#include <OutPort.h>

Inheritance diagram for RTC::OutPort< DataType >:

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Collaboration diagram for RTC::OutPort< DataType >:

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Public Member Functions
	OutPort (const char *name, DataType &value)
	Constructor.

	~OutPort () override
	Destructor.

virtual bool	write (DataType &value)
	Write data.

bool	write () override
	Write data.

bool	operator<< (DataType &value)
	Write data.

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

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

void	setOnWrite (OnWrite< DataType > *on_write)
	Set OnWrite callback.

void	setOnWriteConvert (OnWriteConvert< DataType > *on_wconvert)
	Set OnWriteConvert callback.

void	read (DataType &data) override

bool	isEmpty () override

bool	isNew () override

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

	~OutPortBase () override
	Destructor.

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

coil::Properties &	properties ()
	Get properties.

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

ConnectorInfoList	getConnectorProfiles ()
	ConnectorProfile list.

coil::vstring	getConnectorIds ()
	ConnectorId list.

coil::vstring	getConnectorNames ()
	Connector name list.

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

OutPortConnector *	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.

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::OutPortBase
void	configure ()
	Configureing outport.

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 ()
	OutPort provider initialization .

void	initConsumers ()
	InPort consumer initialization .

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

OutPortProvider *	createProvider (ConnectorProfile &cprof, coil::Properties &prop)
	OutPort provider creation .

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

OutPortConnector *	createConnector (const ConnectorProfile &cprof, coil::Properties &prop, InPortConsumer *consumer)
	OutPortPushConnector creation .

OutPortConnector *	createConnector (const ConnectorProfile &cprof, coil::Properties &prop, OutPortProvider *provider)
	OutPortPullConnector creation .

ReturnCode_t	notify_connect (ConnectorProfile &connector_profile) override

InPortBase *	getLocalInPort (const ConnectorInfo &profile)
	Getting local peer InPort 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::OutPortBase
using	ConnectorList = std::vector<OutPortConnector*>

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::OutPortBase
std::vector< OutPortConnector * >	m_connectors
	Connection list .

coil::vstring	m_providerTypes
	Available providers .

coil::vstring	m_consumerTypes
	Available consumers .

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::OutPort< DataType >

OutPort template class.

This is the OutPort template class. The data type "DateType" supported by OutPort and the buffer type "BufferType" are used as template arguments.

Since: 0.2.0

Constructor & Destructor Documentation

◆ OutPort()

template<class DataType >

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

inline

Constructor.

Constructor

Parameters

name	Port's name
value	Data variable bound to this port
length	Buffer length (The default value:8)

References RTC::OutPortBase::addConnectorDataListener(), RTC::PortBase::addProperty(), CdrMemoryStreamInit(), RTC::getSerializerList(), RTC::OutPort< DataType >::initConnectorListeners(), RTC::PortBase::m_directport, RTC::ON_BUFFER_WRITE, RTC::ON_SEND, and RTC_DEBUG.

◆ ~OutPort()

template<class T >

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

overridedefault

Destructor.

Destructor

Member Function Documentation

◆ getStatus()

template<class DataType >

DataPortStatus RTC::OutPort< DataType >::getStatus ( int index )

inline

Getting specified connector's writing status.

An OutPort 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::OutPort< DataType >::getStatusList ( )

inline

Getting specified connector's writing status list.

An OutPort 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::OutPort< DataType >::initConnectorListeners ( )

inlineoverrideprotectedvirtual

Reimplemented from RTC::OutPortBase.

References RTC::OutPortBase::m_listeners.

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

◆ isEmpty()

template<class DataType >

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

inlineoverridevirtual

Returns

Implements RTC::DirectOutPortBase< DataType >.

◆ isNew()

template<class DataType >

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

inlineoverridevirtual

Returns

Implements RTC::DirectOutPortBase< DataType >.

◆ operator<<()

template<class DataType >

bool RTC::OutPort< DataType >::operator<< ( DataType & value )

inline

Write data.

Write data to the port. Write the set value to the port.

Parameters

value The target data for writing

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

References RTC::OutPort< DataType >::write().

◆ read()

template<class DataType >

void RTC::OutPort< DataType >::read ( DataType & data )

inlineoverridevirtual

Parameters

data

Implements RTC::DirectOutPortBase< DataType >.

References CORBA_Util::copyData().

◆ setOnWrite()

template<class DataType >

void RTC::OutPort< DataType >::setOnWrite ( OnWrite< DataType > * on_write )

inline

Set OnWrite callback.

This operation sets the OnWrite callback functor that is called just before write() operation call. The ownership of the functor object is owned by caller of this operation. Therefore caller have to destruct the callback functor object by itself. Giving 0 as an argument for this operation, callback will be disabled.

Parameters

on_write OnWrite callback functor

◆ setOnWriteConvert()

template<class DataType >

void RTC::OutPort< DataType >::setOnWriteConvert ( OnWriteConvert< DataType > * on_wconvert )

inline

Set OnWriteConvert callback.

This operation sets the OnWriteConvert callback functor that converts given data and is called just before write() operation call. A recent data is given to argument and return data will be written into connector or its buffer. The ownership of the functor object is owned by caller of this operation. Therefore caller have to destruct the callback functor object by itself. Giving 0 as an argument for this operation, callback will be disabled.

Parameters

on_wconvert OnWriteConvert callback functor

◆ write() [1/2]

template<class DataType >

bool RTC::OutPort< DataType >::write ( )

inlineoverridevirtual

Write data.

Write data to the port. Write the value, which was set to the bound variable, to the port.

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

Implements RTC::OutPortBase.

References RTC::OutPort< DataType >::write().

Referenced by RTC::OutPort< DataType >::operator<<(), and RTC::OutPort< DataType >::write().

◆ write() [2/2]

template<class DataType >

virtual bool RTC::OutPort< DataType >::write ( DataType & value )

inlinevirtual

Write data.

Write data in the port.

When callback functor OnWrite is already set, OnWrite will be invoked before writing into the buffer held by OutPort.
When the buffer held by OutPort can detect the overflow, and when it detected the overflow at writing, callback functor OnOverflow will be invoked.
When callback functor OnWriteConvert is already set, the return value of operator() of OnWriteConvert will be written into the buffer at the writing.

Parameters

value The target data for writing

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

References RTC::CONNECTION_LOST, CORBA_Util::copyData(), RTC::PortBase::findConnProfile(), RTC::OutPortBase::m_connectors, RTC::PortBase::m_connectorsMutex, RTC::PortBase::m_onConnectionLost, RTC::PORT_OK, RTC_DEBUG, RTC_TRACE, and RTC_WARN.

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

OutPort.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ OutPort()

◆ ~OutPort()

Member Function Documentation

◆ getStatus()

◆ getStatusList()

◆ initConnectorListeners()

◆ isEmpty()

◆ isNew()

◆ operator<<()

◆ read()

◆ setOnWrite()

◆ setOnWriteConvert()

◆ write() [1/2]

◆ write() [2/2]