OpenRTM-aist
1.2.1
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InPort template class. More...
#include <InPort.h>
Public Member Functions | |
DATAPORTSTATUS_ENUM | InPort (const char *name, DataType &value, int bufsize=64, bool read_block=false, bool write_block=false, int read_timeout=0, int write_timeout=0) |
A constructor. More... | |
virtual | ~InPort (void) |
Destructor. More... | |
virtual const char * | name () |
Get port name. More... | |
virtual bool | isNew () |
Check whether the data is newest. More... | |
virtual bool | isEmpty () |
Check whether the data is newest. More... | |
virtual void | write (const DataType &data) |
bool | read () |
Readout the value from DataPort. More... | |
virtual void | update () |
Read the newly value to type-T variable which is bound to InPort's buffer. More... | |
void | operator>> (DataType &rhs) |
Read the newly value data in InPort to type-T variable. More... | |
DataPortStatus::Enum | getStatus (int index) |
Getting specified connector's writing status. More... | |
DataPortStatusList | getStatusList () |
Getting specified connector's writing status list. More... | |
void | setOnRead (OnRead< DataType > *on_read) |
Set callback when data is read from the InPort buffer. More... | |
void | setOnReadConvert (OnReadConvert< DataType > *on_rconvert) |
Set callback when data is readout to the InPort buffer. More... | |
Public Member Functions inherited from RTC::InPortBase | |
InPortBase (const char *name, const char *data_type) | |
Constructor. More... | |
virtual | ~InPortBase (void) |
Destructor. More... | |
void | init (coil::Properties &prop) |
Initializing properties. More... | |
coil::Properties & | properties () |
Get properties. More... | |
const std::vector< InPortConnector * > & | connectors () |
Connector list. More... | |
ConnectorInfoList | getConnectorProfiles () |
ConnectorProfile list. More... | |
coil::vstring | getConnectorIds () |
ConnectorId list. More... | |
coil::vstring | getConnectorNames () |
Connector name list. More... | |
InPortConnector * | getConnectorById (const char *id) |
Getting ConnectorProfile by ID. More... | |
InPortConnector * | getConnectorByName (const char *name) |
Getting Connector by name. More... | |
bool | getConnectorProfileById (const char *id, ConnectorInfo &prof) |
Getting ConnectorProfile by name. More... | |
bool | getConnectorProfileByName (const char *name, ConnectorInfo &prof) |
Getting ConnectorProfile by name. More... | |
virtual void | activateInterfaces () |
Activate all Port interfaces. More... | |
virtual void | deactivateInterfaces () |
Deactivate all Port interfaces. More... | |
void | addConnectorDataListener (ConnectorDataListenerType listener_type, ConnectorDataListener *listener, bool autoclean=true) |
Adding BufferDataListener type listener. More... | |
void | removeConnectorDataListener (ConnectorDataListenerType listener_type, ConnectorDataListener *listener) |
Removing BufferDataListener type listener. More... | |
void | addConnectorListener (ConnectorListenerType callback_type, ConnectorListener *listener, bool autoclean=true) |
Adding ConnectorListener type listener. More... | |
void | removeConnectorListener (ConnectorListenerType callback_type, ConnectorListener *listener) |
Removing BufferDataListener type listener. More... | |
bool | isLittleEndian () |
return it whether endian setting. More... | |
virtual ReturnCode_t | connect (ConnectorProfile &connector_profile) throw (CORBA::SystemException) |
[CORBA interface] Connect the Port More... | |
virtual ConnectorListeners & | getListeners () |
Getting listeners holder. More... | |
virtual ReturnCode_t | notify_connect (ConnectorProfile &connector_profile) throw (CORBA::SystemException) |
[CORBA interface] Notify the Ports connection More... | |
Public Member Functions inherited from RTC::PortBase | |
PortBase (const char *name="") | |
Constructor. More... | |
virtual | ~PortBase (void) |
Destructor. More... | |
virtual PortProfile * | get_port_profile () throw (CORBA::SystemException) |
[CORBA interface] Get the PortProfile of the Port More... | |
const PortProfile & | getPortProfile () const |
Get the PortProfile of the Port. More... | |
virtual ConnectorProfileList * | get_connector_profiles () throw (CORBA::SystemException) |
[CORBA interface] Get the ConnectorProfileList of the Port More... | |
virtual ConnectorProfile * | get_connector_profile (const char *connector_id) throw (CORBA::SystemException) |
[CORBA interface] Get the ConnectorProfile More... | |
virtual ReturnCode_t | disconnect (const char *connector_id) throw (CORBA::SystemException) |
[CORBA interface] Disconnect the Port More... | |
virtual ReturnCode_t | notify_disconnect (const char *connector_id) throw (CORBA::SystemException) |
[CORBA interface] Notify the Ports disconnection More... | |
virtual ReturnCode_t | disconnect_all () throw (CORBA::SystemException) |
[CORBA interface] Disconnect the All Ports More... | |
void | setName (const char *name) |
Set the name of this Port. More... | |
const char * | getName () const |
Get the name of this Port. More... | |
const PortProfile & | getProfile () const |
Get the PortProfile of the Port. More... | |
void | setPortRef (PortService_ptr port_ref) |
Set the object reference of this Port. More... | |
PortService_ptr | getPortRef () const |
Get the object reference of this Port. More... | |
void | setOwner (RTObject_ptr owner) |
Set the owner RTObject of the Port. More... | |
void | setOnPublishInterfaces (ConnectionCallback *on_publish) |
Setting callback called on publish interfaces. More... | |
void | setOnSubscribeInterfaces (ConnectionCallback *on_subscribe) |
Setting callback called on publish interfaces. More... | |
void | setOnConnected (ConnectionCallback *on_connected) |
Setting callback called on connection established. More... | |
void | setOnUnsubscribeInterfaces (ConnectionCallback *on_subscribe) |
Setting callback called on unsubscribe interfaces. More... | |
void | setOnDisconnected (ConnectionCallback *on_disconnected) |
Setting callback called on disconnected. More... | |
void | setOnConnectionLost (ConnectionCallback *on_connection_lost) |
Setting callback called on connection lost. More... | |
void | setPortConnectListenerHolder (PortConnectListeners *portconnListeners) |
Setting PortConnectListener holder. More... | |
virtual DirectPortBase * | getDirectPort () |
Additional Inherited Members | |
Public Types inherited from RTC::DataPortStatus | |
enum | Enum { PORT_OK = 0, PORT_ERROR, BUFFER_ERROR, BUFFER_FULL, BUFFER_EMPTY, BUFFER_TIMEOUT, SEND_FULL, SEND_TIMEOUT, RECV_EMPTY, RECV_TIMEOUT, INVALID_ARGS, PRECONDITION_NOT_MET, CONNECTION_LOST, UNKNOWN_ERROR } |
DataPortStatus return codes. More... | |
Static Public Member Functions inherited from RTC::DataPortStatus | |
static const char * | toString (DataPortStatus::Enum status) |
Convert DataPortStatus into the string. More... | |
Public Attributes inherited from RTC::InPortBase | |
DATAPORTSTATUS_ENUM typedef std::vector< InPortConnector * > | ConnectorList |
Protected Types inherited from RTC::PortBase | |
typedef coil::Guard< coil::Mutex > | Guard |
Protected Member Functions inherited from RTC::InPortBase | |
virtual ReturnCode_t | publishInterfaces (ConnectorProfile &connector_profile) |
Publish interface information. More... | |
virtual ReturnCode_t | subscribeInterfaces (const ConnectorProfile &connector_profile) |
Subscribe to the interface. More... | |
virtual void | unsubscribeInterfaces (const ConnectorProfile &connector_profile) |
Disconnect the interface connection. More... | |
void | initProviders () |
InPort provider initialization. More... | |
void | initConsumers () |
OutPort consumer initialization. More... | |
bool | checkEndian (const coil::Properties &prop, bool &littleEndian) |
Checking endian flag of serializer. More... | |
InPortProvider * | createProvider (ConnectorProfile &cprof, coil::Properties &prop) |
InPort provider creation. More... | |
OutPortConsumer * | createConsumer (const ConnectorProfile &cprof, coil::Properties &prop) |
InPort provider creation. More... | |
InPortConnector * | createConnector (ConnectorProfile &cprof, coil::Properties &prop, InPortProvider *provider) |
InPortPushConnector creation. More... | |
InPortConnector * | createConnector (const ConnectorProfile &cprof, coil::Properties &prop, OutPortConsumer *consumer) |
InPortPullConnector creation. More... | |
OutPortBase * | getLocalOutPort (const ConnectorInfo &profile) |
Getting local peer OutPort if available. More... | |
Protected Member Functions inherited from RTC::PortBase | |
virtual ReturnCode_t | connectNext (ConnectorProfile &connector_profile) |
Call notify_connect() of the next Port. More... | |
virtual ReturnCode_t | disconnectNext (ConnectorProfile &connector_profile) |
Call notify_disconnect() of the next Port. More... | |
virtual void | setConnectionLimit (int limit_value) |
Set the maximum number of connections. More... | |
virtual ReturnCode_t | _publishInterfaces (void) |
Publish interface information. More... | |
bool | isEmptyId (const ConnectorProfile &connector_profile) const |
Check whether connector_id of ConnectorProfile is empty. More... | |
const std::string | getUUID () const |
Generate the UUID. More... | |
void | setUUID (ConnectorProfile &connector_profile) const |
Generate and set the UUID to the ConnectorProfile. More... | |
bool | isExistingConnId (const char *id) |
Check whether the given id exists in stored ConnectorProfiles. More... | |
ConnectorProfile | findConnProfile (const char *id) |
Find ConnectorProfile with id. More... | |
CORBA::Long | findConnProfileIndex (const char *id) |
Find ConnectorProfile with id. More... | |
void | updateConnectorProfile (const ConnectorProfile &connector_profile) |
Append or update the ConnectorProfile list. More... | |
bool | eraseConnectorProfile (const char *id) |
Delete the ConnectorProfile. More... | |
bool | appendInterface (const char *name, const char *type_name, PortInterfacePolarity pol) |
Append an interface to the PortInterfaceProfile. More... | |
bool | deleteInterface (const char *name, PortInterfacePolarity pol) |
Delete the interface registration from the PortInterfaceProfile. More... | |
template<class ValueType > | |
void | addProperty (const char *key, ValueType value) |
Add NameValue data to PortProfile's properties. More... | |
void | appendProperty (const char *key, const char *value) |
Append NameValue data to PortProfile's properties. More... | |
void | updateConnectors () |
Disconnect ports that doesn't exist. More... | |
bool | checkPorts (::RTC::PortServiceList &ports) |
Existence of ports. More... | |
void | onNotifyConnect (const char *portname, RTC::ConnectorProfile &profile) |
void | onNotifyDisconnect (const char *portname, RTC::ConnectorProfile &profile) |
void | onUnsubscribeInterfaces (const char *portname, RTC::ConnectorProfile &profile) |
void | onPublishInterfaces (const char *portname, RTC::ConnectorProfile &profile, ReturnCode_t ret) |
void | onConnectNextport (const char *portname, RTC::ConnectorProfile &profile, ReturnCode_t ret) |
void | onSubscribeInterfaces (const char *portname, RTC::ConnectorProfile &profile, ReturnCode_t ret) |
void | onConnected (const char *portname, RTC::ConnectorProfile &profile, ReturnCode_t ret) |
void | onDisconnectNextport (const char *portname, RTC::ConnectorProfile &profile, ReturnCode_t ret) |
void | onDisconnected (const char *portname, RTC::ConnectorProfile &profile, ReturnCode_t ret) |
Protected Attributes inherited from RTC::InPortBase | |
bool | m_singlebuffer |
Buffer mode. More... | |
CdrBufferBase * | m_thebuffer |
Buffer. More... | |
coil::vstring | m_providerTypes |
Available providers. More... | |
coil::vstring | m_consumerTypes |
Available consumers. More... | |
ConnectorList | m_connectors |
Connection list. More... | |
bool | m_littleEndian |
Connected Endian. More... | |
ConnectorListeners | m_listeners |
ConnectorDataListener listener. More... | |
Protected Attributes inherited from RTC::PortBase | |
coil::Properties | m_properties |
Properties. More... | |
Logger | rtclog |
Logger stream. More... | |
PortProfile | m_profile |
PortProfile of the Port. More... | |
RTC::PortService_var | m_objref |
Object Reference of the Port. More... | |
coil::Mutex | m_profile_mutex |
Mutex of PortProfile. More... | |
coil::Mutex | m_connectorsMutex |
std::string | m_ownerInstanceName |
Instance name. More... | |
int | m_connectionLimit |
The maximum number of connections. More... | |
ConnectionCallback * | m_onPublishInterfaces |
Callback functor objects. More... | |
ConnectionCallback * | m_onSubscribeInterfaces |
Callback functor objects. More... | |
ConnectionCallback * | m_onConnected |
Callback functor objects. More... | |
ConnectionCallback * | m_onUnsubscribeInterfaces |
Callback functor objects. More... | |
ConnectionCallback * | m_onDisconnected |
Callback functor objects. More... | |
ConnectionCallback * | m_onConnectionLost |
Callback functor objects. More... | |
PortConnectListeners * | m_portconnListeners |
PortConnectListener holder. More... | |
DirectPortBase * | m_directport |
InPort template class.
This is a template class that implements InPort. <T> is the type defined in BasicDataType.idl and must be the structure which has both Time type tm and type-T data as a member. InPort has a ring buffer internally, and stores the received data externally in this buffer one by one. The size of ring buffer can be specified according to the argument of constructor, though the default size is 64. Unread data and data which is already read are managed with the flag, and the data can be handled by the isNew(), write(), read(), isFull() and isEmpty() method etc.
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A constructor.
constructor. This is bound to type-T variable given as a parameter.
name | A name of the InPort. This name is referred by InPortBase::name(). |
value | type-T variable that is bound to this InPort. |
bufsize | Buffer length of internal ring buffer of InPort (The default value:64) |
read_block | Flag of reading block. When there are not unread data at reading data, set whether to block data until receiving the next data. (The default value:false) |
write_block | Flag of writing block. If the buffer was full at writing data, set whether to block data until the buffer has space. (The default value:false) |
read_timeout | Data reading timeout time (millisecond) when not specifying read blocking. (The default value:0) |
write_timeout | Data writing timeout time (millisecond) when not specifying writing block. (The default value:0) |
References RTC::InPortBase::addConnectorDataListener(), RTC::PortBase::m_directport, RTC::ON_BUFFER_READ, and RTC::ON_RECEIVED.
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Destructor.
Destructor
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Getting specified connector's writing status.
An InPort has Connectors that are virtual data stream channel for each connection. "write()" function write into these Connectors, and each Connector returns writing-status. write() function will return a true value if all Connectors return normal status, and a false value will be returned if at least one Connector failed. This function can be used to inspect each return status
index | Connector index |
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Getting specified connector's writing status list.
An InPort has Connectors that are virtual data stream channel for each connection. "write()" function write into these Connectors, and each Connector returns writing-status. write() function will return a true value if all Connectors return normal status, and a false value will be returned if at least one Connector failed. This function can be used to inspect each return status
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Check whether the data is newest.
Check whether the data stored at a current buffer position is newest.
Reimplemented from RTC::DirectInPortBase< DataType >.
References RTC::InPortBase::m_connectors, RTC::PortBase::m_connectorsMutex, RTC_DEBUG, and RTC_TRACE.
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inlinevirtual |
Check whether the data is newest.
Check whether the data stored at a current buffer position is newest.
Reimplemented from RTC::DirectInPortBase< DataType >.
References RTC::InPortBase::m_connectors, RTC::PortBase::m_connectorsMutex, RTC_DEBUG, and RTC_TRACE.
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Get port name.
Get port name.
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Read the newly value data in InPort to type-T variable.
Read the newly data set in InPort and set to specified data variable.
rhs | The type-T variable to read from InPort's buffer |
References RTC::InPort< DataType >::read().
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inlinevirtual |
Readout the value from DataPort.
Readout the value from DataPort
Implements RTC::InPortBase.
References RTC::DataPortStatus::BUFFER_EMPTY, RTC::DataPortStatus::BUFFER_TIMEOUT, RTC::InPortBase::m_connectors, RTC::PortBase::m_connectorsMutex, RTC::DataPortStatus::PORT_OK, RTC_DEBUG, RTC_ERROR, RTC_TRACE, and RTC_WARN.
Referenced by RTC::InPort< DataType >::operator>>(), and RTC::InPort< DataType >::update().
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Set callback when data is readout to the InPort buffer.
Set the callback object that is invoked when data is readout to the InPort's buffer. The return value of callback object is the return result of the read() method.
on_rconvert | OnReadConvert<DataType> type object |
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Read the newly value to type-T variable which is bound to InPort's buffer.
Read the newly value to type-T data which is bound to InPort's buffer. The type-T variable must be bound to InPort in constructor. Since this method assumes to be used for polymorphic, its argument and the return value do not depend on type.
References RTC::InPort< DataType >::read().
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data |
Reimplemented from RTC::DirectInPortBase< DataType >.