OpenRTM_aist.PublisherNew.PublisherNew Class Reference

PublisherNew class. More...

Inheritance diagram for OpenRTM_aist.PublisherNew.PublisherNew:

List of all members.

Public Member Functions
def	__init__
	Constructor.
def	__del__
	Destructor.
def	setPushPolicy
	Setting PushPolicy.
def	createTask
	Setting Task.
def	init
	Initialization.
def	setConsumer
	Store InPort consumer.
def	setBuffer
	Setting buffer pointer.
def	setListener
	Set the listener.
def	write
	Write data.
def	isActive
	If publisher is active state.
def	activate
	activation
def	deactivate
	deactivation
def	svc
	Thread execution function.
def	pushAll
	push all policy
def	pushFifo
	push "fifo" policy
def	pushSkip
	push "skip" policy
def	pushNew
	push "new" policy
def	convertReturn
	Convertion from BufferStatus to DataPortStatus.
def	invokeListener
	Call listeners according to the DataPortStatus.
def	onBufferWrite
	Notify an ON_BUFFER_WRITE event to listeners.
def	onBufferFull
	Notify an ON_BUFFER_FULL event to listeners.
def	onBufferWriteTimeout
	Notify an ON_BUFFER_WRITE_TIMEOUT event to listeners.
def	onBufferWriteOverwrite
	Notify an ON_BUFFER_OVERWRITE event to listeners.
def	onBufferRead
	Notify an ON_BUFFER_READ event to listeners.
def	onSend
	Notify an ON_SEND event to listners.
def	onReceived
	Notify an ON_RECEIVED event to listeners.
def	onReceiverFull
	Notify an ON_RECEIVER_FULL event to listeners.
def	onReceiverTimeout
	Notify an ON_RECEIVER_TIMEOUT event to listeners.
def	onReceiverError
	Notify an ON_RECEIVER_ERROR event to listeners.
def	onSenderError
	Notify an ON_SENDER_ERROR event to listeners.

---

Detailed Description

PublisherNew class.

Send new data at timing of when it is stored into the buffer. This class is used when operating Consumer that waits for the data send timing in different thread from one of the send side. Publisher's driven is blocked until the data send timing reaches, if the send timing notification is received, the Consumer's send processing will be invoked immediately.

---

Member Function Documentation

def OpenRTM_aist.PublisherNew.PublisherNew.__del__

(

self

)

Destructor.

def OpenRTM_aist.PublisherNew.PublisherNew.activate

(

self

)

activation

This function activates the publisher. By calling this function, this publisher starts the thread that pushes data to InPort. If precondition such as initialization process and so on is not met, the error code PRECONDITION_NOT_MET is returned.

Returns:

PORT_OK normal return PRECONDITION_NOT_MET precondition is not met

PublisherBase.ReturnCode PublisherNew.activate()

Reimplemented from OpenRTM_aist.PublisherBase.PublisherBase.

def OpenRTM_aist.PublisherNew.PublisherNew.convertReturn	(		self,
			status,
			data
	)

Convertion from BufferStatus to DataPortStatus.

This function converts return value from the buffer to DataPortStatus.Enum typed return value. The conversion rule is as follows. Callback functions are also shown, if it exists.

• BUFFER_OK: PORT_OK
  • None
• BUFFER_ERROR: BUFFER_ERROR
  • None
• BUFFER_FULL: BUFFER_FULL
  • onBufferFull()
• NOT_SUPPORTED: PORT_ERROR
  • None
• TIMEOUT: BUFFER_TIMEOUT
  • onBufferWriteTimeout()
• PRECONDITION_NOT_MET: PRECONDITION_NOT_MET
  • None
• other: PORT_ERROR
  • None

Parameters:

	status	BufferStatus
	data	cdrMemoryStream

Returns:

DataPortStatus typed return code

PublisherBase.ReturnCode PublisherNew.convertReturn(BufferStatus.Enum status, const cdrMemoryStream& data)

def OpenRTM_aist.PublisherNew.PublisherNew.createTask	(		self,
			prop
	)

Setting Task.

bool PublisherNew.createTask(const coil.Properties& prop)

def OpenRTM_aist.PublisherNew.PublisherNew.deactivate

(

self

)

deactivation

This function deactivates the publisher. By calling this function, this publisher stops the thread that pushes data to InPort. If precondition such as initialization process and so on is not met, the error code PRECONDITION_NOT_MET is returned.

Returns:

PORT_OK normal return PRECONDITION_NOT_MET precondition is not met

PublisherBase.ReturnCode PublisherNew.deactivate()

Reimplemented from OpenRTM_aist.PublisherBase.PublisherBase.

def OpenRTM_aist.PublisherNew.PublisherNew.init	(		self,
			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. all, fifo, skip, new can be given as a data push policy in a value of the key "publisher.push_policy."

The following options are available.

• thread_type: Thread type (string, default: default)
• 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)

Parameters:

property

Property objects that includes the control information of this Publisher

Returns:

ReturnCode PORT_OK normal return INVALID_ARGS Properties with invalid values.

PublisherBase.ReturnCode PublisherNew.init(coil.Properties& prop)

Reimplemented from OpenRTM_aist.PublisherBase.PublisherBase.

def OpenRTM_aist.PublisherNew.PublisherNew.invokeListener	(		self,
			status,
			data
	)

Call listeners according to the DataPortStatus.

Parameters:

	status	DataPortStatus
	data	cdrMemoryStream

Returns:

Return code

PublisherNew.ReturnCode PublisherNew.invokeListener(DataPortStatus.Enum status, const cdrMemoryStream& data)

def OpenRTM_aist.PublisherNew.PublisherNew.isActive

(

self

)

If publisher is active state.

A Publisher can be activated/deactivated synchronized with the data port. The active state and the non-active state are made transition by the "activate()" and the "deactivate()" functions respectively. This function confirms if the publisher is in active state.

Returns:

Result of state confirmation (Active state:true, Inactive state:false)

bool PublisherNew.isActive()

Reimplemented from OpenRTM_aist.PublisherBase.PublisherBase.

def OpenRTM_aist.PublisherNew.PublisherNew.onBufferFull	(		self,
			data
	)

Notify an ON_BUFFER_FULL event to listeners.

Parameters:

data

cdrMemoryStream

inline void onBufferFull(const cdrMemoryStream& data)

def OpenRTM_aist.PublisherNew.PublisherNew.onBufferRead	(		self,
			data
	)

Notify an ON_BUFFER_READ event to listeners.

Parameters:

data

cdrMemoryStream

inline void onBufferRead(const cdrMemoryStream& data)

def OpenRTM_aist.PublisherNew.PublisherNew.onBufferWrite	(		self,
			data
	)

Notify an ON_BUFFER_WRITE event to listeners.

Parameters:

data

cdrMemoryStream

inline void onBufferWrite(const cdrMemoryStream& data)

def OpenRTM_aist.PublisherNew.PublisherNew.onBufferWriteOverwrite	(		self,
			data
	)

Notify an ON_BUFFER_OVERWRITE event to listeners.

Parameters:

data

cdrMemoryStream

inline void onBufferWriteOverwrite(const cdrMemoryStream& data)

def OpenRTM_aist.PublisherNew.PublisherNew.onBufferWriteTimeout	(		self,
			data
	)

Notify an ON_BUFFER_WRITE_TIMEOUT event to listeners.

Parameters:

data

cdrMemoryStream

inline void onBufferWriteTimeout(const cdrMemoryStream& data)

def OpenRTM_aist.PublisherNew.PublisherNew.onReceived	(		self,
			data
	)

Notify an ON_RECEIVED event to listeners.

Parameters:

data

cdrMemoryStream

inline void onReceived(const cdrMemoryStream& data)

def OpenRTM_aist.PublisherNew.PublisherNew.onReceiverError	(		self,
			data
	)

Notify an ON_RECEIVER_ERROR event to listeners.

Parameters:

data

cdrMemoryStream

inline void onReceiverError(const cdrMemoryStream& data)

def OpenRTM_aist.PublisherNew.PublisherNew.onReceiverFull	(		self,
			data
	)

Notify an ON_RECEIVER_FULL event to listeners.

Parameters:

data

cdrMemoryStream

inline void onReceiverFull(const cdrMemoryStream& data)

def OpenRTM_aist.PublisherNew.PublisherNew.onReceiverTimeout	(		self,
			data
	)

Notify an ON_RECEIVER_TIMEOUT event to listeners.

Parameters:

data

cdrMemoryStream

inline void onReceiverTimeout(const cdrMemoryStream& data)

def OpenRTM_aist.PublisherNew.PublisherNew.onSend	(		self,
			data
	)

Notify an ON_SEND event to listners.

Parameters:

data

cdrMemoryStream

inline void onSend(const cdrMemoryStream& data)

def OpenRTM_aist.PublisherNew.PublisherNew.onSenderError

(

self

)

Notify an ON_SENDER_ERROR event to listeners.

Parameters:

data

cdrMemoryStream

inline void onSenderError()

def OpenRTM_aist.PublisherNew.PublisherNew.pushAll

(

self

)

push all policy

PublisherNew.ReturnCode PublisherNew.pushAll()

def OpenRTM_aist.PublisherNew.PublisherNew.pushFifo

(

self

)

push "fifo" policy

PublisherNew.ReturnCode PublisherNew.pushFifo()

def OpenRTM_aist.PublisherNew.PublisherNew.pushNew

(

self

)

push "new" policy

PublisherNew.ReturnCode PublisherNew.pushNew()

def OpenRTM_aist.PublisherNew.PublisherNew.pushSkip

(

self

)

push "skip" policy

PublisherNew.ReturnCode PublisherNew.pushSkip()

def OpenRTM_aist.PublisherNew.PublisherNew.setBuffer	(		self,
			buffer
	)

Setting buffer pointer.

This operation sets a buffer that is associated with this object. If the buffer object is NULL, INVALID_ARGS will be returned.

Parameters:

buffer

A pointer to a CDR buffer object.

Returns:

ReturnCode PORT_OK normal return INVALID_ARGS given argument has invalid value

PublisherBase.ReturnCode PublisherNew.setBuffer(CdrBufferBase* buffer)

Reimplemented from OpenRTM_aist.PublisherBase.PublisherBase.

def OpenRTM_aist.PublisherNew.PublisherNew.setConsumer	(		self,
			consumer
	)

Store InPort consumer.

This operation sets a consumer that is associated with this object. If the consumer object is NULL, INVALID_ARGS will be returned.

Parameters:

consumer

A pointer to a consumer object.

Returns:

ReturnCode PORT_OK normal return INVALID_ARGS given argument has invalid value

PublisherBase.ReturnCode PublisherNew.setConsumer(InPortConsumer* consumer)

Reimplemented from OpenRTM_aist.PublisherBase.PublisherBase.

def OpenRTM_aist.PublisherNew.PublisherNew.setListener	(		self,
			info,
			listeners
	)

Set the listener.

This function sets ConnectorListeners listener object to the Publisher. By setting ConnectorListeners containing various listeners objects, these listeners are called at the time of reading and writing of a buffer, and transmission of data etc. Since the ownership of the ConnectorListeners object is owned by Port or RTObject, the Publisher never deletes the ConnectorListeners object. If the given ConnectorListeners' pointer is NULL, this function returns INVALID_ARGS.

Parameters:

	info	ConnectorInfo that is localized object of ConnectorProfile
	listeners	ConnectorListeners that holds various listeners

Returns:

PORT_OK Normal return INVALID_ARGS Invalid arguments

virtual ReturnCode setListener(ConnectorInfo& info, ConnectorListeners* listeners);

Reimplemented from OpenRTM_aist.PublisherBase.PublisherBase.

def OpenRTM_aist.PublisherNew.PublisherNew.setPushPolicy	(		self,
			prop
	)

Setting PushPolicy.

void PublisherNew.setPushPolicy(const coil.Properties& prop)

def OpenRTM_aist.PublisherNew.PublisherNew.svc

(

self

)

Thread execution function.

A task execution function to be executed by coil.PeriodicTask.

int PublisherNew.svc(void)

def OpenRTM_aist.PublisherNew.PublisherNew.write	(		self,
			data,
			sec,
			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.

Parameters:

	data	Data to be wrote to the buffer
	sec	Timeout time in unit seconds
	nsec	Timeout time in unit nano-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.

PublisherBase.ReturnCode PublisherNew.write(const cdrMemoryStream& data, unsigned long sec, unsigned long usec)

Reimplemented from OpenRTM_aist.PublisherBase.PublisherBase.

---

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

• /var/lib/jenkins/jobs/01_openrtm-python-build-tags/workspace/OpenRTM_aist/PublisherNew.py