PublisherPeriodic

java.lang.Object
- jp.go.aist.rtm.RTC.port.publisher.PublisherBase
- - jp.go.aist.rtm.RTC.port.publisher.PublisherPeriodic

All Implemented Interfaces:

java.lang.Runnable, ObjectCreator<PublisherBase>, ObjectDestructor
```
public class PublisherPeriodic
extends PublisherBase
implements java.lang.Runnable, ObjectCreator<PublisherBase>, ObjectDestructor
```
一定時間おきにコンシューマの送出処理を呼び出すPublisherです。

Nested Class Summary

Nested Classes
Modifier and Type Class and Description

protected static class PublisherPeriodic.Policy

Nested Classes
Modifier and Type	Class and Description
`protected static class`	`PublisherPeriodic.Policy`

Field Summary

Fields
Modifier and Type Field and Description

protected Logbuf rtcout

Fields
Modifier and Type	Field and Description
`protected Logbuf`	`rtcout`

Constructor Summary

Constructors
Constructor and Description

PublisherPeriodic()
Constructor

Constructors
Constructor and Description
`PublisherPeriodic()` Constructor

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`ReturnCode`	`activate()` activate
`protected ReturnCode`	`convertReturn(ReturnCode status, org.omg.CORBA.portable.OutputStream data)` convertReturn
`protected boolean`	`createTask(Properties prop)` Setting Task
`PublisherBase`	`creator_()` creator_
`ReturnCode`	`deactivate()` deactivate
`void`	`destructor_(java.lang.Object obj)` destructor_
`java.lang.String`	`getName()` getName
`ReturnCode`	`init(Properties prop)` Initialization
`protected ReturnCode`	`invokeListener(ReturnCode status, org.omg.CORBA.portable.OutputStream data)`
`boolean`	`isActive()` write
`protected void`	`onBufferEmpty()` Connector listener functions
`protected void`	`onBufferFull(org.omg.CORBA.portable.OutputStream data)`
`protected void`	`onBufferRead(org.omg.CORBA.portable.OutputStream data)`
`protected void`	`onBufferWrite(org.omg.CORBA.portable.OutputStream data)` Connector data listener functions
`protected void`	`onBufferWriteTimeout(org.omg.CORBA.portable.OutputStream data)`
`protected void`	`onReceived(org.omg.CORBA.portable.OutputStream data)`
`protected void`	`onReceiverError(org.omg.CORBA.portable.OutputStream data)`
`protected void`	`onReceiverFull(org.omg.CORBA.portable.OutputStream data)`
`protected void`	`onReceiverTimeout(org.omg.CORBA.portable.OutputStream data)`
`protected void`	`onSend(org.omg.CORBA.portable.OutputStream data)`
`protected void`	`onSenderEmpty()`
`protected void`	`onSenderError()`
`int`	`open()` 当該Publisherの駆動を開始します。
`static void`	`PublisherPeriodicInit()` PublisherPeriodicInit
`protected ReturnCode`	`pushAll()` pushAll
`protected ReturnCode`	`pushFifo()` pushFifo
`protected ReturnCode`	`pushNew()` pushNew
`protected ReturnCode`	`pushSkip()` pushSkip
`void`	`release()` 駆動フラグがオフとなり、Publisherの駆動が停止します。
`void`	`run()` 当該Publisherを駆動するスレッドコンテキストです。コンシューマの送出処理が呼び出されます。
`ReturnCode`	`setBuffer(BufferBase<org.omg.CORBA.portable.OutputStream> buffer)` setBuffer
`ReturnCode`	`setConsumer(InPortConsumer consumer)` setConsumer
`ReturnCode`	`setListener(ConnectorBase.ConnectorInfo info, ConnectorListeners listeners)` Setting buffer pointer
`protected void`	`setPushPolicy(Properties prop)` Setting PushPolicy
`int`	`svc()` 当該Publisherを駆動するスレッドコンテキストです。コンシューマの送出処理が呼び出されます。
`void`	`update()` 本Publisher実装では、何も行いません。
`ReturnCode`	`write(org.omg.CORBA.portable.OutputStream data)`
`ReturnCode`	`write(org.omg.CORBA.portable.OutputStream data, int sec, int usec)` Write data

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - rtcout
```
protected Logbuf rtcout
```
- Constructor Detail
  - PublisherPeriodic
```
public PublisherPeriodic()
```
    Constructor
- Method Detail
  - update
```
public void update()
```
    本Publisher実装では、何も行いません。
  - svc
```
public int svc()
```
    当該Publisherを駆動するスレッドコンテキストです。コンシューマの送出処理が呼び出されます。
  - pushAll
```
protected ReturnCode pushAll()
```
    pushAll
    
    push all policy
    
    Returns:
    
    ReturnCode
  - pushFifo
```
protected ReturnCode pushFifo()
```
    pushFifo
    
    push "fifo" policy
    
    Returns:
    
    ReturnCode
  - pushSkip
```
protected ReturnCode pushSkip()
```
    pushSkip
    
    push "skip" policy
    
    Returns:
    
    ReturnCode
  - pushNew
```
protected ReturnCode pushNew()
```
    pushNew
    
    push "new" policy
    
    Returns:
    
    ReturnCode
  - run
```
public void run()
```
    当該Publisherを駆動するスレッドコンテキストです。コンシューマの送出処理が呼び出されます。
    
    Specified by:
    
    run in interface java.lang.Runnable
  - open
```
public int open()
```
    当該Publisherの駆動を開始します。
  - release
```
public void release()
```
    駆動フラグがオフとなり、Publisherの駆動が停止します。
    
    ただし、最大１回のみコンシューマの送出処理が呼び出されることがあります。
    
    Overrides:
    
    release in class PublisherBase
  - init
```
public ReturnCode init(Properties prop)
```
    Initialization
    This function have to be called before using this class object. Properties object that includes certain configuration information should be given as an argument. At least, a numerical value of unit of Hz with the key of "dataport.publisher.push_rate" has to be set to the Properties object of argument. The value is the invocation cycle of data sending process. In case of 5 ms period or 200 Hz, the value should be set as 200.0. False will be returned, if there is no value with the key of "dataport.publisher.push_rate". The following options are available.
    - publisher.thread_type: Thread type (string, default: default)
    - publisher.push_rate: Publisher sending period (numberical)
    - publisher.push_policy: Push policy (all, fifo, skip, new)
    - publisher.skip_count: The number of skip count in the "skip" policy
    - measurement.exec_time: Task execution time measurement (enable/disable)
    - measurement.exec_count: Task execution time measurement count (numerical, number of times)
    - measurement.period_time: Task period time measurement (enable/disable)
    - measurement.period_count: Task period time measurement count (number, count)
    Specified by:
    
    init in class PublisherBase
    
    Parameters:
    
    prop - Property objects that includes the control information of this Publisher
    
    Returns:
    
    PORT_OK normal return INVALID_ARGS Properties with invalid values.
  - setPushPolicy
```
protected void setPushPolicy(Properties prop)
```
    Setting PushPolicy
  - createTask
```
protected boolean createTask(Properties prop)
```
    Setting Task
  - setConsumer
```
public ReturnCode setConsumer(InPortConsumer consumer)
```
    setConsumer
    
    Store InPort consumer
    
    Specified by:
    
    setConsumer in class PublisherBase
    
    Parameters:
    
    consumer -
    
    Returns:
    
    ReturnCode
  - setBuffer
```
public ReturnCode setBuffer(BufferBase<org.omg.CORBA.portable.OutputStream> buffer)
```
    setBuffer
    
    Setting buffer
    
    Specified by:
    
    setBuffer in class PublisherBase
    
    Parameters:
    
    buffer -
    
    Returns:
    
    ReturnCode
  - setListener
```
public ReturnCode setListener(ConnectorBase.ConnectorInfo info,
                              ConnectorListeners listeners)
```
    Setting buffer pointer
    
    Specified by:
    
    setListener in class PublisherBase
    
    Returns:
    
    ReturnCode
  - write
```
public ReturnCode write(org.omg.CORBA.portable.OutputStream data,
                        int sec,
                        int usec)
```
    Write data
    This function writes data into the buffer associated with this Publisher. If a Publisher object calls this function, without initializing correctly such as a consumer, a buffer, listeners, etc., error code PRECONDITION_NOT_MET will be returned and no operation of the writing to a buffer etc. will be performed. Since writing into the buffer and sending data to InPort are performed asynchronously, occasionally this function returns return-codes such as CONNECTION_LOST and BUFFER_FULL that indicate the result of sending data to InPort. In this case, writing data into buffer will not be performed. When publisher writes data to the buffer, if the buffer is filled, returns error, is returned with timeout and returns precondition error, error codes BUFFER_FULL, BUFFER_ERROR, BUFFER_TIMEOUT and PRECONDITION_NOT_MET will be returned respectively. In other cases, PROT_ERROR will be returned.
    
    Specified by:
    
    write in class PublisherBase
    
    Parameters:
    
    data - Data to be wrote to the buffer
    
    sec - Timeout time in unit seconds
    
    usec - Timeout time in unit micro-seconds
    
    Returns:
    
    PORT_OK Normal return PRECONDITION_NO_MET Precondition does not met. A consumer, a buffer, listenes are not set properly. CONNECTION_LOST detected that the connection has been lost BUFFER_FULL The buffer is full status. BUFFER_ERROR Some kind of error occurred in the buffer. NOT_SUPPORTED Some kind of operation that is not supported has been performed. TIMEOUT Timeout occurred when writing to the buffer.
  - write
```
public ReturnCode write(org.omg.CORBA.portable.OutputStream data)
```
    Specified by:
    
    write in class PublisherBase
  - isActive
```
public boolean isActive()
```
    write
    
    Specified by:
    
    isActive in class PublisherBase
    
    Returns:
    
    boolean
  - activate
```
public ReturnCode activate()
```
    activate
    
    Specified by:
    
    activate in class PublisherBase
    
    Returns:
    
    ReturnCode
  - deactivate
```
public ReturnCode deactivate()
```
    deactivate
    
    Specified by:
    
    deactivate in class PublisherBase
    
    Returns:
    
    ReturnCode
  - creator_
```
public PublisherBase creator_()
```
    creator_
    
    Specified by:
    
    creator_ in interface ObjectCreator<PublisherBase>
    
    Returns:
    
    Object Created instances
  - destructor_
```
public void destructor_(java.lang.Object obj)
```
    destructor_
    
    Specified by:
    
    destructor_ in interface ObjectDestructor
    
    Parameters:
    
    obj - The target instances for destruction
  - convertReturn
```
protected ReturnCode convertReturn(ReturnCode status,
                                   org.omg.CORBA.portable.OutputStream data)
```
    convertReturn
  - invokeListener
```
protected ReturnCode invokeListener(ReturnCode status,
                                    org.omg.CORBA.portable.OutputStream data)
```
  - PublisherPeriodicInit
```
public static void PublisherPeriodicInit()
```
    PublisherPeriodicInit
  - getName
```
public java.lang.String getName()
```
    getName
    
    Specified by:
    
    getName in class PublisherBase
    
    Returns:
    
    String
  - onBufferWrite
```
protected void onBufferWrite(org.omg.CORBA.portable.OutputStream data)
```
    Connector data listener functions
  - onBufferFull
```
protected void onBufferFull(org.omg.CORBA.portable.OutputStream data)
```
  - onBufferWriteTimeout
```
protected void onBufferWriteTimeout(org.omg.CORBA.portable.OutputStream data)
```
  - onBufferRead
```
protected void onBufferRead(org.omg.CORBA.portable.OutputStream data)
```
  - onSend
```
protected void onSend(org.omg.CORBA.portable.OutputStream data)
```
  - onReceived
```
protected void onReceived(org.omg.CORBA.portable.OutputStream data)
```
  - onReceiverFull
```
protected void onReceiverFull(org.omg.CORBA.portable.OutputStream data)
```
  - onReceiverTimeout
```
protected void onReceiverTimeout(org.omg.CORBA.portable.OutputStream data)
```
  - onReceiverError
```
protected void onReceiverError(org.omg.CORBA.portable.OutputStream data)
```
  - onBufferEmpty
```
protected void onBufferEmpty()
```
    Connector listener functions
  - onSenderEmpty
```
protected void onSenderEmpty()
```
  - onSenderError
```
protected void onSenderError()
```

Class PublisherPeriodic

Nested Class Summary

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

rtcout

Constructor Detail

PublisherPeriodic

Method Detail

update

svc

pushAll

pushFifo

pushSkip

pushNew

run

open

release

init

setPushPolicy

createTask

setConsumer

setBuffer

setListener

write

write

isActive

activate

deactivate

creator_

destructor_

convertReturn

invokeListener

PublisherPeriodicInit

getName

onBufferWrite

onBufferFull

onBufferWriteTimeout

onBufferRead

onSend

onReceived

onReceiverFull

onReceiverTimeout

onReceiverError

onBufferEmpty

onSenderEmpty

onSenderError