jp.go.aist.rtm.RTC.port

Class OutPort<DataType>

java.lang.Object

org.omg.PortableServer.Servant

RTC.PortServicePOA

jp.go.aist.rtm.RTC.port.PortBase

jp.go.aist.rtm.RTC.port.OutPortBase

jp.go.aist.rtm.RTC.port.OutPort<DataType>

Type Parameters:

DataType - The data type is specified

All Implemented Interfaces:

SDOServiceOperations, org.omg.CORBA.portable.InvokeHandler, PortServiceOperations

public class OutPort<DataType>
extends OutPortBase

Implementation of OutPort

This class is used as the base Implementation of a high-ranking output port.

Nested Class Summary

Nested classes/interfaces inherited from class jp.go.aist.rtm.RTC.port.OutPortBase

OutPortBase.Publisher

Nested classes/interfaces inherited from class jp.go.aist.rtm.RTC.port.PortBase

PortBase.connect_func, PortBase.disconnect_all_func, PortBase.disconnect_func, PortBase.find_conn_id, PortBase.find_interface, PortBase.find_port_ref

Field Summary

Fields inherited from class jp.go.aist.rtm.RTC.port.OutPortBase

m_connectors, m_consumerTypes, m_listeners, m_properties, m_providerTypes, m_publishers

Fields inherited from class jp.go.aist.rtm.RTC.port.PortBase

m_connectionLimit, m_connectorsMutex, m_objref, m_onConnected, m_onConnectionLost, m_onConnectionLost_mutex, m_onDisconnected, m_onPublishInterfaces, m_onSubscribeInterfaces, m_onUnsubscribeInterfaces, m_ownerInstanceName, m_portconnListeners, m_profile, m_profile_mutex, rtcout

Constructor Summary

Constructors

Constructor and Description
OutPort(BufferBase<DataType> buffer, java.lang.String name, DataRef<DataType> valueRef) Constructor
OutPort(java.lang.String name, DataRef<DataType> valueRef) Constructor
OutPort(java.lang.String name, DataRef<DataType> valueRef, int length) Constructor

Method Summary

Modifier and Type	Method and Description
static Time	get_timestamp() {@.en Gets the timestamp.
(package private) ReturnCode	getStatus(int index) brief Getting specified connector's writing status
(package private) java.util.Vector<ReturnCode>	getStatusList() Getting specified connector's writing status list
boolean	insert(DataType value) Write data
void	onConnect(java.lang.String id, PublisherBase publisher) onConnect
void	onDisconnect(java.lang.String id) onDisconenct
void	read(DataRef<DataType> data) Readout the value
void	setOnConnect(OnConnect on_connect) Set OnConnect callback
void	setOnDisconnect(OnDisconnect on_disconnect) Set OnDisConnect callback
void	setOnOverflow(OnOverflow<DataType> onOverflow) sets the callback interface called when data cannot be written in a full buffer.
void	setOnRead(OnRead<DataType> onRead) sets the callback interface called immediately before reading of data.
void	setOnReadConvert(OnReadConvert<DataType> onReadConvert) sets the callback interface called when data is read.
void	setOnUnderflow(OnUnderflow<DataType> onUnderflow) {@.en sets the callback interface called when there is no data that can be read in an empty buffer more.
void	setOnWrite(OnWrite<DataType> onWrite) Sets the callback interface called immediately before writing of data.
void	setOnWriteConvert(OnWriteConvert<DataType> onWriteConvert) sets the callback interface called when data is written.
void	setReadBlock(boolean block) Specifies the block mode in the data reading.
void	setReadTimeout(long timeout) Sets the timeout period of the block mode of reading.
boolean	setStreamable(org.omg.CORBA.portable.Streamable holderStreamable) {@.en Sets Streamable.
void	setTimestamp(DataType data) Sets timestamp.
void	setWriteBlock(boolean block) Specifies the block mode in the data writing.
void	setWriteTimeout(long timeout) Sets the timeout period of the block mode of writing.
void	write_stream(DataType data, org.omg.CORBA.portable.OutputStream cdr) Marshals to ostream the data.
boolean	write() Writes the data
boolean	write(DataType value) Write data

Methods inherited from class jp.go.aist.rtm.RTC.port.OutPortBase

activateInterfaces, addConnectorDataListener, addConnectorDataListener, addConnectorDataListener, addConnectorDataListener, addConnectorListener, addConnectorListener, configure, connect, connectors, createConnector, createConnector, createConsumer, createProvider, deactivateInterfaces, getConnectorById, getConnectorByName, getConnectorIds, getConnectorNames, getConnectorProfileById, getConnectorProfileByName, getConnectorProfiles, getListeners, getLocalInPort, init, initConsumers, initProviders, isLittleEndian, notify_connect, properties, publishInterfaces, removeConnectorDataListener, removeConnectorDataListener, removeConnectorListener, subscribeInterfaces, unsubscribeInterfaces

Methods inherited from class jp.go.aist.rtm.RTC.port.PortBase

_publishInterfaces, _this, addProperty, appendInterface, appendProperty, checkPorts, connectNext, deleteInterface, disconnect_all, disconnect, disconnectNext, eraseConnectorProfile, findConnProfile, findConnProfileIndex, get_connector_profile, get_connector_profiles, get_port_profile, getName, getPortProfile, getPortRef, getProfile, getUUID, isEmptyId, isExistingConnId, notify_disconnect, onConnected, onConnectNextport, onDisconnected, onDisconnectNextport, onNotifyConnect, onNotifyDisconnect, onPublishInterfaces, onSubscribeInterfaces, onUnsubscribeInterfaces, setConnectionLimit, setName, setOnConnected, setOnConnectionLost, setOnDisconnected, setOnPublishInterfaces, setOnSubscribeInterfaces, setOnUnsubscribeInterfaces, setOwner, setPortConnectListenerHolder, setPortRef, setUUID, updateConnectorProfile, updateConnectors

Methods inherited from class RTC.PortServicePOA

_all_interfaces, _invoke, _this

Methods inherited from class org.omg.PortableServer.Servant

_default_POA, _get_delegate, _get_interface_def, _is_a, _non_existent, _object_id, _orb, _poa, _set_delegate, _this_object, _this_object

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

OutPort

public OutPort(java.lang.String name,
               DataRef<DataType> valueRef)

Constructor

Internally creates and allcoates the buffer

Parameters:

name - Name of Port

valueRef - DataRef object

OutPort

public OutPort(java.lang.String name,
               DataRef<DataType> valueRef,
               int length)

Constructor

Internally creates and allocates the buffer by the specified data length

Parameters:

name - the port name

valueRef - DataRef object

length - Buffer length

OutPort

public OutPort(BufferBase<DataType> buffer,
               java.lang.String name,
               DataRef<DataType> valueRef)

Constructor

Allocates the specified buffer.

Parameters:

buffer - buffer

name - Port name

valueRef - DataRef object

Method Detail

write_stream

public void write_stream(DataType data,
                         org.omg.CORBA.portable.OutputStream cdr)

Marshals to ostream the data.

Parameters:

data - data

cdr - OutputStream

setTimestamp

public void setTimestamp(DataType data)

Sets timestamp.

This function sets timestamp to data of data port. This data should have tm.sec, tm.nsec as members of the structure.

Parameters:

data - Data to be set timestamp. After executing this function, current timestamp is set to the data.

get_timestamp

public static Time get_timestamp()

Gets the timestamp.

Returns:

RTC.Time gotten

write

public boolean write(DataType value)

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)

write

public boolean write()

Writes the data

Writes the value in the variable to which bind is done.

Specified by:

write in class OutPortBase

Returns:

"True" is returned when succeeding

insert

public boolean insert(DataType value)

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)

setReadBlock

public void setReadBlock(boolean block)

Specifies the block mode in the data reading.

When the block mode is specified, the read() method is blocked until data is read or until the time-out.

Parameters:

block - True when block mode is specified

setWriteBlock

public void setWriteBlock(boolean block)

Specifies the block mode in the data writing.

When the block mode is specified, the write() method is blocked.

Parameters:

block - True when block mode is specified

setReadTimeout

public void setReadTimeout(long timeout)

Sets the timeout period of the block mode of reading.

Parameters:

timeout - Timeout[usec]

setWriteTimeout

public void setWriteTimeout(long timeout)

Sets the timeout period of the block mode of writing.

Parameters:

timeout - Timeout[usec]

getStatus

ReturnCode getStatus(int index)

brief 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

java.util.Vector<ReturnCode> getStatusList()

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

setOnWrite

public void setOnWrite(OnWrite<DataType> onWrite)

Sets the callback interface called immediately before writing of data.

Parameters:

onWrite - Object with OnWrite callback interface

setOnWriteConvert

public void setOnWriteConvert(OnWriteConvert<DataType> onWriteConvert)

sets the callback interface called when data is written.

Parameters:

onWriteConvert - Object with OutWriteConvert callback interface

setOnOverflow

public void setOnOverflow(OnOverflow<DataType> onOverflow)

sets the callback interface called when data cannot be written in a full buffer.

Parameters:

onOverflow - Object with OutOverflow callback interface

setOnRead

public void setOnRead(OnRead<DataType> onRead)

sets the callback interface called immediately before reading of data.

Parameters:

onRead - Object with OutRead callback interface

setOnReadConvert

public void setOnReadConvert(OnReadConvert<DataType> onReadConvert)

sets the callback interface called when data is read.

Parameters:

onReadConvert - Object with OutReadConvert callback interface

setOnUnderflow

public void setOnUnderflow(OnUnderflow<DataType> onUnderflow)

sets the callback interface called when there is no data that can be read in an empty buffer more.

Parameters:

onUnderflow - Object with OutUnderflow callback interface

setOnConnect

public void setOnConnect(OnConnect on_connect)

Set OnConnect callback

setOnDisconnect

public void setOnDisconnect(OnDisconnect on_disconnect)

Set OnDisConnect callback

onConnect

public void onConnect(java.lang.String id,
                      PublisherBase publisher)

Description copied from class: OutPortBase

onConnect

Overrides:

onConnect in class OutPortBase

onDisconnect

public void onDisconnect(java.lang.String id)

Description copied from class: OutPortBase

onDisconenct

Overrides:

onDisconnect in class OutPortBase

setStreamable

public boolean setStreamable(org.omg.CORBA.portable.Streamable holderStreamable)

Sets Streamable.

This method sets Streamable used when making it to CDR. Moreover, this method acquires the value field from Streamable.

Parameters:

holderStreamable - Streamable of Holder class

Returns:

false Failure

read

public void read(DataRef<DataType> data)

Readout the value