#include <PublisherPeriodic.h>

Inheritance diagram for RTC::PublisherPeriodic:

Collaboration diagram for RTC::PublisherPeriodic:

Public Types
typedef coil::Mutex	Mutex

typedef coil::Condition< Mutex >	Condition

typedef coil::Guard< coil::Mutex >	Guard

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...

Public Member Functions
DATAPORTSTATUS_ENUM	PublisherPeriodic (void)
	Constructor. More...

virtual	~PublisherPeriodic (void)
	Destructor. More...

virtual ReturnCode	init (coil::Properties &prop)
	Initialization. More...

virtual ReturnCode	setConsumer (InPortConsumer *consumer)
	Store InPort consumer. More...

virtual ReturnCode	setBuffer (CdrBufferBase *buffer)
	Setting buffer pointer. More...

virtual ReturnCode	setListener (ConnectorInfo &info, ConnectorListeners *listeners)
	Set the listener. More...

virtual ReturnCode	write (cdrMemoryStream &data, unsigned long sec, unsigned long usec)
	Write data. More...

virtual bool	isActive ()
	If publisher is active state. More...

virtual ReturnCode	activate ()
	activation More...

virtual ReturnCode	deactivate ()
	deactivation More...

virtual int	svc (void)
	Thread execution function. More...

Public Member Functions inherited from RTC::PublisherBase
virtual DATAPORTSTATUS_ENUM	~PublisherBase (void)
	Destructor. More...

virtual void	release ()
	Release the Publisher. More...

Protected Types
enum	Policy { ALL, FIFO, SKIP, NEW }

Protected Member Functions
void	setPushPolicy (const coil::Properties &prop)
	Setting PushPolicy. More...

bool	createTask (const coil::Properties &prop)
	Setting Task. More...

ReturnCode	pushAll ()
	push "all" policy More...

ReturnCode	pushFifo ()
	push "fifo" policy More...

ReturnCode	pushSkip ()
	push "skip" policy More...

ReturnCode	pushNew ()
	push "new" policy More...

ReturnCode	convertReturn (BufferStatus::Enum status, cdrMemoryStream &data)
	Convertion from BufferStatus to DataPortStatus. More...

ReturnCode	invokeListener (DataPortStatus::Enum status, cdrMemoryStream &data)
	Call listeners according to the DataPortStatus. More...

void	onBufferWrite (cdrMemoryStream &data)
	Notify an ON_BUFFER_WRITE event to listeners. More...

void	onBufferFull (cdrMemoryStream &data)
	Notify an ON_BUFFER_FULL event to listeners. More...

void	onBufferWriteTimeout (cdrMemoryStream &data)
	Notify an ON_BUFFER_WRITE_TIMEOUT event to listeners. More...

void	onBufferRead (cdrMemoryStream &data)
	Notify an ON_BUFFER_READ event to listeners. More...

void	onSend (cdrMemoryStream &data)
	Notify an ON_SEND event to listners. More...

void	onReceived (cdrMemoryStream &data)
	Notify an ON_RECEIVED event to listeners. More...

void	onReceiverFull (cdrMemoryStream &data)
	Notify an ON_RECEIVER_FULL event to listeners. More...

void	onReceiverTimeout (cdrMemoryStream &data)
	Notify an ON_RECEIVER_TIMEOUT event to listeners. More...

void	onReceiverError (cdrMemoryStream &data)
	Notify an ON_RECEIVER_ERROR event to listeners. More...

void	onBufferEmpty ()
	Notify an ON_BUFFER_EMPTY event to listeners. More...

void	onSenderEmpty ()
	Notify an ON_SENDER_EMPTY event to listeners. More...

void	onSenderError ()
	Notify an ON_SENDER_ERROR event to listeners. More...

Additional Inherited Members
Static Public Member Functions inherited from RTC::DataPortStatus
static const char *	toString (DataPortStatus::Enum status)
	Convert DataPortStatus into the string. More...

Detailed Description

PublisherPeriodic class.

Publisher for periodic data transmitting. Usually this class object exists in a Connector object, and it is associated with a buffer and a consumer. This publisher periodically gets data from the buffer and publish it into the consumer.

Member Typedef Documentation

typedef coil::Condition<Mutex> RTC::PublisherPeriodic::Condition

typedef coil::Guard<coil::Mutex> RTC::PublisherPeriodic::Guard

typedef coil::Mutex RTC::PublisherPeriodic::Mutex

Member Enumeration Documentation

enum RTC::PublisherPeriodic::Policy

protected

Enumerator
ALL
FIFO
SKIP
NEW

Constructor & Destructor Documentation

DATAPORTSTATUS_ENUM RTC::PublisherPeriodic::PublisherPeriodic ( void )

Constructor.

virtual RTC::PublisherPeriodic::~PublisherPeriodic ( void )

virtual

Destructor.

Destructor

Member Function Documentation

virtual ReturnCode RTC::PublisherPeriodic::activate ( )

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

Implements RTC::PublisherBase.

ReturnCode RTC::PublisherPeriodic::convertReturn	(	BufferStatus::Enum	status,
		cdrMemoryStream &	data
	)

protected

Convertion from BufferStatus to DataPortStatus.

This function converts return value from the buffer to DataPortStatus::Enum typed return value. The conversion rule is as follows. Callback functions are also shown, if it exists.

BUFFER_OK: PORT_OK
- None
BUFFER_ERROR: BUFFER_ERROR
- None
BUFFER_FULL: BUFFER_FULL
- onBufferFull()
NOT_SUPPORTED: PORT_ERROR
- None
TIMEOUT: BUFFER_TIMEOUT
- onBufferWriteTimeout()
PRECONDITION_NOT_MET: PRECONDITION_NOT_MET
- None
other: PORT_ERROR
- None

Parameters

status	BufferStatus
data	cdrMemoryStream

Returns: DataPortStatus typed return code

bool RTC::PublisherPeriodic::createTask ( const coil::Properties & prop )

protected

Setting Task.

virtual ReturnCode RTC::PublisherPeriodic::deactivate ( )

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

Implements RTC::PublisherBase.

virtual ReturnCode RTC::PublisherPeriodic::init ( coil::Properties & prop )

virtual

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)

Parameters

property Property objects that includes the control information of this Publisher

Returns: ReturnCode PORT_OK normal return INVALID_ARGS Properties with invalid values.

Implements RTC::PublisherBase.

ReturnCode RTC::PublisherPeriodic::invokeListener	(	DataPortStatus::Enum	status,
		cdrMemoryStream &	data
	)

protected

Call listeners according to the DataPortStatus.

Parameters

status	DataPortStatus
data	cdrMemoryStream

Returns: Return code

virtual bool RTC::PublisherPeriodic::isActive ( )

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)

Implements RTC::PublisherBase.

void RTC::PublisherPeriodic::onBufferEmpty ( )

inlineprotected

Notify an ON_BUFFER_EMPTY event to listeners.

References RTC::ON_BUFFER_EMPTY.

void RTC::PublisherPeriodic::onBufferFull ( cdrMemoryStream & data )

inlineprotected

Notify an ON_BUFFER_FULL event to listeners.

Parameters

data	cdrMemoryStream

References RTC::ON_BUFFER_FULL.

void RTC::PublisherPeriodic::onBufferRead ( cdrMemoryStream & data )

inlineprotected

Notify an ON_BUFFER_READ event to listeners.

Parameters

data	cdrMemoryStream

References RTC::ON_BUFFER_READ.

void RTC::PublisherPeriodic::onBufferWrite ( cdrMemoryStream & data )

inlineprotected

Notify an ON_BUFFER_WRITE event to listeners.

Parameters

data	cdrMemoryStream

References RTC::ON_BUFFER_WRITE.

void RTC::PublisherPeriodic::onBufferWriteTimeout ( cdrMemoryStream & data )

inlineprotected

Notify an ON_BUFFER_WRITE_TIMEOUT event to listeners.

Parameters

data	cdrMemoryStream

References RTC::ON_BUFFER_WRITE_TIMEOUT.

void RTC::PublisherPeriodic::onReceived ( cdrMemoryStream & data )

inlineprotected

Notify an ON_RECEIVED event to listeners.

Parameters

data	cdrMemoryStream

References RTC::ON_RECEIVED.

void RTC::PublisherPeriodic::onReceiverError ( cdrMemoryStream & data )

inlineprotected

Notify an ON_RECEIVER_ERROR event to listeners.

Parameters

data	cdrMemoryStream

References RTC::ON_RECEIVER_ERROR.

void RTC::PublisherPeriodic::onReceiverFull ( cdrMemoryStream & data )

inlineprotected

Notify an ON_RECEIVER_FULL event to listeners.

Parameters

data	cdrMemoryStream

References RTC::ON_RECEIVER_FULL.

void RTC::PublisherPeriodic::onReceiverTimeout ( cdrMemoryStream & data )

inlineprotected

Notify an ON_RECEIVER_TIMEOUT event to listeners.

Parameters

data	cdrMemoryStream

References RTC::ON_RECEIVER_TIMEOUT.

void RTC::PublisherPeriodic::onSend ( cdrMemoryStream & data )

inlineprotected

Notify an ON_SEND event to listners.

Parameters

data	cdrMemoryStream

References RTC::ON_SEND.

void RTC::PublisherPeriodic::onSenderEmpty ( )

inlineprotected

Notify an ON_SENDER_EMPTY event to listeners.

References RTC::ON_SENDER_EMPTY.

void RTC::PublisherPeriodic::onSenderError ( )

inlineprotected

Notify an ON_SENDER_ERROR event to listeners.

References DLL_EXPORT, RTC::ON_SENDER_ERROR, PublisherPeriodicInit(), and RTC_DEBUG.

ReturnCode RTC::PublisherPeriodic::pushAll ( )

protected

push "all" policy

ReturnCode RTC::PublisherPeriodic::pushFifo ( )

protected

push "fifo" policy

ReturnCode RTC::PublisherPeriodic::pushNew ( )

protected

push "new" policy

ReturnCode RTC::PublisherPeriodic::pushSkip ( )

protected

push "skip" policy

virtual ReturnCode RTC::PublisherPeriodic::setBuffer ( CdrBufferBase * buffer )

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

Implements RTC::PublisherBase.

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

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

Implements RTC::PublisherBase.

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

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

Implements RTC::PublisherBase.

void RTC::PublisherPeriodic::setPushPolicy ( const coil::Properties & prop )

protected

Setting PushPolicy.

virtual int RTC::PublisherPeriodic::svc ( void )

virtual

Thread execution function.

A task execution function to be executed by coil::PeriodicTask.

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

virtual

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.

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. 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.

Implements RTC::PublisherBase.

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

PublisherPeriodic.h

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation