OpenRTM-aist
1.2.1
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#include <InPortBase.h>
Public Member Functions | |
InPortBase (const char *name, const char *data_type) | |
Constructor. More... | |
virtual | ~InPortBase (void) |
Destructor. More... | |
void | init (coil::Properties &prop) |
Initializing properties. More... | |
virtual bool | read ()=0 |
It is a virtual method that is called from RTObject_impl::readAll(). This method reads out data from DataPort. 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 () |
Public Attributes | |
DATAPORTSTATUS_ENUM typedef std::vector< InPortConnector * > | ConnectorList |
Protected Member Functions | |
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) |
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... | |
Protected Types inherited from RTC::PortBase | |
typedef coil::Guard< coil::Mutex > | Guard |
RTC::InPortBase::InPortBase | ( | const char * | name, |
const char * | data_type | ||
) |
Constructor.
Constructor
name | Port name |
data_type | Data type |
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Destructor.
Destructor
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Activate all Port interfaces.
This operation activate all interfaces that is registered in the ports.
Implements RTC::PortBase.
void RTC::InPortBase::addConnectorDataListener | ( | ConnectorDataListenerType | listener_type, |
ConnectorDataListener * | listener, | ||
bool | autoclean = true |
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) |
Adding BufferDataListener type listener.
This operation adds certain listeners related to buffer writing and reading events. The following listener types are available.
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.
listener_type | A listener type |
listener | A pointer to a listener object |
autoclean | A flag for automatic listener destruction |
Referenced by RTC::InPort< DataType >::InPort().
void RTC::InPortBase::addConnectorListener | ( | ConnectorListenerType | callback_type, |
ConnectorListener * | listener, | ||
bool | autoclean = true |
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) |
Adding ConnectorListener type listener.
This operation adds certain listeners related to buffer writing and reading events. The following listener types are available.
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.
listener_type | A listener type |
listener | A pointer to a listener object |
autoclean | A flag for automatic listener destruction |
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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.
prop | Properties |
littleEndian | Endian Information(true:little,false:big) |
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.
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[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.
connector_profile | The ConnectorProfile. |
Reimplemented from RTC::PortBase.
const std::vector<InPortConnector*>& RTC::InPortBase::connectors | ( | ) |
Connector list.
This operation returns connector list
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InPortPushConnector creation.
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InPortPullConnector creation.
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InPort provider creation.
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InPort provider creation.
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Deactivate all Port interfaces.
This operation deactivate all interfaces that is registered in the ports.
Implements RTC::PortBase.
InPortConnector* RTC::InPortBase::getConnectorById | ( | const char * | id | ) |
Getting ConnectorProfile by ID.
This operation returns Connector specified by ID.
id | Connector ID |
InPortConnector* RTC::InPortBase::getConnectorByName | ( | const char * | name | ) |
Getting Connector by name.
This operation returns Connector specified by name.
id | Connector ID |
coil::vstring RTC::InPortBase::getConnectorIds | ( | ) |
ConnectorId list.
This operation returns ConnectorId list
coil::vstring RTC::InPortBase::getConnectorNames | ( | ) |
Connector name list.
This operation returns Connector name list
bool RTC::InPortBase::getConnectorProfileById | ( | const char * | id, |
ConnectorInfo & | prof | ||
) |
Getting ConnectorProfile by name.
This operation returns ConnectorProfile specified by name
id | Connector ID |
prof | ConnectorProfile |
bool RTC::InPortBase::getConnectorProfileByName | ( | const char * | name, |
ConnectorInfo & | prof | ||
) |
Getting ConnectorProfile by name.
This operation returns ConnectorProfile specified by name
id | Connector ID |
prof | ConnectorProfile |
ConnectorInfoList RTC::InPortBase::getConnectorProfiles | ( | ) |
ConnectorProfile list.
This operation returns ConnectorProfile list
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Getting local peer OutPort if available.
void RTC::InPortBase::init | ( | coil::Properties & | prop | ) |
Initializing properties.
This method initializes the port in the specified property.
prop | Property for setting ports |
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OutPort consumer initialization.
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InPort provider initialization.
bool RTC::InPortBase::isLittleEndian | ( | ) |
return it whether endian setting.
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[CORBA interface] Notify the Ports connection
This operation is usually called from other ports' connect() or notify_connect() operations when connection between ports is established. This function is not premised on calling from other functions or application programs.
According to the template method pattern, the notify_connect() calls "publishInterfaces()" and "subsctiveInterfaces()" functions, which are premised on implementing in the subclasses. The processing sequence is as follows.
According to the order of port's references stored in the ConnectorProfile::ports, publishing interface information to all the ports and subscription interface information from all the ports is performed by "notify_connect()"s. This cascaded call never aborts in the halfway operations, and calling sequence shall be completed for all the ports.
connector_profile | The ConnectorProfile. |
Reimplemented from RTC::PortBase.
coil::Properties& RTC::InPortBase::properties | ( | ) |
Get properties.
This method gets properties in the port.
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protectedvirtual |
Publish interface information.
Publish interface information. Assign the Provider information that owned by this port to ConnectorProfile::properties
connector_profile | The connector profile |
Implements RTC::PortBase.
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pure virtual |
It is a virtual method that is called from RTObject_impl::readAll(). This method reads out data from DataPort.
Implemented in RTC::InPort< DataType >.
void RTC::InPortBase::removeConnectorDataListener | ( | ConnectorDataListenerType | listener_type, |
ConnectorDataListener * | listener | ||
) |
Removing BufferDataListener type listener.
This operation removes a specified listener.
listener_type | A listener type |
listener | A pointer to a listener object |
void RTC::InPortBase::removeConnectorListener | ( | ConnectorListenerType | callback_type, |
ConnectorListener * | listener | ||
) |
Removing BufferDataListener type listener.
This operation removes a specified listener.
listener_type | A listener type |
listener | A pointer to a listener object |
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Subscribe to the interface.
Subscribe to interface. Derive Provider information that matches Consumer owned by the Port from ConnectorProfile::properties and set the Consumer to the reference of the CORBA object.
connector_profile | The connector profile |
Implements RTC::PortBase.
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Disconnect the interface connection.
Disconnect the interface connection. Release all objects set in Consumer associated with given ConnectorProfile and unscribe the interface.
connector_profile | The connector profile |
Implements RTC::PortBase.
DATAPORTSTATUS_ENUM typedef std::vector<InPortConnector*> RTC::InPortBase::ConnectorList |
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Connection list.
Referenced by RTC::InPort< DataType >::isEmpty(), RTC::InPort< DataType >::isNew(), and RTC::InPort< DataType >::read().
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Available consumers.
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ConnectorDataListener listener.
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Connected Endian.
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Available providers.
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Buffer mode.
true:single buffer mode. false:multi buffer mode.
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Buffer.