OpenRTM
1.0.0
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InPort template class. More...
#include <InPort.h>
Public Member Functions | |
DATAPORTSTATUS_ENUM | InPort (const char *name, DataType &value, int bufsize=64, bool read_block=false, bool write_block=false, int read_timeout=0, int write_timeout=0) |
A constructor. More... | |
virtual | ~InPort (void) |
Destructor. More... | |
virtual const char * | name () |
Get port name. More... | |
virtual bool | isNew () |
Check whether the data is newest. More... | |
virtual bool | isEmpty () |
Check whether the data is newest. More... | |
bool | read () |
Readout the value from DataPort. More... | |
virtual void | update () |
Read the newly value to type-T variable which is bound to InPort's buffer. More... | |
void | operator>> (DataType &rhs) |
Read the newly value data in InPort to type-T variable. More... | |
void | setOnRead (OnRead< DataType > *on_read) |
Set callback when data is read from the InPort buffer. More... | |
void | setOnReadConvert (OnReadConvert< DataType > *on_rconvert) |
Set callback when data is readout to the InPort buffer. More... | |
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InPortBase (const char *name, const char *data_type) | |
Constructor. More... | |
virtual | ~InPortBase (void) |
Destructor. More... | |
void | init (coil::Properties &prop) |
Initializing properties. More... | |
coil::Properties & | properties () |
Get properties. More... | |
const std::vector < InPortConnector * > & | connectors () |
Connector list. More... | |
ConnectorInfoList | getConnectorProfiles () |
ConnectorProfile list. More... | |
coil::vstring | getConnectorIds () |
ConnectorId list. More... | |
coil::vstring | getConnectorNames () |
Connector name list. More... | |
InPortConnector * | getConnectorById (const char *id) |
Getting ConnectorProfile by ID. More... | |
InPortConnector * | getConnectorByName (const char *name) |
Getting Connector by name. More... | |
bool | getConnectorProfileById (const char *id, ConnectorInfo &prof) |
Getting ConnectorProfile by name. More... | |
bool | getConnectorProfileByName (const char *name, ConnectorInfo &prof) |
Getting ConnectorProfile by name. More... | |
virtual void | activateInterfaces () |
Activate all Port interfaces. More... | |
virtual void | deactivateInterfaces () |
Deactivate all Port interfaces. More... | |
void | addConnectorDataListener (ConnectorDataListenerType listener_type, ConnectorDataListener *listener, bool autoclean=true) |
Adding BufferDataListener type listener. More... | |
void | removeConnectorDataListener (ConnectorDataListenerType listener_type, ConnectorDataListener *listener) |
Removing BufferDataListener type listener. More... | |
void | addConnectorListener (ConnectorListenerType callback_type, ConnectorListener *listener, bool autoclean=true) |
Adding ConnectorListener type listener. More... | |
void | removeConnectorListener (ConnectorListenerType callback_type, ConnectorListener *listener) |
Removing BufferDataListener type listener. More... | |
bool | isLittleEndian () |
return it whether endian setting. More... | |
virtual ReturnCode_t | connect (ConnectorProfile &connector_profile) throw (CORBA::SystemException) |
[CORBA interface] Connect the Port More... | |
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PortBase (const char *name="") | |
Constructor. More... | |
virtual | ~PortBase (void) |
Destructor. More... | |
virtual PortProfile * | get_port_profile () throw (CORBA::SystemException) |
[CORBA interface] Get the PortProfile of the Port More... | |
const PortProfile & | getPortProfile () const |
Get the PortProfile of the Port. More... | |
virtual ConnectorProfileList * | get_connector_profiles () throw (CORBA::SystemException) |
[CORBA interface] Get the ConnectorProfileList of the Port More... | |
virtual ConnectorProfile * | get_connector_profile (const char *connector_id) throw (CORBA::SystemException) |
[CORBA interface] Get the ConnectorProfile More... | |
virtual ReturnCode_t | notify_connect (ConnectorProfile &connector_profile) throw (CORBA::SystemException) |
[CORBA interface] Notify the Ports connection More... | |
virtual ReturnCode_t | disconnect (const char *connector_id) throw (CORBA::SystemException) |
[CORBA interface] Disconnect the Port More... | |
virtual ReturnCode_t | notify_disconnect (const char *connector_id) throw (CORBA::SystemException) |
[CORBA interface] Notify the Ports disconnection More... | |
virtual ReturnCode_t | disconnect_all () throw (CORBA::SystemException) |
[CORBA interface] Disconnect the All Ports More... | |
void | setName (const char *name) |
Set the name of this Port. More... | |
const char * | getName () const |
Get the name of this Port. More... | |
const PortProfile & | getProfile () const |
Get the PortProfile of the Port. More... | |
void | setPortRef (PortService_ptr port_ref) |
Set the object reference of this Port. More... | |
PortService_ptr | getPortRef () |
Get the object reference of this Port. More... | |
void | setOwner (RTObject_ptr owner) |
Set the owner RTObject of the Port. More... | |
void | setOnPublishInterfaces (ConnectionCallback *on_publish) |
Setting callback called on publish interfaces. More... | |
void | setOnSubscribeInterfaces (ConnectionCallback *on_subscribe) |
Setting callback called on publish interfaces. More... | |
void | setOnConnected (ConnectionCallback *on_connected) |
Setting callback called on connection established. More... | |
void | setOnUnsubscribeInterfaces (ConnectionCallback *on_subscribe) |
Setting callback called on unsubscribe interfaces. More... | |
void | setOnDisconnected (ConnectionCallback *on_disconnected) |
Setting callback called on disconnected. More... | |
void | setOnConnectionLost (ConnectionCallback *on_connection_lost) |
Setting callback called on connection lost. More... | |
void | setPortConnectListenerHolder (PortConnectListeners *portconnListeners) |
Setting PortConnectListener holder. More... | |
Additional Inherited Members | |
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enum | Enum { PORT_OK = 0, PORT_ERROR, BUFFER_ERROR, BUFFER_FULL, BUFFER_EMPTY, BUFFER_TIMEOUT, SEND_FULL, SEND_TIMEOUT, RECV_EMPTY, RECV_TIMEOUT, INVALID_ARGS, PRECONDITION_NOT_MET, CONNECTION_LOST, UNKNOWN_ERROR } |
DataPortStatus return codes. More... | |
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static const char * | toString (DataPortStatus::Enum status) |
Convert DataPortStatus into the string. More... | |
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DATAPORTSTATUS_ENUM typedef std::vector< InPortConnector * > | ConnectorList |
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typedef coil::Guard< coil::Mutex > | Guard |
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virtual ReturnCode_t | publishInterfaces (ConnectorProfile &connector_profile) |
Publish interface information. More... | |
virtual ReturnCode_t | subscribeInterfaces (const ConnectorProfile &connector_profile) |
Subscribe to the interface. More... | |
virtual void | unsubscribeInterfaces (const ConnectorProfile &connector_profile) |
Disconnect the interface connection. More... | |
void | initProviders () |
InPort provider initialization. More... | |
void | initConsumers () |
OutPort consumer initialization. More... | |
bool | checkEndian (const coil::Properties &prop, bool &littleEndian) |
Checking endian flag of serializer. More... | |
InPortProvider * | createProvider (ConnectorProfile &cprof, coil::Properties &prop) |
InPort provider creation. More... | |
OutPortConsumer * | createConsumer (const ConnectorProfile &cprof, coil::Properties &prop) |
InPort provider creation. More... | |
InPortConnector * | createConnector (ConnectorProfile &cprof, coil::Properties &prop, InPortProvider *provider) |
InPortPushConnector creation. More... | |
InPortConnector * | createConnector (const ConnectorProfile &cprof, coil::Properties &prop, OutPortConsumer *consumer) |
InPortPullConnector creation. More... | |
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bool | m_singlebuffer |
Buffer mode. More... | |
CdrBufferBase * | m_thebuffer |
Buffer. More... | |
coil::Properties | m_properties |
Properties. More... | |
coil::vstring | m_providerTypes |
Available providers. More... | |
coil::vstring | m_consumerTypes |
Available consumers. More... | |
ConnectorList | m_connectors |
Connection list. More... | |
bool | m_littleEndian |
Connected Endian. More... | |
ConnectorListeners | m_listeners |
ConnectorDataListener listener. More... | |
InPort template class.
This is a template class that implements InPort. <T> is the type defined in BasicDataType.idl and must be the structure which has both Time type tm and type-T data as a member. InPort has a ring buffer internally, and stores the received data externally in this buffer one by one. The size of ring buffer can be specified according to the argument of constructor, though the default size is 64. Unread data and data which is already read are managed with the flag, and the data can be handled by the isNew(), write(), read(), isFull() and isEmpty() method etc.
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inline |
A constructor.
constructor. This is bound to type-T variable given as a parameter.
name | A name of the InPort. This name is referred by InPortBase::name(). |
value | type-T variable that is bound to this InPort. |
bufsize | Buffer length of internal ring buffer of InPort (The default value:64) |
read_block | Flag of reading block. When there are not unread data at reading data, set whether to block data until receiving the next data. (The default value:false) |
write_block | Flag of writing block. If the buffer was full at writing data, set whether to block data until the buffer has space. (The default value:false) |
read_timeout | Data reading timeout time (millisecond) when not specifying read blocking. (The default value:0) |
write_timeout | Data writing timeout time (millisecond) when not specifying writing block. (The default value:0) |
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inlinevirtual |
Destructor.
Destructor
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inlinevirtual |
Check whether the data is newest.
Check whether the data stored at a current buffer position is newest.
References RTC::InPortBase::m_connectors, RTC::PortBase::m_connectorsMutex, RTC_DEBUG, and RTC_TRACE.
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inlinevirtual |
Check whether the data is newest.
Check whether the data stored at a current buffer position is newest.
References RTC::InPortBase::m_connectors, RTC::PortBase::m_connectorsMutex, RTC_DEBUG, and RTC_TRACE.
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inlinevirtual |
Get port name.
Get port name.
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Read the newly value data in InPort to type-T variable.
Read the newly data set in InPort and set to specified data variable.
rhs | The type-T variable to read from InPort's buffer |
References RTC::InPort< DataType >::read().
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inlinevirtual |
Readout the value from DataPort.
Readout the value from DataPort
Implements RTC::InPortBase.
References RTC::DataPortStatus::BUFFER_EMPTY, RTC::DataPortStatus::BUFFER_TIMEOUT, RTC::InPortBase::m_connectors, RTC::PortBase::m_connectorsMutex, RTC::DataPortStatus::PORT_OK, RTC_DEBUG, RTC_ERROR, RTC_TRACE, and RTC_WARN.
Referenced by RTC::InPort< DataType >::operator>>(), and RTC::InPort< DataType >::update().
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Set callback when data is readout to the InPort buffer.
Set the callback object that is invoked when data is readout to the InPort's buffer. The return value of callback object is the return result of the read() method.
on_rconvert | OnReadConvert<DataType> type object |
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inlinevirtual |
Read the newly value to type-T variable which is bound to InPort's buffer.
Read the newly value to type-T data which is bound to InPort's buffer. The type-T variable must be bound to InPort in constructor. Since this method assumes to be used for polymorphic, its argument and the return value do not depend on type.
References RTC::InPort< DataType >::read().