PortBase

java.lang.Object
- org.omg.PortableServer.Servant
- - RTC.PortServicePOA
  - - jp.go.aist.rtm.RTC.port.PortBase

All Implemented Interfaces:

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

Direct Known Subclasses:

CorbaPort, InPortBase, OutPortBase
```
public abstract class PortBase
extends PortServicePOA
```
Port base class
This class is a base class of RTC::Port. RTC::Port inherits a concept of RT-Component, and can be regarded as almost the same as it. In the concept of RT-Component, Port is attached to the component, can mediate interaction between other components and usually is associated with some interfaces. Component can provide or require interface for outside via Port, and the Port plays a role to manage the connection. Concrete class of Port assumes to be usually created at the same time that RT-Component's instance is created, be registerd to RT-Component after provided and required interfaces are registerd, and function as accessible Port from outside. RTC::Port provides the following operations as CORBA interface:
- get_port_profile()
- get_connector_profiles()
- get_connector_profile()
- connect()
- notify_connect()
- disconnect()
- notify_disconnect()
- disconnect_all()
This class provides implementations of these operations. In these operations, as for get_port_profile(), get_connector_profiles(), get_connector_profile(), connect(), disconnect() and disconnect_all(), since their behaviors especially need not to be change in subclass, overriding is not recommended. As for notify_connect() and notify_disconnect(), you may have to modify behavior according to the kind of interfaces that subclass provides and requires, however it is not recommended these are overriden directly. In the section of notify_connect() and notify_disconnect() as described below, it is recommended that you modify behavior by overriding the protected function related to these functions.

Nested Class Summary

Nested Classes
Modifier and Type	Class and Description
`protected class`	`PortBase.connect_func` ポート接続のためのヘルパクラスです。
`protected class`	`PortBase.disconnect_all_func` ポート接続解除のためのヘルパクラスです。
`protected class`	`PortBase.disconnect_func` ポート接続解除のためのヘルパクラスです。
`protected class`	`PortBase.find_conn_id` 指定された接続IDを持つ接続プロファイルを検索するためのヘルパクラスです。
`protected class`	`PortBase.find_interface` 指定されたインスタンス名と属性を持つインタフェースを検索するためのヘルパクラスです。
`protected class`	`PortBase.find_port_ref` 指定されたPortオブジェクトと同じCORBAオブジェクト参照を持つPortオブジェクトを検索するためのヘルパクラスです。

Field Summary

Fields
Modifier and Type	Field and Description
`protected int`	`m_connectionLimit` The maximum number of connections
`protected static java.lang.String`	`m_connectorsMutex`
`protected PortService`	`m_objref` 当該ポートのCORBAオブジェクト参照です。
`protected ConnectionCallback`	`m_onConnected`
`protected ConnectionCallback`	`m_onConnectionLost`
`protected java.lang.Object`	`m_onConnectionLost_mutex`
`protected ConnectionCallback`	`m_onDisconnected`
`protected ConnectionCallback`	`m_onPublishInterfaces`
`protected ConnectionCallback`	`m_onSubscribeInterfaces`
`protected ConnectionCallback`	`m_onUnsubscribeInterfaces`
`protected java.lang.String`	`m_ownerInstanceName`
`protected PortConnectListeners`	`m_portconnListeners` PortConnectListener holder
`protected PortProfile`	`m_profile` 当該ポートに関連付けられているPortProfileオブジェクトです。
`protected static java.lang.String`	`m_profile_mutex`
`protected Logbuf`	`rtcout`

Constructor Summary

Constructors
Constructor and Description

PortBase()
Default constructor

PortBase(java.lang.String name)
Constructor

Constructors
Constructor and Description
`PortBase()` Default constructor
`PortBase(java.lang.String name)` Constructor

Method Summary

All Methods Instance Methods Abstract Methods Concrete Methods
Modifier and Type	Method and Description
`protected ReturnCode_t`	`_publishInterfaces()` Publish interface information
`PortService`	`_this()` Gets CORBA object referense of this PortService
`abstract void`	`activateInterfaces()` Activate all Port interfaces
`protected <T> void`	`addProperty(java.lang.String key, T value, java.lang.Class<T> klass)` 当該ポートが持つPortProfile内のpropertiesメンバに、指定されたキーと値を持つNameValueオブジェクトを追加します。
`protected boolean`	`appendInterface(java.lang.String instance_name, java.lang.String type_name, PortInterfacePolarity polarity)` 当該ポートが持つPortProfile内に含まれるPortInterfaceProfileメンバに、引数で指定された情報を追加します。この情報は、get_port_profile()メソッドによって得られるPortProfileにうち、PortInterfaceProfileの値を変更するのみであり、実際にインタフェースを提供したり要求したりする場合には、サブクラス側で publishInterface(), subscribeInterface()などのメソッドを適切にオーバライドし、インタフェースの提供や要求処理を行う必要があります。
`protected void`	`appendProperty(java.lang.String key, java.lang.String value)` Add NameValue data to PortProfile's properties
`protected boolean`	`checkPorts(PortService[] ports)`
`ReturnCode_t`	`connect(ConnectorProfileHolder connector_profile)` [CORBA interface] Connect the Port
`protected ReturnCode_t`	`connectNext(ConnectorProfileHolder connector_profile)` Call notify_connect() of the next Port
`abstract void`	`deactivateInterfaces()` Deactivate all Port interfaces
`protected boolean`	`deleteInterface(java.lang.String instance_name, PortInterfacePolarity polarity)` 指定されたインスタンス名と属性を持つインタフェースを、当該ポートが持つPortProfile内の PortInterfaceProfileから削除します。
`ReturnCode_t`	`disconnect_all()` [CORBA interface] Disconnect the All Ports
`ReturnCode_t`	`disconnect(java.lang.String connector_id)` [CORBA interface] Disconnect the Port
`protected ReturnCode_t`	`disconnectNext(ConnectorProfile connector_profile)` 当該ポートの次のポートに対して接続解除通知を行います。
`protected boolean`	`eraseConnectorProfile(java.lang.String connector_id)` 指定された接続IDに対応する接続プロファイルを、当該ポートのPortProfileから削除します。
`protected ConnectorProfile`	`findConnProfile(java.lang.String id)` 指定された接続IDを持つ接続プロファイルが、当該ポートのPortProfileに設定されている ConnectorProfileオブジェクトシーケンス内に存在するかどうかを調べ、存在する場合はそのConnectorProfileオブジェクトが取得されます。
`protected int`	`findConnProfileIndex(java.lang.String id)` 指定された接続IDを持つ接続プロファイルが、当該ポートのPortProfileに設定されている ConnectorProfileオブジェクトシーケンス内に存在するかどうかを調べ、存在する場合はそのConnectorProfileオブジェクトのシーケンス内でのインデクスが取得されます。
`ConnectorProfile`	`get_connector_profile(java.lang.String connector_id)` [CORBA interface] Get the ConnectorProfile
`ConnectorProfile[]`	`get_connector_profiles()` [CORBA interface] Get the ConnectorProfileList of the Port
`PortProfile`	`get_port_profile()` [CORBA interface] Get the PortProfile of the Port
`java.lang.String`	`getName()` Get the name of this Port
`PortProfile`	`getPortProfile()` Get the PortProfile of the Port
`PortService`	`getPortRef()` Get the object reference of this Port
`PortProfile`	`getProfile()` Get the PortProfile of the Port
`protected java.lang.String`	`getUUID()` UUIDを生成します。
`protected boolean`	`isEmptyId(ConnectorProfile connector_profile)` 指定されたConnectorProfileオブジェクト内のconnector_idメンバが空かどうか判定します。
`protected boolean`	`isExistingConnId(java.lang.String id)` 指定された接続IDを持つ接続プロファイルが、当該ポートのPortProfileに設定されている ConnectorProfileオブジェクトシーケンス内に存在するかどうかを判定します。
`ReturnCode_t`	`notify_connect(ConnectorProfileHolder connector_profile)` [CORBA interface] Notify the Ports connection
`ReturnCode_t`	`notify_disconnect(java.lang.String connector_id)` [CORBA interface] Notify the Ports disconnection
`protected void`	`onConnected(java.lang.String portname, ConnectorProfile profile, ReturnCode_t ret)`
`protected void`	`onConnectNextport(java.lang.String portname, ConnectorProfile profile, ReturnCode_t ret)`
`protected void`	`onDisconnected(java.lang.String portname, ConnectorProfile profile, ReturnCode_t ret)`
`protected void`	`onDisconnectNextport(java.lang.String portname, ConnectorProfile profile, ReturnCode_t ret)`
`protected void`	`onNotifyConnect(java.lang.String portname, ConnectorProfile profile)`
`protected void`	`onNotifyDisconnect(java.lang.String portname, ConnectorProfile profile)`
`protected void`	`onPublishInterfaces(java.lang.String portname, ConnectorProfile profile, ReturnCode_t ret)`
`protected void`	`onSubscribeInterfaces(java.lang.String portname, ConnectorProfile profile, ReturnCode_t ret)`
`protected void`	`onUnsubscribeInterfaces(java.lang.String portname, ConnectorProfile profile)`
`protected abstract ReturnCode_t`	`publishInterfaces(ConnectorProfileHolder connector_profile)` Interface情報を公開します。このメソッドは、notify_connect()処理シーケンスの始めに呼び出されるテンプレートメソッドです。
`protected void`	`setConnectionLimit(int limit_value)` Set the maximum number of connections
`void`	`setName(java.lang.String name)` Set the name of this Port
`void`	`setOnConnected(ConnectionCallback on_connected)` Setting callback called on connection established
`void`	`setOnConnectionLost(ConnectionCallback on_connection_lost)`
`void`	`setOnDisconnected(ConnectionCallback on_disconnected)` Setting callback called on disconnected
`void`	`setOnPublishInterfaces(ConnectionCallback on_publish)` Setting callback called on publish interfaces
`void`	`setOnSubscribeInterfaces(ConnectionCallback on_subscribe)` Setting callback called on publish interfaces
`void`	`setOnUnsubscribeInterfaces(ConnectionCallback on_unsubscribe)` Setting callback called on unsubscribe interfaces
`void`	`setOwner(RTObject owner)` Set the owner RTObject of the Port
`void`	`setPortConnectListenerHolder(PortConnectListeners portconnListeners)` Setting PortConnectListener holder
`void`	`setPortRef(PortService port_ref)` Set the object reference of this Port
`protected void`	`setUUID(ConnectorProfileHolder connector_profile)` UUIDを生成し、指定されたConnectorProfileオブジェクトのconnector_idメンバに設定します。
`protected abstract ReturnCode_t`	`subscribeInterfaces(ConnectorProfileHolder connector_profile)` Interface 情報を公開します。
`protected abstract void`	`unsubscribeInterfaces(ConnectorProfile connector_profile)` Interfaceの接続を解除します。
`protected void`	`updateConnectorProfile(ConnectorProfile connector_profile)` 指定された接続プロファイルを、当該ポートのPortProfileに追加します。同一の接続IDを持つ接続プロファイルがすでにある場合は、その内容を上書きします。
`protected void`	`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

- Field Detail
  - m_profile
```
protected PortProfile m_profile
```
    当該ポートに関連付けられているPortProfileオブジェクトです。
  - m_profile_mutex
```
protected static java.lang.String m_profile_mutex
```
  - m_connectorsMutex
```
protected static java.lang.String m_connectorsMutex
```
  - m_objref
```
protected PortService m_objref
```
    当該ポートのCORBAオブジェクト参照です。
  - rtcout
```
protected Logbuf rtcout
```
  - m_onPublishInterfaces
```
protected ConnectionCallback m_onPublishInterfaces
```
  - m_onSubscribeInterfaces
```
protected ConnectionCallback m_onSubscribeInterfaces
```
  - m_onConnected
```
protected ConnectionCallback m_onConnected
```
  - m_onUnsubscribeInterfaces
```
protected ConnectionCallback m_onUnsubscribeInterfaces
```
  - m_onDisconnected
```
protected ConnectionCallback m_onDisconnected
```
  - m_onConnectionLost_mutex
```
protected final java.lang.Object m_onConnectionLost_mutex
```
  - m_onConnectionLost
```
protected ConnectionCallback m_onConnectionLost
```
  - m_portconnListeners
```
protected PortConnectListeners m_portconnListeners
```
    PortConnectListener holder
    Holders of PortConnectListeners
  - m_connectionLimit
```
protected int m_connectionLimit
```
    The maximum number of connections
  - m_ownerInstanceName
```
protected java.lang.String m_ownerInstanceName
```
- Constructor Detail
  - PortBase
```
public PortBase(java.lang.String name)
```
    Constructor
    The constructor of the ProtBase class is given the name of this Portand initialized. At the same time, the PortBase activates itself as CORBA object and stores its object reference to the PortProfile's * port_ref member.
    
    Parameters:
    
    name - The name of Port (The default value:"")
  - PortBase
```
public PortBase()
```
    Default constructor
    Empty string is assigned port name.
- Method Detail
  - _this
```
public PortService _this()
```
    Gets CORBA object referense of this PortService
    
    Overrides:
    
    _this in class PortServicePOA
    
    Returns:
    
    CORBA object referense of this OpenRTM.OutPortCdr
  - get_port_profile
```
public PortProfile get_port_profile()
```
    [CORBA interface] Get the PortProfile of the Port
    This operation returns the PortProfile of the Port. Since this function is CORBA operation, callers have responsibility to destruction of the returned PortProfile object according to the CORBA memory management rules. PortProfile struct has the following members:
    - - name [string type] The name of the Port.
    - - interfaces [PortInterfaceProfileList type] The sequence of PortInterfaceProfile owned by the Port
    - - port_ref [Port Object type] The object reference of the Port.
    - - connector_profile [ConnectorProfileList type] The sequence of ConnectorProfile owned by the Port.
    - - owner [RTObject Object type] The object reference of RTObject that is owner of the Port.
    - - properties [NVList type] The other properties.
    post:This function never changes the state of the object.
    Returns:
    
    PortProfile of the Port
  - getPortProfile
```
public final PortProfile getPortProfile()
```
    Get the PortProfile of the Port
    This function is a const function that returns a const reference of the PortProfile stored in this Port. post:This function never changes the state of the object.
    
    Returns:
    
    PortProfile
  - get_connector_profiles
```
public ConnectorProfile[] get_connector_profiles()
```
    [CORBA interface] Get the ConnectorProfileList of the Port
    This operation returns a list of the ConnectorProfiles of the Port. Since this function is CORBA operation, callers have responsibility to destruction of the returned ConnectorProfileList object according to the CORBA memory management rules. ConnectorProfile includes the connection information that describes relation between (among) Ports, and Ports exchange the ConnectionProfile on connection process and hold the same information in every Port. ConnectionProfile has the following members:
    - - name [string type] The name of the connection.
    - - connector_id [string type] Unique identifier.
    - - ports [Port sequnce] The sequence of Port's object reference that are related the connection.
    - - properties [NVList type] The other properties.
    post:This function never changes the state of the object.
    Returns:
    
    ConnectorProfileList of the Port
  - get_connector_profile
```
public ConnectorProfile get_connector_profile(java.lang.String connector_id)
```
    [CORBA interface] Get the ConnectorProfile
    This operation returns the ConnectorProfiles specified connector_id. Since this function is CORBA operation, callers have responsibility to destruction of the returned ConnectorProfile object according to the CORBA memory management rules. If ConnectorProfile with specified connector_id is not included, empty ConnectorProfile is returned. post:This function never changes the state of the object.
    
    Parameters:
    
    connector_id - ID of the ConnectorProfile
    
    Returns:
    
    the ConnectorProfile identified by the connector_id
  - connect
```
public ReturnCode_t connect(ConnectorProfileHolder connector_profile)
```
    [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. Preconditioin:
    - To establish the connection among Ports of RT-Components, application programs must call this operation giving ConnectorProfile with valid values as an argument.
    - Out of ConnectorProfile member variables, "name", "ports" and "properties" members shall be set valid data. "connector_id" shall be set as empty string value or valid string UUID value.
    - ConnectorProfile::name that is connection identifier shall be any valid CORBA::string.
    - ConnectorProfile::connector_id shall be set unique identifier (usually UUID is used) for all connections. Since UUID string value is usually set in the connect() function, caller should just set empty string. If the connect() is called with the same UUID as existing connection, this function returns PRECONDITION_NOT_MET error. However, in order to update the existing connection profile, the "connect()" operation with existing connector ID might be used as valid method by future extension
    - ConnectorProfile::ports, which is sequence of RTC::PortService references, shall store usually two or more ports' references. As exceptions, the "connect()" operation might be called with only one reference in ConnectorProfile, in case of just getting interfaces information from the port, or connecting a special port (i.e. the peer port except RTC::PortService on CORBA).
    - ConnectorProfile::properties might be used to give certain properties to the service interfaces associated with the port. The properties is a sequence variable with a pair of key string and Any type value. Although the A variable can store any type of values, it is not recommended except string.
    - The following is the summary of the ConnectorProfile member to be set when this operation is called.
      
      - ConnectorProfile::name: The any name of connection
      
      - ConnectorProfile::connector_id: Empty string
      
      - ConnectorProfile::ports: One or more port references
      
      - ConnectorProfile::properties: Properties for the interfaces
      
      Postcondition:
      
      connect() operation will call the first port in the sequence of the ConnectorProfile.
      
      "noify_connect()"s perform cascaded call to the ports stored in the ConnectorProfile::ports by order. Even if errors are raised by intermediate notify_connect() operation, as long as ports' object references are valid, it is guaranteed that this cascaded call is completed in all the ports. If invalid or dead ports exist in the port's sequence, the ports are skipped and notify_connect() is called for the next valid port.
      
      connect() function returns RTC_OK if all the notify_connect() return RTC_OK. At this time the connection is completed. If notify_connect()s return except RTC_OK, connect() calls disconnect() operation with the connector_id to destruct the connection, and then it returns error code from notify_connect().
      
      The ConnectorProfile argument of the connect() operation returns ConnectorProfile::connector_id and various information about service interfaces that is published by publishInterfaces() in the halfway ports. The connect() and halfway notify_connect() functions never change ConnectorProfile::{name, ports}.
    Parameters:
    
    connector_profile - The ConnectorProfile.
    
    Returns:
    
    ReturnCode_t The return code of ReturnCode_t type.
  - notify_connect
```
public ReturnCode_t notify_connect(ConnectorProfileHolder connector_profile)
```
    [CORBA interface] Notify the Ports connection
    This operation is usually called from other ports' connect() or notify_connect() operations when connection between ports is established. This function is not premised on calling from other functions or application programs. According to the template method pattern, the notify_connect() calls "publishInterfaces()" and "subsctiveInterfaces()" functions, which are premised on implementing in the subclasses. The processing sequence is as follows. - publishInterfaces(): Publishing interface information - connectNext(): Calling notify_connect() of the next port - subscribeInterfaces(): Subscribing interface information - Storing connection profile According to the order of port's references stored in the ConnectorProfile::ports, publishing interface information to all the ports and subscription interface information from all the ports is performed by "notify_connect()"s. This cascaded call never aborts in the halfway operations, and calling sequence shall be completed for all the ports.
    
    Precondition:
    notify_connect() calls notify_connect() for the port's reference that is stored in next of this port's reference in the sequence of the ConnectorProfile::ports. Therefore the reference of this port shall be stored in the ConnectorProfile::ports. If this port's reference is not stored in the sequence, BAD_PARAMETER error will be returned, except the return code is overwritten by other operations. UUID shall be set to ConnectorProfile::connector_id as a unique identifier when this operation is called. Usually, connector_id is given by a connect() function and, the behavior is undefined in the case of a null character.
    
    Postcondition:
    ConnectorProfile::name, ConnectorProfile::connector_id, ConnectorProfile::ports are invariant, and they are never rewritten by notify_connect() operations. In order to transfer interface information to other ports, interface property information is stored into the ConnectorProfile::properties. At the end of notify_connect() operation for the first port stored in the ConnectorProfile::ports sequence, the related ports' notify_connect() invocations complete. Even if errors are raised at the halfway of publishInterfaces(), connectNext(), subscribeInterfaces() and storing process of ConnectorProfile, error codes are saved and the first error is returned.
    
    Parameters:
    
    connector_profile - ConnectorProfileHolder
    
    Returns:
    
    ReturnCode_t The return code of ReturnCode_t type.
  - disconnect
```
public ReturnCode_t disconnect(java.lang.String connector_id)
```
    [CORBA interface] Disconnect the Port
    This operation destroys connection between this port and the peer port according to given connector_id. Usually connector_id should be a UUID string that is unique in the system. And the connection, which is established by connect()/notify_connect() functions, is identified by the ConnectorProfile::connector_id. Precondition
    - connector_id shall be a character string which is same with ID of at least one of the ConnectorProfiles stored in this port. If ConnectorProfile that has same ID with the given connector_id does not exist in the list of ConnectorProfile, this operation returns BAD_PARAMTER error.
    - ConnectorProfile::ports that is same ID with given connector_id shall store the valid ports' references.
    - disconnect() function invokes the notify_disconnect() for the port that is stored in the first of the ConnectorProfile::ports. If notify_disconnect() call fails for the first port, It tries on calling "notify_disconnect()" in order for ports stored in ConnectorProfile::ports until the operation call is succeeded. If notify_disconnect() succeeded for at least one port, it returns return code from notify_disconnect(). If none of notify_connect() call succeeded, it returns RTC_ERROR error.
    Parameters:
    
    connector_id - The ID of the ConnectorProfile.
    
    Returns:
    
    ReturnCode_t The return code of ReturnCode_t type.
  - notify_disconnect
```
public ReturnCode_t notify_disconnect(java.lang.String connector_id)
```
    [CORBA interface] Notify the Ports disconnection
    This operation is invoked between Ports internally when the connection is destroied. Generally it is not premised on calling from application programs or RTC objects except Port object. According to the template method pattern, the notify_disconnect() calls unsubsctiveInterfaces() function, which are premised on implementing in the subclasses. The processing sequence is as follows. - Searching ConnectorProfile - Calling notify_disconnect() for the next port - Unsubscribing interfaces - Deleting ConnectorProfile notify_disconnect() notifies disconnection to all the ports by cascaded call to the stored ports in the ConnectorProfile::ports in order.
    
    Precondition:
    The port shall store the ConnectorProfile having same id with connector_id.
    
    Postcondition:
    If ConnectorProfile of same ID with connector_id does not exist, it returns BAD_PARAMETER error. For the cascaded call, this operation calls noify_disconnect() for the port that is stored in the next of this port in the ConnectorProfile::ports. If the operation call raises exception for some failure, it tries to call notify_disconnect() and skips until the operation succeeded. If none of operation call succeeded, it returns RTC_ERROR. At the end of notify_disconnect() operation for the first port stored in the ConnectorProfile::ports sequence, the related ports' notify_disconnect() invocations complete.
    
    Parameters:
    
    connector_id - The ID of the ConnectorProfile.
    
    Returns:
    
    The return code of ReturnCode_t type.
  - disconnect_all
```
public ReturnCode_t disconnect_all()
```
    [CORBA interface] Disconnect the All Ports
    This operation destroys all connections associated with this Port.
    
    Returns:
    
    ReturnCode_t The return code of ReturnCode_t type.
  - activateInterfaces
```
public abstract void activateInterfaces()
```
    Activate all Port interfaces
    This operation activate all interfaces that is registered in the ports.
  - deactivateInterfaces
```
public abstract void deactivateInterfaces()
```
    Deactivate all Port interfaces
    This operation deactivate all interfaces that is registered in the ports.
  - setName
```
public void setName(java.lang.String name)
```
    Set the name of this Port
    This operation sets the name of this Port. The given Port's name is applied to Port's PortProfile.name.
    
    Parameters:
    
    name - The name of this Port.
  - getName
```
public final java.lang.String getName()
```
    Get the name of this Port
    This operation returns the name of this Port.
    
    Returns:
    
    The name of this Port.
  - getProfile
```
public final PortProfile getProfile()
```
    Get the PortProfile of the Port
    This operation returns const reference of the PortProfile.
    
    Returns:
    
    PortProfile of the Port
  - setPortRef
```
public void setPortRef(PortService port_ref)
```
    Set the object reference of this Port
    This operation sets the object reference itself to the Port's PortProfile.
    
    Parameters:
    
    port_ref - port_ref The object reference of this Port.
  - getPortRef
```
public PortService getPortRef()
```
    Get the object reference of this Port
    This operation returns the object reference that is stored in the Port's PortProfile.
    
    Returns:
    
    {`.en The object reference of this Port.}
  - setOwner
```
public void setOwner(RTObject owner)
```
    Set the owner RTObject of the Port
    This operation sets the owner RTObject of this Port.
    
    Parameters:
    
    owner - The owner RTObject's reference of this Port
  - setOnPublishInterfaces
```
public void setOnPublishInterfaces(ConnectionCallback on_publish)
```
    Setting callback called on publish interfaces
    
    This operation sets a functor that is called after publishing interfaces process when connecting between ports.
    
    Since the ownership of the callback functor object is owned by the caller, it has the responsibility of object destruction.
    
    The callback functor is called after calling publishInterfaces() that is virtual member function of the PortBase class with an argument of ConnectorProfile type that is same as the argument of publishInterfaces() function. Although by using this functor, you can modify the ConnectorProfile published by publishInterfaces() function, the modification should be done carefully for fear of causing connection inconsistency.
    
    Parameters:
    
    on_publish - ConnectionCallback's subclasses
  - setOnSubscribeInterfaces
```
public void setOnSubscribeInterfaces(ConnectionCallback on_subscribe)
```
    Setting callback called on publish interfaces
    
    This operation sets a functor that is called before subscribing interfaces process when connecting between ports.
    
    Since the ownership of the callback functor object is owned by the caller, it has the responsibility of object destruction.
    
    The callback functor is called before calling subscribeInterfaces() that is virtual member function of the PortBase class with an argument of ConnectorProfile type that is same as the argument of subscribeInterfaces() function. Although by using this functor, you can modify ConnectorProfile argument for subscribeInterfaces() function, the modification should be done carefully for fear of causing connection inconsistency.
    
    Parameters:
    
    on_subscribe - ConnectionCallback's subclasses
  - setOnConnected
```
public void setOnConnected(ConnectionCallback on_connected)
```
    Setting callback called on connection established
    
    This operation sets a functor that is called when connection between ports established.
    
    Since the ownership of the callback functor object is owned by the caller, it has the responsibility of object destruction.
    
    The callback functor is called only when notify_connect() function successfully returns. In case of error, the functor will not be called.
    
    Since this functor is called with ConnectorProfile argument that is same as out-parameter of notify_connect() function, you can get all the information of published interfaces of related ports in the connection. Although by using this functor, you can modify ConnectorProfile argument for out-paramter of notify_connect(), the modification should be done carefully for fear of causing connection inconsistency.
    
    Parameters:
    
    on_connected - ConnectionCallback's subclasses
  - setOnUnsubscribeInterfaces
```
public void setOnUnsubscribeInterfaces(ConnectionCallback on_unsubscribe)
```
    Setting callback called on unsubscribe interfaces
    
    This operation sets a functor that is called before unsubscribing interfaces process when disconnecting between ports.
    
    Since the ownership of the callback functor object is owned by the caller, it has the responsibility of object destruction.
    
    The callback functor is called before calling unsubscribeInterfaces() that is virtual member function of the PortBase class with an argument of ConnectorProfile type that is same as the argument of unsubscribeInterfaces() function. Although by using this functor, you can modify ConnectorProfile argument for unsubscribeInterfaces() function, the modification should be done carefully for fear of causing connection inconsistency.
    
    Parameters:
    
    on_unsubscribe - ConnectionCallback's subclasses
  - setOnDisconnected
```
public void setOnDisconnected(ConnectionCallback on_disconnected)
```
    Setting callback called on disconnected
    
    This operation sets a functor that is called when connection between ports is destructed.
    
    Since the ownership of the callback functor object is owned by the caller, it has the responsibility of object destruction.
    
    The callback functor is called just before notify_disconnect() that is disconnection execution function returns.
    
    This functor is called with argument of corresponding ConnectorProfile. Since this ConnectorProfile will be destructed after calling this functor, modifications never affect others.
    
    Parameters:
    
    on_disconnected - ConnectionCallback's subclasses
  - setOnConnectionLost
```
public void setOnConnectionLost(ConnectionCallback on_connection_lost)
```
  - setPortConnectListenerHolder
```
public void setPortConnectListenerHolder(PortConnectListeners portconnListeners)
```
    Setting PortConnectListener holder
    This operation sets a functor that is called when connection of this port does lost.
    
    Parameters:
    
    portconnListeners - a pointer to ConnectionCallback's subclasses
  - publishInterfaces
```
protected abstract ReturnCode_t publishInterfaces(ConnectorProfileHolder connector_profile)
```
    Interface情報を公開します。このメソッドは、notify_connect()処理シーケンスの始めに呼び出されるテンプレートメソッドです。
    
    notify_connect()内では、以下の順にテンプレートメソッドが呼び出されて接続処理が行われます。
    1. publishInterfaces()
    2. connectNext()
    3. subscribeInterfaces()
    4. updateConnectorProfile()
    具象Portクラスでは、このメソッドをオーバーライドし、引数として与えられた ConnectorProfileに従って処理を行い、パラメータが不適切であれば、ReturnCode_t型のエラーコードを返します。
    
    通常、publishInterafaces()内においては、このポートに属するインターフェースに関する情報を ConnectorProfileに対して適切に設定し、他のポートに通知しなければなりません。また、このメソッドが呼び出される段階では、他のポートのInterfaceに関する情報はすべては含まれていないので、他のポートのInterfaceを取得する処理はsubscribeInterfaces()内で行われるべきです。
    
    このメソッドは、新規のコネクタIDに対しては接続の生成が、既存のコネクタIDに対しては更新が適切に行われる必要があります。
    Parameters:
    
    connector_profile - 接続プロファイル
    
    Returns:
    
    ReturnCode_t型の戻り値
  - connectNext
```
protected ReturnCode_t connectNext(ConnectorProfileHolder connector_profile)
```
    Call notify_connect() of the next Port
    This operation calls the notify_connect() of the next Port's that stored in ConnectorProfile's port_ref sequence.
    
    Parameters:
    
    connector_profile - The connection profile information
    
    Returns:
    
    The return code of ReturnCode_t type.
  - disconnectNext
```
protected ReturnCode_t disconnectNext(ConnectorProfile connector_profile)
```
    当該ポートの次のポートに対して接続解除通知を行います。
    
    ConnectorProfile内に設定されているPortのシーケンスを調べて、当該Portの次のPortを特定し、そのPortに対してnotify_disconnect()を呼び出します。
    
    Parameters:
    
    connector_profile - 接続プロファイル
  - subscribeInterfaces
```
protected abstract ReturnCode_t subscribeInterfaces(ConnectorProfileHolder connector_profile)
```
    Interface 情報を公開します。
    
    このメソッドは、notify_connect()処理シーケンスの中間に呼び出されるテンプレートメソッドです。 notify_connect()では、
    1. publishInterfaces()
    2. connectNext()
    3. subscribeInterfaces()
    4. updateConnectorProfile()
    の順にprotectedメソッドが呼び出されて接続処理が行われます。
    
    このメソッドの処理は、新規のconnector_idに対しては接続の生成が適切に行われる必要があります。
    また、既存のconnector_idに対しては更新が適切に行われる必要があります。
    Parameters:
    
    connector_profile - 接続プロファイル情報
    
    Returns:
    
    ReturnCode_t 戻り値
  - unsubscribeInterfaces
```
protected abstract void unsubscribeInterfaces(ConnectorProfile connector_profile)
```
    Interfaceの接続を解除します。
    
    このメソッドは、notify_disconnect()処理シーケンスの終わりに呼び出されるテンプレートメソッドです。 notify_disconnect()では、
    1. disconnectNext()
    2. unsubscribeInterfaces()
    3. eraseConnectorProfile()
    の順にprotectedメソッドが呼び出されて接続解除処理が行われます。
    
    具象クラスでは、このメソッドをオーバーライドし、引数として与えられた ConnectorProfile に従い接続解除処理を行います。
    Parameters:
    
    connector_profile - 接続プロファイル情報
  - isEmptyId
```
protected boolean isEmptyId(ConnectorProfile connector_profile)
```
    指定されたConnectorProfileオブジェクト内のconnector_idメンバが空かどうか判定します。
    
    Returns:
    
    空であればtrueを、さもなくばfalseを返します。
  - getUUID
```
protected java.lang.String getUUID()
```
    UUIDを生成します。
    
    Returns:
    
    生成されたUUID
  - setUUID
```
protected void setUUID(ConnectorProfileHolder connector_profile)
```
    UUIDを生成し、指定されたConnectorProfileオブジェクトのconnector_idメンバに設定します。
    
    Parameters:
    
    connector_profile - 設定先となるConnectorProfileオブジェクト
  - isExistingConnId
```
protected boolean isExistingConnId(java.lang.String id)
```
    指定された接続IDを持つ接続プロファイルが、当該ポートのPortProfileに設定されている ConnectorProfileオブジェクトシーケンス内に存在するかどうかを判定します。
    
    Returns:
    
    存在すればtrueを、さもなくばfalseを返します。
  - findConnProfile
```
protected ConnectorProfile findConnProfile(java.lang.String id)
```
    指定された接続IDを持つ接続プロファイルが、当該ポートのPortProfileに設定されている ConnectorProfileオブジェクトシーケンス内に存在するかどうかを調べ、存在する場合はそのConnectorProfileオブジェクトが取得されます。
    
    Parameters:
    
    id - 接続ID
    
    Returns:
    
    指定した接続IDを持つConnectorProfileオブジェクトが見つかった場合は、そのオブジェクトを返します。
    見つからない場合は、空のConnectorProfileオブジェクトを返します。
  - findConnProfileIndex
```
protected int findConnProfileIndex(java.lang.String id)
```
    指定された接続IDを持つ接続プロファイルが、当該ポートのPortProfileに設定されている ConnectorProfileオブジェクトシーケンス内に存在するかどうかを調べ、存在する場合はそのConnectorProfileオブジェクトのシーケンス内でのインデクスが取得されます。
    
    Returns:
    
    指定した接続IDを持つConnectorProfileオブジェクトが見つかった場合は、そのオブジェクトのシーケンス内インデクスを返します。
    見つからない場合は、-1を返します。
  - updateConnectorProfile
```
protected void updateConnectorProfile(ConnectorProfile connector_profile)
```
    指定された接続プロファイルを、当該ポートのPortProfileに追加します。同一の接続IDを持つ接続プロファイルがすでにある場合は、その内容を上書きします。
    
    Parameters:
    
    connector_profile - 追加もしくは更新する接続プロファイル
  - eraseConnectorProfile
```
protected boolean eraseConnectorProfile(java.lang.String connector_id)
```
    指定された接続IDに対応する接続プロファイルを、当該ポートのPortProfileから削除します。
    
    Parameters:
    
    connector_id - 削除対象となる接続プロファイルの接続ID
    
    Returns:
    
    削除された場合はtrueを返します。
    また、指定された接続IDの接続プロファイルが見つからない場合はfalseを返します。
  - appendInterface
```
protected boolean appendInterface(java.lang.String instance_name,
                                  java.lang.String type_name,
                                  PortInterfacePolarity polarity)
```
    当該ポートが持つPortProfile内に含まれるPortInterfaceProfileメンバに、引数で指定された情報を追加します。この情報は、get_port_profile()メソッドによって得られるPortProfileにうち、PortInterfaceProfileの値を変更するのみであり、実際にインタフェースを提供したり要求したりする場合には、サブクラス側で publishInterface(), subscribeInterface()などのメソッドを適切にオーバライドし、インタフェースの提供や要求処理を行う必要があります。
    
    なお、インタフェース（のインスタンス）名は、ポート内で一意でなければなりません。
    
    Parameters:
    
    instance_name - インタフェースのインスタンス名
    
    type_name - インタフェースの型名称
    
    polarity - インタフェースの属性（提供インタフェースまたは要求インタフェース）
    
    Returns:
    
    正常に登録できた場合はtrueを返します。また、同名のインタフェースがすでに登録済みの場合はfalseを返します。
  - deleteInterface
```
protected boolean deleteInterface(java.lang.String instance_name,
                                  PortInterfacePolarity polarity)
```
    指定されたインスタンス名と属性を持つインタフェースを、当該ポートが持つPortProfile内の PortInterfaceProfileから削除します。
    
    Parameters:
    
    instance_name - 削除対象インタフェースのインスタンス名
    
    polarity - 削除対象インタフェースの属性
    
    Returns:
    
    正常に削除できた場合はtrueを返します。また、該当するインタフェースが見つからない場合はfalseを返します。
  - addProperty
```
protected <T> void addProperty(java.lang.String key,
                               T value,
                               java.lang.Class<T> klass)
```
    当該ポートが持つPortProfile内のpropertiesメンバに、指定されたキーと値を持つNameValueオブジェクトを追加します。
    
    Parameters:
    
    key - キー
    
    value - 値
  - appendProperty
```
protected void appendProperty(java.lang.String key,
                              java.lang.String value)
```
    Add NameValue data to PortProfile's properties
    
    Add NameValue data to PortProfile's properties. Type of additional data is specified by ValueType.
    
    Parameters:
    
    key - The name of properties
    
    value - The value of properties
  - updateConnectors
```
protected void updateConnectors()
```
  - checkPorts
```
protected boolean checkPorts(PortService[] ports)
```
  - onNotifyConnect
```
protected void onNotifyConnect(java.lang.String portname,
                               ConnectorProfile profile)
```
  - onNotifyDisconnect
```
protected void onNotifyDisconnect(java.lang.String portname,
                                  ConnectorProfile profile)
```
  - onUnsubscribeInterfaces
```
protected void onUnsubscribeInterfaces(java.lang.String portname,
                                       ConnectorProfile profile)
```
  - onPublishInterfaces
```
protected void onPublishInterfaces(java.lang.String portname,
                                   ConnectorProfile profile,
                                   ReturnCode_t ret)
```
  - onConnectNextport
```
protected void onConnectNextport(java.lang.String portname,
                                 ConnectorProfile profile,
                                 ReturnCode_t ret)
```
  - onSubscribeInterfaces
```
protected void onSubscribeInterfaces(java.lang.String portname,
                                     ConnectorProfile profile,
                                     ReturnCode_t ret)
```
  - onConnected
```
protected void onConnected(java.lang.String portname,
                           ConnectorProfile profile,
                           ReturnCode_t ret)
```
  - onDisconnectNextport
```
protected void onDisconnectNextport(java.lang.String portname,
                                    ConnectorProfile profile,
                                    ReturnCode_t ret)
```
  - onDisconnected
```
protected void onDisconnected(java.lang.String portname,
                              ConnectorProfile profile,
                              ReturnCode_t ret)
```
  - _publishInterfaces
```
protected ReturnCode_t _publishInterfaces()
```
    Publish interface information
    Publish interface information.
    
    Returns:
    
    The return code of ReturnCode_t type
  - setConnectionLimit
```
protected void setConnectionLimit(int limit_value)
```
    Set the maximum number of connections
    
    Parameters:
    
    limit_value - The maximum number of connections

Class PortBase

Nested Class Summary

Field Summary

Constructor Summary

Method Summary

Methods inherited from class RTC.PortServicePOA

Methods inherited from class org.omg.PortableServer.Servant

Methods inherited from class java.lang.Object

Field Detail

m_profile

m_profile_mutex

m_connectorsMutex

m_objref

rtcout

m_onPublishInterfaces

m_onSubscribeInterfaces

m_onConnected

m_onUnsubscribeInterfaces

m_onDisconnected

m_onConnectionLost_mutex

m_onConnectionLost

m_portconnListeners

m_connectionLimit

m_ownerInstanceName

Constructor Detail

PortBase

PortBase

Method Detail

_this

get_port_profile

getPortProfile

get_connector_profiles

get_connector_profile

connect

notify_connect

disconnect

notify_disconnect

disconnect_all

activateInterfaces

deactivateInterfaces

setName

getName

getProfile

setPortRef

getPortRef

setOwner

setOnPublishInterfaces

setOnSubscribeInterfaces

setOnConnected

setOnUnsubscribeInterfaces

setOnDisconnected

setOnConnectionLost

setPortConnectListenerHolder

publishInterfaces

connectNext

disconnectNext

subscribeInterfaces

unsubscribeInterfaces

isEmptyId

getUUID

setUUID

isExistingConnId

findConnProfile

findConnProfileIndex

updateConnectorProfile

eraseConnectorProfile

appendInterface

deleteInterface

addProperty

appendProperty

updateConnectors

checkPorts

onNotifyConnect

onNotifyDisconnect

onUnsubscribeInterfaces

onPublishInterfaces

onConnectNextport

onSubscribeInterfaces

onConnected

onDisconnectNextport