Output base class. More...

#include <OutPortBase.h>

Inheritance diagram for RTC::OutPortBase:

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Collaboration diagram for RTC::OutPortBase:

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Public Types
using	ConnectorList = std::vector<OutPortConnector*>

Public Member Functions
	OutPortBase (const char name, const char data_type)
	Constructor.

	~OutPortBase () override
	Destructor.

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

virtual bool	write ()=0
	Write data.

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	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 .

virtual void	initConnectorListeners ()

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.

Protected Attributes
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}

Additional Inherited Members
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.

Detailed Description

Output base class.

The base class of OutPort<T> which are implementations of OutPort

Form a kind of Observer pattern with OutPortBase and PublisherBase. attach(), detach(), notify() of OutPortBase and push() of PublisherBase are methods associated with the Observer pattern.

Since: 0.2.0

Member Typedef Documentation

◆ ConnectorList

using RTC::OutPortBase::ConnectorList = std::vector<OutPortConnector*>

Constructor & Destructor Documentation

◆ OutPortBase()

RTC::OutPortBase::OutPortBase	(	const char *	name,
		const char *	data_type )

Constructor.

Constructor

Parameters

name	Port name
data_type	Data type

◆ ~OutPortBase()

RTC::OutPortBase::~OutPortBase ( )

override

Destructor.

Destructor Detach all subscribed Publishers.

Member Function Documentation

◆ activateInterfaces()

void RTC::OutPortBase::activateInterfaces ( )

overridevirtual

Activate all Port interfaces.

This operation activate all interfaces that is registered in the ports.

Implements RTC::PortBase.

◆ addConnectorDataListener()

void RTC::OutPortBase::addConnectorDataListener	(	ConnectorDataListenerType	type,
		ConnectorDataListener *	listener,
		bool	autoclean = true )

Adding BufferDataListener type listener.

This operation adds certain listeners related to buffer writing and reading events. The following listener types are available.

ON_BUFFER_WRITE: At the time of buffer write
ON_BUFFER_FULL: At the time of buffer full
ON_BUFFER_WRITE_TIMEOUT: At the time of buffer write timeout
ON_BUFFER_OVERWRITE: At the time of buffer overwrite
ON_BUFFER_READ: At the time of buffer read
ON_SEND: At the time of sending to InPort
ON_RECEIVED: At the time of finishing sending to InPort
ON_SENDER_TIMEOUT: At the time of timeout of OutPort
ON_SENDER_ERROR: At the time of error of OutPort
ON_RECEIVER_FULL: At the time of bufferfull of InPort
ON_RECEIVER_TIMEOUT: At the time of timeout of InPort
ON_RECEIVER_ERROR: At the time of error of InPort

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.

Parameters

listener_type	A listener type
listener	A pointer to a listener object
autoclean	A flag for automatic listener destruction

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

◆ addConnectorListener()

void RTC::OutPortBase::addConnectorListener	(	ConnectorListenerType	type,
		ConnectorListener *	listener,
		bool	autoclean = true )

Adding ConnectorListener type listener.

This operation adds certain listeners related to buffer writing and reading events. The following listener types are available.

ON_BUFFER_EMPTY: At the time of buffer empty
ON_BUFFER_READTIMEOUT: At the time of buffer read timeout

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.

Parameters

listener_type	A listener type
listener	A pointer to a listener object
autoclean	A flag for automatic listener destruction

◆ checkEndian()

bool RTC::OutPortBase::checkEndian	(	const coil::Properties &	prop,
		bool &	littleEndian )

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.

Parameters

prop	Properties
littleEndian	Endian Information(true:little,false:big)

Returns: true:"Serializer" key doesn't exist. or "Serializer" key exists and there is a content. 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.

◆ configure()

void RTC::OutPortBase::configure ( )

protected

Configureing outport.

This operation configures the outport based on the properties.

◆ connect()

ReturnCode_t RTC::OutPortBase::connect ( ConnectorProfile & connector_profile )

override

[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.

Parameters

connector_profile The ConnectorProfile.

Returns: ReturnCode_t The return code of ReturnCode_t type.

◆ connectors()

const std::vector< OutPortConnector * > & RTC::OutPortBase::connectors ( )

Connector list.

This operation returns connector list

Returns: connector list

◆ createConnector() [1/2]

OutPortConnector * RTC::OutPortBase::createConnector	(	const ConnectorProfile &	cprof,
		coil::Properties &	prop,
		InPortConsumer *	consumer )

protected

OutPortPushConnector creation .

◆ createConnector() [2/2]

OutPortConnector * RTC::OutPortBase::createConnector	(	const ConnectorProfile &	cprof,
		coil::Properties &	prop,
		OutPortProvider *	provider )

protected

OutPortPullConnector creation .

◆ createConsumer()

InPortConsumer * RTC::OutPortBase::createConsumer	(	const ConnectorProfile &	cprof,
		coil::Properties &	prop )

protected

InPort consumer creation .

◆ createProvider()

OutPortProvider * RTC::OutPortBase::createProvider	(	ConnectorProfile &	cprof,
		coil::Properties &	prop )

protected

OutPort provider creation .

◆ deactivateInterfaces()

void RTC::OutPortBase::deactivateInterfaces ( )

overridevirtual

Deactivate all Port interfaces.

This operation deactivate all interfaces that is registered in the ports.

Implements RTC::PortBase.

◆ getConnectorById()

OutPortConnector * RTC::OutPortBase::getConnectorById ( const char * id )

Getting ConnectorProfile by ID.

This operation returns Connector specified by ID.

Parameters

id	Connector ID

Returns: A pointer to connector

◆ getConnectorByName()

OutPortConnector * RTC::OutPortBase::getConnectorByName ( const char * name )

Getting Connector by name.

This operation returns Connector specified by name.

Parameters

id	Connector ID

Returns: A pointer to connector

◆ getConnectorIds()

coil::vstring RTC::OutPortBase::getConnectorIds ( )

ConnectorId list.

This operation returns ConnectorId list

Returns: connector list

◆ getConnectorNames()

coil::vstring RTC::OutPortBase::getConnectorNames ( )

Connector name list.

This operation returns Connector name list

Returns: connector name list

◆ getConnectorProfileById()

bool RTC::OutPortBase::getConnectorProfileById	(	const char *	id,
		ConnectorInfo &	prof )

Getting ConnectorProfile by name.

This operation returns ConnectorProfile specified by name

Parameters

id	Connector ID
prof	ConnectorProfile

Returns: false　specified ID does not exist

◆ getConnectorProfileByName()

bool RTC::OutPortBase::getConnectorProfileByName	(	const char *	name,
		ConnectorInfo &	prof )

Getting ConnectorProfile by name.

This operation returns ConnectorProfile specified by name

Parameters

id	Connector ID
prof	ConnectorProfile

Returns: false specified name does not exist

◆ getConnectorProfiles()

ConnectorInfoList RTC::OutPortBase::getConnectorProfiles ( )

ConnectorProfile list.

This operation returns ConnectorProfile list

Returns: connector list

◆ getListeners()

virtual ConnectorListenersBase * RTC::OutPortBase::getListeners ( )

virtual

Getting listeners holder.

This operation returns listeners holder.

Returns: ConnectorListeners

◆ getLocalInPort()

InPortBase * RTC::OutPortBase::getLocalInPort ( const ConnectorInfo & profile )

protected

Getting local peer InPort if available .

◆ init()

void RTC::OutPortBase::init ( coil::Properties & prop )

Initializing properties.

This operation initializes outport's properties

Parameters

prop	Property for setting ports

◆ initConnectorListeners()

virtual void RTC::OutPortBase::initConnectorListeners ( )

protectedvirtual

Reimplemented in RTC::OutPort< DataType >.

◆ initConsumers()

void RTC::OutPortBase::initConsumers ( )

protected

InPort consumer initialization .

◆ initProviders()

void RTC::OutPortBase::initProviders ( )

protected

OutPort provider initialization .

◆ isLittleEndian()

bool RTC::OutPortBase::isLittleEndian ( )

return it whether endian setting.

Returns: Return true in the case of "little", false in "big" than it.

◆ notify_connect()

ReturnCode_t RTC::OutPortBase::notify_connect ( ConnectorProfile & connector_profile )

overrideprotected

◆ properties()

coil::Properties & RTC::OutPortBase::properties ( )

Get properties.

Getting properties of this OutPort

Returns: OutPort's properties

◆ publishInterfaces()

ReturnCode_t RTC::OutPortBase::publishInterfaces ( ConnectorProfile & cprof )

overrideprotectedvirtual

Publish interface information.

This operation is pure virutal function that would be called at the beginning of the notify_connect() process sequence. In the notify_connect(), the following methods would be called in order.

This operation should create the new connection for the new connector_id, and should update the connection for the existing connection_id.

Parameters

connector_profile The connection profile information

Returns: The return code of ReturnCode_t type.

Implements RTC::PortBase.

◆ removeConnectorDataListener()

void RTC::OutPortBase::removeConnectorDataListener	(	ConnectorDataListenerType	type,
		ConnectorDataListener *	listener )

Removing BufferDataListener type listener.

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

◆ removeConnectorListener()

void RTC::OutPortBase::removeConnectorListener	(	ConnectorListenerType	type,
		ConnectorListener *	listener )

Removing BufferDataListener type listener.

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

◆ subscribeInterfaces()

ReturnCode_t RTC::OutPortBase::subscribeInterfaces ( const ConnectorProfile & cprof )

overrideprotectedvirtual

Subscribe to the interface.

This operation is pure virutal function that would be called at the middle of the notify_connect() process sequence. In the notify_connect(), the following methods would be called in order.

Parameters

connector_profile The connection profile information

Returns: The return code of ReturnCode_t type.

Implements RTC::PortBase.

◆ unsubscribeInterfaces()

void RTC::OutPortBase::unsubscribeInterfaces ( const ConnectorProfile & connector_profile )

overrideprotectedvirtual

Disconnect the interface connection.

This operation is pure virutal function that would be called at the end of the notify_disconnect() process sequence. In the notify_disconnect(), the following methods would be called.

Parameters

connector_profile The profile information associated with the connection

Implements RTC::PortBase.

◆ write()

virtual bool RTC::OutPortBase::write ( )

pure virtual

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)

Implemented in RTC::OutPort< DataType >.

Member Data Documentation

◆ m_connectors

std::vector<OutPortConnector*> RTC::OutPortBase::m_connectors

protected

Connection list .

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

◆ m_consumerTypes

coil::vstring RTC::OutPortBase::m_consumerTypes

protected

Available consumers .

◆ m_listeners

ConnectorListenersBase* RTC::OutPortBase::m_listeners

protected

ConnectorDataListener listener .

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

◆ m_littleEndian

bool RTC::OutPortBase::m_littleEndian

protected

Connected Endian .

◆ m_providerTypes

coil::vstring RTC::OutPortBase::m_providerTypes

protected

Available providers .

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

OutPortBase.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ConnectorList

Constructor & Destructor Documentation

◆ OutPortBase()

◆ ~OutPortBase()

Member Function Documentation

◆ activateInterfaces()

◆ addConnectorDataListener()

◆ addConnectorListener()

◆ checkEndian()

◆ configure()

◆ connect()

◆ connectors()

◆ createConnector() [1/2]

◆ createConnector() [2/2]

◆ createConsumer()

◆ createProvider()

◆ deactivateInterfaces()

◆ getConnectorById()

◆ getConnectorByName()

◆ getConnectorIds()

◆ getConnectorNames()

◆ getConnectorProfileById()

◆ getConnectorProfileByName()

◆ getConnectorProfiles()

◆ getListeners()

◆ getLocalInPort()

◆ init()

◆ initConnectorListeners()

◆ initConsumers()

◆ initProviders()

◆ isLittleEndian()

◆ notify_connect()

◆ properties()

◆ publishInterfaces()

◆ removeConnectorDataListener()

◆ removeConnectorListener()

◆ subscribeInterfaces()

◆ unsubscribeInterfaces()

◆ write()

Member Data Documentation

◆ m_connectors

◆ m_consumerTypes

◆ m_listeners

◆ m_littleEndian

◆ m_providerTypes