#include <InPort.h>

Inheritance diagram for RTC::InPort< DataType >:

[legend]

Collaboration diagram for RTC::InPort< DataType >:

[legend]

Public Member Functions
	InPort (const char *name, DataType &value)
	A constructor.

	~InPort () override
	Destructor.

virtual const char *	name ()
	Get port name.

virtual bool	isNew (std::string name)
	Check whether the data is newest.

virtual bool	isNew (coil::vstring &names)

bool	isNew () override
	Check whether the data is newest.

virtual bool	isEmpty (std::string name)
	Check whether the data is newest.

virtual bool	isEmpty (coil::vstring &names)

bool	isEmpty () override
	Check whether the data is newest.

void	write (DataType &data) override

bool	read (std::string name="") override
	Readout the value from DataPort.

virtual void	update ()
	Read the newly value to type-T variable which is bound to InPort's buffer.

void	operator>> (DataType &rhs)
	Read the newly value data in InPort to type-T variable.

DataPortStatus	getStatus (int)
	Getting specified connector's writing status.

DataPortStatusList	getStatusList ()
	Getting specified connector's writing status list.

void	setOnRead (OnRead< DataType > *on_read)
	Set callback when data is read from the InPort buffer.

void	setOnReadConvert (OnReadConvert< DataType > *on_rconvert)
	Set callback when data is readout to the InPort buffer.

Public Member Functions inherited from RTC::InPortBase
	InPortBase (const char name, const char data_type)
	Constructor.

	~InPortBase () override
	Destructor.

virtual void	init (coil::Properties &prop)
	Initializing properties.

coil::Properties &	properties ()
	Get properties.

const std::vector< InPortConnector * > &	connectors ()
	Connector list.

ConnectorInfoList	getConnectorProfiles ()
	ConnectorProfile list.

coil::vstring	getConnectorIds ()
	ConnectorId list.

coil::vstring	getConnectorNames ()
	Connector name list.

InPortConnector *	getConnectorById (const char *id)
	Getting ConnectorProfile by ID.

InPortConnector *	getConnectorByName (const char *name)
	Getting Connector by name.

bool	getConnectorProfileById (const char *id, ConnectorInfo &prof)
	Getting ConnectorProfile by name.

bool	getConnectorProfileByName (const char *name, ConnectorInfo &prof)
	Getting ConnectorProfile by name.

void	activateInterfaces () override
	Activate all Port interfaces.

void	deactivateInterfaces () override
	Deactivate all Port interfaces.

void	addConnectorDataListener (ConnectorDataListenerType type, ConnectorDataListener *listener, bool autoclean=true)
	Adding BufferDataListener type listener.

void	removeConnectorDataListener (ConnectorDataListenerType type, ConnectorDataListener *listener)
	Removing BufferDataListener type listener.

void	addConnectorListener (ConnectorListenerType type, ConnectorListener *listener, bool autoclean=true)
	Adding ConnectorListener type listener.

void	removeConnectorListener (ConnectorListenerType type, ConnectorListener *listener)
	Removing BufferDataListener type listener.

bool	isLittleEndian ()
	return it whether endian setting.

ReturnCode_t	connect (ConnectorProfile &connector_profile) override
	[CORBA interface] Connect the Port

virtual ConnectorListenersBase *	getListeners ()
	Getting listeners holder.

ReturnCode_t	notify_connect (ConnectorProfile &connector_profile) override

Public Member Functions inherited from RTC::PortBase
	PortBase (const char *name="")
	Constructor.

	~PortBase () override
	Destructor.

PortProfile *	get_port_profile () override
	[CORBA interface] Get the PortProfile of the Port

const PortProfile &	getPortProfile () const
	Get the PortProfile of the Port.

ConnectorProfileList *	get_connector_profiles () override
	[CORBA interface] Get the ConnectorProfileList of the Port

ConnectorProfile *	get_connector_profile (const char *connector_id) override
	[CORBA interface] Get the ConnectorProfile

ReturnCode_t	connect (ConnectorProfile &connector_profile) override
	[CORBA interface] Connect the Port

ReturnCode_t	notify_connect (ConnectorProfile &connector_profile) override
	[CORBA interface] Notify the Ports connection

ReturnCode_t	disconnect (const char *connector_id) override
	[CORBA interface] Disconnect the Port

ReturnCode_t	notify_disconnect (const char *connector_id) override
	[CORBA interface] Notify the Ports disconnection

ReturnCode_t	disconnect_all () override
	[CORBA interface] Disconnect the All Ports

void	setName (const char *name)
	Set the name of this Port.

const char *	getName () const
	Get the name of this Port.

const PortProfile &	getProfile () const
	Get the PortProfile of the Port.

void	setPortRef (PortService_ptr port_ref)
	Set the object reference of this Port.

PortService_ptr	getPortRef () const
	Get the object reference of this Port.

void	setOwner (RTObject_ptr owner)
	Set the owner RTObject of the Port.

void	setOnPublishInterfaces (ConnectionCallback *on_publish)
	Setting callback called on publish interfaces.

void	setOnSubscribeInterfaces (ConnectionCallback *on_subscribe)
	Setting callback called on publish interfaces.

void	setOnConnected (ConnectionCallback *on_connected)
	Setting callback called on connection established.

void	setOnUnsubscribeInterfaces (ConnectionCallback *on_unsubscribe)
	Setting callback called on unsubscribe interfaces.

void	setOnDisconnected (ConnectionCallback *on_disconnected)
	Setting callback called on disconnected.

void	setOnConnectionLost (ConnectionCallback *on_connection_lost)
	Setting callback called on connection lost.

void	setPortConnectListenerHolder (PortConnectListeners *portconnListeners)
	Setting PortConnectListener holder.

virtual DirectPortBase *	getDirectPort ()

Protected Member Functions
void	initConnectorListeners () override

Protected Member Functions inherited from RTC::InPortBase
ReturnCode_t	publishInterfaces (ConnectorProfile &cprof) override
	Publish interface information.

ReturnCode_t	subscribeInterfaces (const ConnectorProfile &cprof) override
	Subscribe to the interface.

void	unsubscribeInterfaces (const ConnectorProfile &connector_profile) override
	Disconnect the interface connection.

void	initProviders ()
	InPort provider initialization .

void	initConsumers ()
	OutPort consumer initialization .

bool	checkEndian (const coil::Properties &prop, bool &littleEndian)
	Checking endian flag of serializer.

InPortProvider *	createProvider (ConnectorProfile &cprof, coil::Properties &prop)
	InPort provider creation .

OutPortConsumer *	createConsumer (const ConnectorProfile &cprof, coil::Properties &prop)
	InPort provider creation .

InPortConnector *	createConnector (ConnectorProfile &cprof, coil::Properties &prop, InPortProvider *provider)
	InPortPushConnector creation .

InPortConnector *	createConnector (const ConnectorProfile &cprof, coil::Properties &prop, OutPortConsumer *consumer)
	InPortPullConnector creation .

OutPortBase *	getLocalOutPort (const ConnectorInfo &profile)
	Getting local peer OutPort if available .

Protected Member Functions inherited from RTC::PortBase
virtual ReturnCode_t	connectNext (ConnectorProfile &connector_profile)
	Call notify_connect() of the next Port.

virtual ReturnCode_t	disconnectNext (ConnectorProfile &cprof)
	Call notify_disconnect() of the next Port.

virtual void	setConnectionLimit (int limit_value)
	Set the maximum number of connections.

virtual ReturnCode_t	_publishInterfaces ()
	Publish interface information.

bool	isExistingConnId (const char *id)
	Check whether the given id exists in stored ConnectorProfiles.

ConnectorProfile	findConnProfile (const char *id)
	Find ConnectorProfile with id.

CORBA::Long	findConnProfileIndex (const char *id)
	Find ConnectorProfile with id.

void	updateConnectorProfile (const ConnectorProfile &connector_profile)
	Append or update the ConnectorProfile list.

bool	eraseConnectorProfile (const char *id)
	Delete the ConnectorProfile.

bool	appendInterface (const char instance_name, const char type_name, PortInterfacePolarity pol)
	Append an interface to the PortInterfaceProfile.

bool	deleteInterface (const char *name, PortInterfacePolarity pol)
	Delete the interface registration from the PortInterfaceProfile.

template<class ValueType >
void	addProperty (const char *key, ValueType value)
	Add NameValue data to PortProfile's properties.

void	appendProperty (const char key, const char value)
	Append NameValue data to PortProfile's properties.

void	updateConnectors ()
	Disconnect ports that doesn't exist.

bool	checkPorts (::RTC::PortServiceList &ports)
	Existence of ports.

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)

bool	isExistingMarshalingType (coil::Properties &con_prop)
	Whether the specified serializer can be used.

Additional Inherited Members
Public Types inherited from RTC::InPortBase
using	ConnectorList = std::vector<InPortConnector*>

Static Protected Member Functions inherited from RTC::PortBase
static bool	isEmptyId (const ConnectorProfile &connector_profile)
	Check whether connector_id of ConnectorProfile is empty.

static std::string	getUUID ()
	Generate the UUID.

static void	setUUID (ConnectorProfile &connector_profile)
	Generate and set the UUID to the ConnectorProfile.

Protected Attributes inherited from RTC::InPortBase
bool	m_singlebuffer
	Buffer mode.

CdrBufferBase *	m_thebuffer
	Buffer .

coil::vstring	m_providerTypes
	Available providers .

coil::vstring	m_consumerTypes
	Available consumers .

ConnectorList	m_connectors
	Connection list .

bool	m_littleEndian
	Connected Endian .

ConnectorListenersBase *	m_listeners
	ConnectorDataListener listener .

Protected Attributes inherited from RTC::PortBase
coil::Properties	m_properties
	Properties .

Logger	rtclog
	Logger stream .

PortProfile	m_profile
	PortProfile of the Port .

RTC::PortService_var	m_objref
	Object Reference of the Port .

std::mutex	m_profile_mutex
	Mutex of PortProfile .

std::mutex	m_connectorsMutex

std::string	m_ownerInstanceName = "unknown"
	Instance name .

int	m_connectionLimit {-1}
	The maximum number of connections .

ConnectionCallback *	m_onPublishInterfaces {nullptr}
	Callback functor objects.

ConnectionCallback *	m_onSubscribeInterfaces {nullptr}
	Callback functor objects.

ConnectionCallback *	m_onConnected {nullptr}
	Callback functor objects.

ConnectionCallback *	m_onUnsubscribeInterfaces {nullptr}
	Callback functor objects.

ConnectionCallback *	m_onDisconnected {nullptr}
	Callback functor objects.

ConnectionCallback *	m_onConnectionLost {nullptr}
	Callback functor objects.

PortConnectListeners *	m_portconnListeners {nullptr}
	PortConnectListener holder.

DirectPortBase *	m_directport {nullptr}

Detailed Description

template<class DataType>
class RTC::InPort< DataType >

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. 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.

Since: 0.2.0

Constructor & Destructor Documentation

◆ InPort()

template<class DataType >

RTC::InPort< DataType >::InPort	(	const char *	name,
		DataType &	value )

inline

A constructor.

constructor. This is bound to type-T variable given as a parameter.

Parameters

name	A name of the InPort. This name is referred by InPortBase::name().
value	type-T variable that is bound to this InPort.

References RTC::InPortBase::addConnectorDataListener(), RTC::PortBase::addProperty(), CdrMemoryStreamInit(), RTC::getSerializerList(), RTC::InPort< DataType >::initConnectorListeners(), RTC::PortBase::m_directport, RTC::ON_BUFFER_READ, RTC::ON_RECEIVED, and RTC_DEBUG.

◆ ~InPort()

template<class T >

RTC::InPort< T >::~InPort ( )

overridedefault

Destructor.

Destructor

Member Function Documentation

◆ getStatus()

template<class DataType >

DataPortStatus RTC::InPort< DataType >::getStatus ( int )

inline

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

Parameters

index Connector index

Returns: Writing status

◆ getStatusList()

template<class DataType >

DataPortStatusList RTC::InPort< DataType >::getStatusList ( )

inline

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

Returns: Writing status list

◆ initConnectorListeners()

template<class DataType >

void RTC::InPort< DataType >::initConnectorListeners ( )

inlineoverrideprotectedvirtual

Reimplemented from RTC::InPortBase.

References RTC::InPortBase::m_listeners.

Referenced by RTC::InPort< DataType >::InPort().

◆ isEmpty() [1/3]

template<class DataType >

bool RTC::InPort< DataType >::isEmpty ( )

inlineoverridevirtual

Check whether the data is newest.

Check whether the data stored at a current buffer position is newest.

Returns: Newest data check result ( true:Newest data. Data has not been readout yet. false:Past data．Data has already been readout.)

Implements RTC::DirectInPortBase< DataType >.

References RTC::InPortBase::m_connectors, RTC::PortBase::m_connectorsMutex, RTC_DEBUG, and RTC_TRACE.

◆ isEmpty() [2/3]

template<class DataType >

virtual bool RTC::InPort< DataType >::isEmpty ( coil::vstring & names )

inlinevirtual

References RTC::InPortBase::m_connectors, RTC::PortBase::m_connectorsMutex, RTC_DEBUG, and RTC_TRACE.

◆ isEmpty() [3/3]

template<class DataType >

virtual bool RTC::InPort< DataType >::isEmpty ( std::string name )

inlinevirtual

Check whether the data is newest.

Check whether the data stored at a current buffer position is newest.

Returns: Newest data check result ( true:Newest data. Data has not been readout yet. false:Past data．Data has already been readout.)

References RTC::InPortBase::m_connectors, RTC::PortBase::m_connectorsMutex, RTC::InPort< DataType >::name(), RTC_DEBUG, and RTC_TRACE.

◆ isNew() [1/3]

template<class DataType >

bool RTC::InPort< DataType >::isNew ( )

inlineoverridevirtual

Check whether the data is newest.

Check whether the data stored at a current buffer position is newest.

Returns: Newest data check result ( true:Newest data. Data has not been readout yet. false:Past data．Data has already been readout.)

Implements RTC::DirectInPortBase< DataType >.

References RTC::InPortBase::m_connectors, RTC::PortBase::m_connectorsMutex, RTC_DEBUG, and RTC_TRACE.

◆ isNew() [2/3]

template<class DataType >

virtual bool RTC::InPort< DataType >::isNew ( coil::vstring & names )

inlinevirtual

References RTC::InPortBase::m_connectors, RTC::PortBase::m_connectorsMutex, RTC_DEBUG, and RTC_TRACE.

◆ isNew() [3/3]

template<class DataType >

virtual bool RTC::InPort< DataType >::isNew ( std::string name )

inlinevirtual

Check whether the data is newest.

Check whether the data stored at a current buffer position is newest.

Returns: Newest data check result ( true:Newest data. Data has not been readout yet. false:Past data．Data has already been readout.)

References RTC::InPortBase::m_connectors, RTC::PortBase::m_connectorsMutex, RTC::InPort< DataType >::name(), RTC_DEBUG, and RTC_TRACE.

◆ name()

template<class DataType >

virtual const char * RTC::InPort< DataType >::name ( )

inlinevirtual

Get port name.

Returns: The port name

Referenced by RTC::InPort< DataType >::isEmpty(), RTC::InPort< DataType >::isNew(), and RTC::InPort< DataType >::read().

◆ operator>>()

template<class DataType >

void RTC::InPort< DataType >::operator>> ( DataType & rhs )

inline

Read the newly value data in InPort to type-T variable.

Read the newly data set in InPort and set to specified data variable.

Parameters

rhs	The type-T variable to read from InPort's buffer

References CORBA_Util::copyData(), and RTC::InPort< DataType >::read().

◆ read()

template<class DataType >

bool RTC::InPort< DataType >::read ( std::string name = "" )

inlineoverridevirtual

Readout the value from DataPort.

Readout the value from DataPort

When Callback functor OnRead is already set, OnRead will be invoked before reading from the buffer held by DataPort.
When the buffer held by DataPort can detect the underflow, and when it detected the underflow at reading, callback functor OnUnderflow will be invoked.
When callback functor OnReadConvert is already set, the return value of operator() of OnReadConvert will be the return value of read().
When timeout of reading is already set by setReadTimeout(), it waits for only timeout time until the state of the buffer underflow is reset, and if OnUnderflow is already set, this will be invoked to return.

Returns: Readout result (Successful:true, Failed:false)

Implements RTC::InPortBase.

References RTC::BUFFER_EMPTY, RTC::BUFFER_TIMEOUT, RTC::InPortConnector::getDirectData(), RTC::InPortBase::m_connectors, RTC::PortBase::m_connectorsMutex, RTC::InPort< DataType >::name(), RTC::PORT_OK, RTC::InPortConnector::read(), RTC_DEBUG, RTC_ERROR, RTC_TRACE, and RTC_WARN.

Referenced by RTC::InPort< DataType >::operator>>(), and RTC::InPort< DataType >::update().

◆ setOnRead()

template<class DataType >

void RTC::InPort< DataType >::setOnRead ( OnRead< DataType > * on_read )

inline

Set callback when data is read from the InPort buffer.

Set the callback object that is invoked right before data is read from the InPort's buffer

Parameters

on_read OnRead<DataType> type object

◆ setOnReadConvert()

template<class DataType >

void RTC::InPort< DataType >::setOnReadConvert ( OnReadConvert< DataType > * on_rconvert )

inline

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.

Parameters

on_rconvert OnReadConvert<DataType> type object

◆ update()

template<class DataType >

virtual void RTC::InPort< DataType >::update ( )

inlinevirtual

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().

◆ write()

template<class DataType >

void RTC::InPort< DataType >::write ( DataType & data )

inlineoverridevirtual

Parameters

data

Implements RTC::DirectInPortBase< DataType >.

References CORBA_Util::copyData().

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

InPort.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ InPort()

◆ ~InPort()

Member Function Documentation

◆ getStatus()

◆ getStatusList()

◆ initConnectorListeners()

◆ isEmpty() [1/3]

◆ isEmpty() [2/3]

◆ isEmpty() [3/3]

◆ isNew() [1/3]

◆ isNew() [2/3]

◆ isNew() [3/3]

◆ name()

◆ operator>>()

◆ read()

◆ setOnRead()

◆ setOnReadConvert()

◆ update()

◆ write()