (coil::Properties &prop)=0
	Initializing configuration.
virtual void	setBuffer (BufferBase< cdrMemoryStream > *buffer)=0
	Setting outside buffer's pointer.
virtual void	setListener (ConnectorInfo &info, ConnectorListeners *listeners)=0
	Set the listener.
virtual void	setConnector (InPortConnector *connector)=0
	set Connector
virtual void	publishInterfaceProfile (SDOPackage::NVList &properties)
	Publish InterfaceProfile information.
virtual bool	publishInterface (SDOPackage::NVList &properties)
	Publish interface information.
Protected Member Functions
void	setInterfaceType (const char *interface_type)
	Set the interface type.
void	setDataFlowType (const char *dataflow_type)
	Set the dataflow type.
void	setSubscriptionType (const char *subs_type)
	Set the subscription type.
Protected Attributes
SDOPackage::NVList	m_properties
	Properties to hold port profile.
Logger	rtclog
	Logger stream.

Detailed Description

InPortProvider.

The virtual class for InPort's PROVIDED interface implementation. New interface for InPort have to inherit this class, and have to implement the following functions.

Moreover, calling the following functions in the constructor, and properties have to be set.

InPortProvider's properties that have to be provided to others should be set to protected variable (SDOPackage::NVList) m_properties. Values that are set to the property are published as interface profile information, and it is also published to required interface when connection is established. The following virtual functions are called when port's profiles are acquired from others or connections are established. The following virtual functions are called when port's profiles are acquired from others or connections are established. Interface profile information that is reviously set is given to Port calling by these functions.

InPort inquires available InPortProviders to the factory class of InPortProvider, and publishes available interfaces to others. Therefore, sub-classes of InPortProvider that provides PROVIDED interface to InPort should register its factory to InPortProviderFactory.

RTC::InPortProviderFactory::instance().addFactory() would be called with the following arguments.

1st arg: The name of provider. ex. "corba_cdr" 2nd arg: Factory function. coil::Creator<B, T> 3rd arg: Destruction function. coil::Destructor<B, T>

The following example shows how to register factory function. And it is also declared as a initialization function.

 extern "C"
 {
   void InPortCorbaCdrProviderInit(void)
   {
     RTC::InPortProviderFactory&
                         factory(RTC::InPortProviderFactory::instance());
     factory.addFactory("corba_cdr",
                        coil::Creator<RTC::InPortProvider,
                                        RTC::InPortCorbaCdrProvider>,
                        coil::Destructor<RTC::InPortProvider,
                                           RTC::InPortCorbaCdrProvider>);
   }
 };

It is recommended that the registration process is declared as a initialization function with "extern C" to be accessed from the outside of module. If the InPortProviders are compiled as a shared object or DLL for dynamic loading, new InPortProvider types can be added dynamically.

Since:: 0.4.0

Constructor & Destructor Documentation

DATAPORTSTATUS_ENUM RTC::InPortProvider::InPortProvider ( )

Constructor.

Constructor

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

Destructor.

Virtual destructor

Member Function Documentation

virtual void RTC::InPortProvider::init ( coil::Properties & prop ) [pure virtual]

Initializing configuration.

This operation would be called to configure in initialization. In the concrete class, configuration should be performed getting appropriate information from the given Properties data. This function might be called right after instantiation and connection sequence respectivly. Therefore, this function should be implemented assuming multiple call.

Parameters:

prop

Configuration information

Implemented in RTC::InPortCorbaCdrProvider.

virtual bool RTC::InPortProvider::publishInterface ( SDOPackage::NVList & properties ) [virtual]

Publish interface information.

Publish interface information. Check the dataport.interface_type value of the NameValue object specified by an argument in the property information, and add the information to the NameValue if this port is not specified. This does not do anything if the same interface is already subscribed.

Parameters:

properties

Properties to receive interface information

Returns:: true: normal return

Referenced by RTC::InPortProvider::publishInterfaceFunc::operator()().

virtual void RTC::InPortProvider::publishInterfaceProfile ( SDOPackage::NVList & properties ) [virtual]

Publish InterfaceProfile information.

Publish interfaceProfile information. Check the dataport.interface_type value of the NameValue object specified by an argument in property information and get information only when the interface type of the specified port is matched.

Parameters:

properties

Properties to get InterfaceProfile information

Referenced by RTC::InPortProvider::publishInterfaceProfileFunc::operator()().

virtual void RTC::InPortProvider::setBuffer ( BufferBase< cdrMemoryStream > * buffer ) [pure virtual]

Setting outside buffer's pointer.

A pointer to a buffer from which OutPortProvider retrieve data. If already buffer is set, previous buffer's pointer will be overwritten by the given pointer to a buffer. Since OutPortProvider does not assume ownership of the buffer pointer, destructor of the buffer should be done by user.

Parameters:

buffer

A pointer to a data buffer to be used by OutPortProvider

Implemented in RTC::InPortCorbaCdrProvider.

virtual void RTC::InPortProvider::setConnector ( InPortConnector * connector ) [pure virtual]

set Connector

OutPort creates OutPortConnector object when it establishes connection between OutPort and InPort, and it calls this function with a pointer to the connector object. Since the OutPort has the ownership of this connector, OutPortProvider should not delete it.

Parameters:

connector

OutPortConnector

Implemented in RTC::InPortCorbaCdrProvider.

void RTC::InPortProvider::setDataFlowType ( const char * dataflow_type ) [protected]

Set the dataflow type.

Parameters:

dataflow_type

The target data flow type for set

void RTC::InPortProvider::setInterfaceType ( const char * interface_type ) [protected]

Set the interface type.

Parameters:

interface_type

The target interface type for set

virtual void RTC::InPortProvider::setListener	(	ConnectorInfo &	info,
		ConnectorListeners *	listeners
	)			`[pure virtual]`

Set the listener.

OutPort 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 the sub-classes of OutPortProvider, the given listeners should be called in the proper timing. However, it is not necessary to call all the listeners.

Parameters: