RTC::PublisherBase Class Reference

Base class of Publisher. More...

#include <PublisherBase.h>

Inheritance diagram for RTC::PublisherBase:

Collaboration diagram for RTC::PublisherBase:

Public Member Functions
virtual DATAPORTSTATUS_ENUM	~PublisherBase (void)
	Destructor. More...
virtual ReturnCode	init (coil::Properties &prop)=0
	Initializing configuration. More...
virtual ReturnCode	setConsumer (InPortConsumer *consumer)=0
	Store InPort consumer. More...
virtual ReturnCode	setBuffer (BufferBase< cdrMemoryStream > *buffer)=0
	Setting buffer pointer. More...
virtual ReturnCode	setListener (ConnectorInfo &info, ConnectorListeners *listeners)=0
	Set the listener. More...
virtual ReturnCode	write (cdrMemoryStream &data, unsigned long sec, unsigned long usec)=0
	Write data. More...
virtual bool	isActive ()=0
	If publisher is active state. More...
virtual ReturnCode	activate ()=0
	activation More...
virtual ReturnCode	deactivate ()=0
	deactivation More...
virtual void	release ()
	Release the Publisher. More...

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...

Detailed Description

Base class of Publisher.

This is a base class of Publisher*. This class manages data send timing. Variation of Publisher* which implements details of Publisher inherits this PublisherBase class.

Constructor & Destructor Documentation

virtual DATAPORTSTATUS_ENUM RTC::PublisherBase::~PublisherBase ( void  )

inlinevirtual

Destructor.

References CORBA_RTCUtil::activate(), and CORBA_RTCUtil::deactivate().

Member Function Documentation

virtual ReturnCode RTC::PublisherBase::activate ( )

pure virtual

activation

This function activates the publisher. By calling this function, this publisher starts the thread that pushes data to InPort. If precondition such as initialization process and so on is not met, the error code PRECONDITION_NOT_MET is returned.

Returns

PORT_OK normal return PRECONDITION_NOT_MET precondition is not met

Implemented in RTC::PublisherNew, RTC::PublisherPeriodic, and RTC::PublisherFlush.

virtual ReturnCode RTC::PublisherBase::deactivate ( )

pure virtual

deactivation

This function deactivates the publisher. By calling this function, this publisher stops the thread that pushes data to InPort. If precondition such as initialization process and so on is not met, the error code PRECONDITION_NOT_MET is returned.

Returns

PORT_OK normal return PRECONDITION_NOT_MET precondition is not met

Implemented in RTC::PublisherNew, RTC::PublisherPeriodic, and RTC::PublisherFlush.

virtual ReturnCode RTC::PublisherBase::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::PublisherPeriodic, RTC::PublisherNew, and RTC::PublisherFlush.

virtual bool RTC::PublisherBase::isActive ( )

pure virtual

If publisher is active state.

A Publisher can be activated/deactivated synchronized with the data port. The active state and the non-active state are made transition by the "activate()" and the "deactivate()" functions respectively. This function confirms if the publisher is in active state.

Returns

Result of state confirmation (Active state:true, Inactive state:false)

Implemented in RTC::PublisherNew, RTC::PublisherPeriodic, and RTC::PublisherFlush.

virtual void RTC::PublisherBase::release ( )

inlinevirtual

Release the Publisher.

Release this Publisher. When Publisher becomes unnecessary, this is invoked from PublisherFactory.

virtual ReturnCode RTC::PublisherBase::setBuffer ( BufferBase< cdrMemoryStream > *  buffer )

pure virtual

Setting buffer pointer.

This operation sets a buffer that is associated with this object. If the buffer object is NULL, INVALID_ARGS will be returned.

Parameters

buffer

A pointer to a CDR buffer object.

Returns

ReturnCode PORT_OK normal return INVALID_ARGS given argument has invalid value

Implemented in RTC::PublisherPeriodic, RTC::PublisherNew, and RTC::PublisherFlush.

virtual ReturnCode RTC::PublisherBase::setConsumer ( InPortConsumer *  consumer )

pure virtual

Store InPort consumer.

This operation sets a consumer that is associated with this object. If the consumer object is NULL, INVALID_ARGS will be returned.

Parameters

consumer

A pointer to a consumer object.

Returns

ReturnCode PORT_OK normal return INVALID_ARGS given argument has invalid value

Implemented in RTC::PublisherPeriodic, RTC::PublisherNew, and RTC::PublisherFlush.

virtual ReturnCode RTC::PublisherBase::setListener ( ConnectorInfo &  info, ConnectorListeners *  listeners  )

pure virtual

Set the listener.

This function sets ConnectorListeners listener object to the Publisher. By setting ConnectorListeners containing various listeners objects, these listeners are called at the time of reading and writing of a buffer, and transmission of data etc. Since the ownership of the ConnectorListeners object is owned by Port or RTObject, the Publisher never deletes the ConnectorListeners object. If the given ConnectorListeners' pointer is NULL, this function returns INVALID_ARGS.

Parameters

info	ConnectorInfo that is localized object of ConnectorProfile
listeners	ConnectorListeners that holds various listeners

Returns

PORT_OK Normal return INVALID_ARGS Invalid arguments

Implemented in RTC::PublisherPeriodic, RTC::PublisherNew, and RTC::PublisherFlush.

virtual ReturnCode RTC::PublisherBase::write ( cdrMemoryStream &  data, unsigned long  sec, unsigned long  usec  )

pure virtual

Write data.

This function writes data into the Publisher. If this function is called without initializing correctly such as a consumer, listeners, etc., error code PRECONDITION_NOT_MET will be returned and no operation of the writing etc. will be performed.

When publisher writes data, if the consumer returns full-status, returns error, is returned with timeout, error codes BUFFER_FULL, BUFFER_ERROR and BUFFER_TIMEOUT will be returned respectively.

In other cases, PROT_ERROR will be returned.

Parameters

data	Data to be wrote to the buffer
sec	Timeout time in unit seconds
nsec	Timeout time in unit nano-seconds

Returns

PORT_OK Normal return PRECONDITION_NO_MET Precondition does not met. A consumer, a buffer, listenes are not set properly. SEND_FULL Data was sent but full-status returned SEND_TIMEOUT Data was sent but timeout occurred CONNECTION_LOST detected that the connection has been lost

Implemented in RTC::PublisherNew, RTC::PublisherPeriodic, and RTC::PublisherFlush.

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The documentation for this class was generated from the following file:

• PublisherBase.h