[openrtm-users 00851] Ports configuration

[Cédric Pasteur]

Hi,
I am currently doing an internship at the the LAAS in Toulouse,  
France, working on the new version of their module generator Genom. I  
have created a system that makes it possible to use the same module  
with multiple backends, one of them being openRTM. In order to achieve  
this, I have to tweak the standard behaviour of ports in OpenRTM to  
reflect the behaviour of modules in the previous genom version.

I am using OpenRTM v 1.0.0 RC1.

My goal is to have inports that  behave like proxies, ie only store  
one value at a time and always overwrite the previous value on  
updating. To achieve that, I want to modify the ports buffer.length  
and buffer.full_policy properties. I tried a few syntax but none worked.
I found some doc in the Outportbase.h file but unfortunately it is in  
Japanese (that i can't read).
What is the correct syntax ?


I also have a second question. Is it possible to have a callback when  
an in port receives new data? onRead() is only called when the program  
calls read(). Do i have to keep polling with isNew() in a separate  
thread ?

Thank you in advance
Best regards

Cedric Pasteur,
LAAS, Toulouse, France