OutPort.h
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00001 // -*- C++ -*-
00020 #ifndef RTC_OUTPORT_H
00021 #define RTC_OUTPORT_H
00022 
00023 #include <iostream>
00024 #include <string>
00025 
00026 #include <coil/TimeValue.h>
00027 #include <coil/Time.h>
00028 #include <coil/TimeMeasure.h>
00029 #include <coil/OS.h>
00030 
00031 #include <rtm/RTC.h>
00032 #include <rtm/Typename.h>
00033 #include <rtm/OutPortBase.h>
00034 #include <rtm/CdrBufferBase.h>
00035 #include <rtm/PortCallback.h>
00036 #include <rtm/OutPortConnector.h>
00037 
00059 template <class DataType>
00060 void setTimestamp(DataType& data)
00061 {
00062       // set timestamp
00063       coil::TimeValue tm(coil::gettimeofday());
00064       data.tm.sec  = tm.sec();
00065       data.tm.nsec = tm.usec() * 1000;
00066 }
00067 
00068 namespace RTC
00069 {
00105   template <class DataType>
00106   class OutPort
00107     : public OutPortBase
00108   {
00109   public:
00133     OutPort(const char* name, DataType& value)
00134 #if defined(__GNUC__) && (__GNUC__ <= 3 && __GNUC_MINOR__ <= 3) 
00135       : OutPortBase(name, ::CORBA_Util::toRepositoryIdOfStruct<DataType>()),
00136 #else
00137       : OutPortBase(name, ::CORBA_Util::toRepositoryId<DataType>()),
00138 #endif
00139         m_value(value), m_onWrite(0), m_onWriteConvert(0)
00140     {
00141     }
00142     
00158     virtual ~OutPort(void)
00159     {
00160     }
00161     
00203     virtual bool write(DataType& value)
00204     {
00205       RTC_TRACE(("DataType write()"));
00206 
00207       if (m_onWrite != NULL)
00208         {
00209           (*m_onWrite)(value);
00210           RTC_TRACE(("OnWrite called"));
00211         }
00212 
00213       bool result(true);
00214       std::vector<const char *> disconnect_ids;
00215       {
00216         Guard guard(m_connectorsMutex);
00217         // check number of connectors
00218         size_t conn_size(m_connectors.size());
00219         if (!(conn_size > 0)) { return false; }
00220         
00221         m_status.resize(conn_size);
00222 
00223         for (size_t i(0), len(conn_size); i < len; ++i)
00224           {
00225             ReturnCode ret;
00226             if (m_onWriteConvert != NULL)
00227               {
00228                 RTC_DEBUG(("m_connectors.OnWriteConvert called"));
00229                 ret = m_connectors[i]->write(((*m_onWriteConvert)(value)));
00230               }
00231             else
00232               {
00233                 RTC_DEBUG(("m_connectors.write called"));
00234                 ret = m_connectors[i]->write(value);
00235               }
00236             m_status[i] = ret;
00237             if (ret == PORT_OK) { continue; }
00238       
00239             result = false;
00240             const char* id(m_connectors[i]->profile().id.c_str());
00241             RTC::ConnectorProfile prof(findConnProfile(id));
00242 
00243             if (ret == CONNECTION_LOST)
00244               {
00245                 RTC_WARN(("connection_lost id: %s", id));
00246                 if (m_onConnectionLost != 0)
00247                   {
00248                     (*m_onConnectionLost)(prof);
00249                   }
00250                 disconnect_ids.push_back(id);
00251               }
00252           }
00253       }
00254       std::for_each(disconnect_ids.begin(),disconnect_ids.end(),
00255                     std::bind1st(std::mem_fun(&PortBase::disconnect),this));
00256       return result;
00257     }
00258     
00280     bool write()
00281     {
00282       return write(m_value);
00283     }
00284     
00310     bool operator<<(DataType& value)
00311     {
00312       return write(value);
00313     }
00314 
00347     DataPortStatus::Enum getStatus(int index)
00348     {
00349       return m_status[index];
00350     }
00381     DataPortStatusList getStatusList()
00382     {
00383       return m_status;
00384     }
00385 
00415     inline void setOnWrite(OnWrite<DataType>* on_write)
00416     {
00417       m_onWrite = on_write;
00418     }
00419     
00456     inline void setOnWriteConvert(OnWriteConvert<DataType>* on_wconvert)
00457     {
00458       m_onWriteConvert = on_wconvert;
00459     }
00460     
00461   private:
00462     std::string m_typename;
00470     DataType& m_value;
00471     
00479     OnWrite<DataType>* m_onWrite;
00480     
00488     OnWriteConvert<DataType>* m_onWriteConvert;
00489 
00490     coil::TimeMeasure m_cdrtime;
00491 
00492     DataPortStatusList m_status;
00493   };
00494 }; // namespace RTC
00495 
00496 #endif // RTC_OUTPORT_H


openrtm_aist
Author(s): Noriaki Ando
autogenerated on Sun Mar 26 2017 03:37:16