Output base class. More...

#include <OutPortBase.h>

Inheritance diagram for RTC::OutPortBase:

[legend]

Classes
struct	connector_cleanup
	Functor to delete Connectors. More...

struct	provider_cleanup
	Functor to delete Providers. More...

Public Member Functions
virtual void	activateInterfaces ()
	Activate all Port interfaces. More...

void	addConnectorDataListener (ConnectorDataListenerType listener_type, ConnectorDataListener *listener, bool autoclean=true)
	Adding BufferDataListener type listener. More...

void	addConnectorListener (ConnectorListenerType callback_type, ConnectorListener *listener, bool autoclean=true)
	Adding ConnectorListener type listener. More...

virtual ReturnCode_t	connect (ConnectorProfile &connector_profile) throw (CORBA::SystemException)
	[CORBA interface] Connect the Port More...

const std::vector< OutPortConnector * > &	connectors ()
	Connector list. More...

virtual void	deactivateInterfaces ()
	Deactivate all Port interfaces. More...

OutPortConnector *	getConnectorById (const char *id)
	Getting ConnectorProfile by ID. More...

OutPortConnector *	getConnectorByName (const char *name)
	Getting Connector by name. More...

coil::vstring	getConnectorIds ()
	ConnectorId list. More...

coil::vstring	getConnectorNames ()
	Connector name list. 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...

ConnectorInfoList	getConnectorProfiles ()
	ConnectorProfile list. More...

void	init (coil::Properties &prop)
	Initializing properties. More...

bool	isLittleEndian ()
	return it whether endian setting. More...

	OutPortBase (const char name, const char data_type)
	Constructor. More...

coil::Properties &	properties ()
	Get properties. More...

void	removeConnectorDataListener (ConnectorDataListenerType listener_type, ConnectorDataListener *listener)
	Removing BufferDataListener type listener. More...

void	removeConnectorListener (ConnectorListenerType callback_type, ConnectorListener *listener)
	Removing BufferDataListener type listener. More...

virtual bool	write ()=0
	Write data. More...

virtual	~OutPortBase (void)
	Destructor. More...

Public Member Functions inherited from RTC::PortBase
virtual ReturnCode_t	disconnect (const char *connector_id) throw (CORBA::SystemException)
	[CORBA interface] Disconnect the Port More...

virtual ReturnCode_t	disconnect_all () throw (CORBA::SystemException)
	[CORBA interface] Disconnect the All Ports More...

virtual ConnectorProfile *	get_connector_profile (const char *connector_id) throw (CORBA::SystemException)
	[CORBA interface] Get the ConnectorProfile More...

virtual ConnectorProfileList *	get_connector_profiles () throw (CORBA::SystemException)
	[CORBA interface] Get the ConnectorProfileList of the Port More...

virtual PortProfile *	get_port_profile () throw (CORBA::SystemException)
	[CORBA interface] Get the PortProfile of the Port More...

const char *	getName () const
	Get the name of this Port. More...

const PortProfile &	getPortProfile () const
	Get the PortProfile of the Port. More...

PortService_ptr	getPortRef ()
	Get the object reference of this Port. More...

const PortProfile &	getProfile () const
	Get the PortProfile of the Port. More...

virtual ReturnCode_t	notify_connect (ConnectorProfile &connector_profile) throw (CORBA::SystemException)
	[CORBA interface] Notify the Ports connection More...

virtual ReturnCode_t	notify_disconnect (const char *connector_id) throw (CORBA::SystemException)
	[CORBA interface] Notify the Ports disconnection More...

	PortBase (const char *name="")
	Constructor. More...

void	setName (const char *name)
	Set the name of this Port. More...

void	setOnConnected (ConnectionCallback *on_connected)
	Setting callback called on connection established. More...

void	setOnConnectionLost (ConnectionCallback *on_connection_lost)
	Setting callback called on connection lost. More...

void	setOnDisconnected (ConnectionCallback *on_disconnected)
	Setting callback called on disconnected. 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	setOnUnsubscribeInterfaces (ConnectionCallback *on_subscribe)
	Setting callback called on unsubscribe interfaces. More...

void	setOwner (RTObject_ptr owner)
	Set the owner RTObject of the Port. More...

void	setPortConnectListenerHolder (PortConnectListeners *portconnListeners)
	Setting PortConnectListener holder. More...

void	setPortRef (PortService_ptr port_ref)
	Set the object reference of this Port. More...

virtual	~PortBase (void)
	Destructor. More...

Public Attributes
DATAPORTSTATUS_ENUM typedef std::vector< OutPortConnector * >	ConnectorList

Protected Member Functions
bool	checkEndian (const coil::Properties &prop, bool &littleEndian)
	Checking endian flag of serializer. More...

void	configure ()
	Configureing outport. More...

OutPortConnector *	createConnector (const ConnectorProfile &cprof, coil::Properties &prop, InPortConsumer *consumer)
	OutPortPushConnector creation. More...

OutPortConnector *	createConnector (const ConnectorProfile &cprof, coil::Properties &prop, OutPortProvider *provider)
	OutPortPullConnector creation. More...

InPortConsumer *	createConsumer (const ConnectorProfile &cprof, coil::Properties &prop)
	InPort consumer creation. More...

OutPortProvider *	createProvider (ConnectorProfile &cprof, coil::Properties &prop)
	OutPort provider creation. More...

void	initConsumers ()
	InPort consumer initialization. More...

void	initProviders ()
	OutPort provider initialization. More...

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...

Protected Member Functions inherited from RTC::PortBase
virtual ReturnCode_t	_publishInterfaces (void)
	Publish interface information. More...

template<class ValueType >
void	addProperty (const char *key, ValueType value)
	Add NameValue data to PortProfile's properties. More...

bool	appendInterface (const char name, const char type_name, PortInterfacePolarity pol)
	Append an interface to the PortInterfaceProfile. More...

void	appendProperty (const char key, const char value)
	Append NameValue data to PortProfile's properties. More...

bool	checkPorts (::RTC::PortServiceList &ports)
	Existence of ports. More...

virtual ReturnCode_t	connectNext (ConnectorProfile &connector_profile)
	Call notify_connect() of the next Port. More...

bool	deleteInterface (const char *name, PortInterfacePolarity pol)
	Delete the interface registration from the PortInterfaceProfile. More...

virtual ReturnCode_t	disconnectNext (ConnectorProfile &connector_profile)
	Call notify_disconnect() of the next Port. More...

bool	eraseConnectorProfile (const char *id)
	Delete the ConnectorProfile. More...

ConnectorProfile	findConnProfile (const char *id)
	Find ConnectorProfile with id. More...

CORBA::Long	findConnProfileIndex (const char *id)
	Find ConnectorProfile with id. More...

const std::string	getUUID () const
	Generate the UUID. More...

bool	isEmptyId (const ConnectorProfile &connector_profile) const
	Check whether connector_id of ConnectorProfile is empty. More...

bool	isExistingConnId (const char *id)
	Check whether the given id exists in stored ConnectorProfiles. More...

void	onConnected (const char *portname, RTC::ConnectorProfile &profile, ReturnCode_t ret)

void	onConnectNextport (const char *portname, RTC::ConnectorProfile &profile, ReturnCode_t ret)

void	onDisconnected (const char *portname, RTC::ConnectorProfile &profile, ReturnCode_t ret)

void	onDisconnectNextport (const char *portname, RTC::ConnectorProfile &profile, ReturnCode_t ret)

void	onNotifyConnect (const char *portname, RTC::ConnectorProfile &profile)

void	onNotifyDisconnect (const char *portname, RTC::ConnectorProfile &profile)

void	onPublishInterfaces (const char *portname, RTC::ConnectorProfile &profile, ReturnCode_t ret)

void	onSubscribeInterfaces (const char *portname, RTC::ConnectorProfile &profile, ReturnCode_t ret)

void	onUnsubscribeInterfaces (const char *portname, RTC::ConnectorProfile &profile)

virtual void	setConnectionLimit (int limit_value)
	Set the maximum number of connections. More...

void	setUUID (ConnectorProfile &connector_profile) const
	Generate and set the UUID to the ConnectorProfile. More...

void	updateConnectorProfile (const ConnectorProfile &connector_profile)
	Append or update the ConnectorProfile list. More...

void	updateConnectors ()
	Disconnect ports that doesn't exist. More...

Protected Attributes
std::vector< OutPortConnector * >	m_connectors
	Connection list. More...

coil::vstring	m_consumerTypes
	Available consumers. More...

ConnectorListeners	m_listeners
	ConnectorDataListener listener. More...

bool	m_littleEndian
	Connected Endian. More...

coil::Properties	m_properties
	Properties. More...

coil::vstring	m_providerTypes
	Available providers. More...

Protected Attributes inherited from RTC::PortBase
int	m_connectionLimit
	The maximum number of connections. More...

coil::Mutex	m_connectorsMutex

RTC::PortService_var	m_objref
	Object Reference of the Port. More...

ConnectionCallback *	m_onConnected
	Callback functor objects. More...

ConnectionCallback *	m_onConnectionLost
	Callback functor objects. More...

ConnectionCallback *	m_onDisconnected
	Callback functor objects. More...

ConnectionCallback *	m_onPublishInterfaces
	Callback functor objects. More...

ConnectionCallback *	m_onSubscribeInterfaces
	Callback functor objects. More...

ConnectionCallback *	m_onUnsubscribeInterfaces
	Callback functor objects. More...

std::string	m_ownerInstanceName
	Instance name. More...

PortConnectListeners *	m_portconnListeners
	PortConnectListener holder. More...

PortProfile	m_profile
	PortProfile of the Port. More...

coil::Mutex	m_profile_mutex
	Mutex of PortProfile. More...

Logger	rtclog
	Logger stream. More...

Additional Inherited Members
Public Types inherited from RTC::DataPortStatus
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...

Static Public Member Functions inherited from RTC::DataPortStatus
static const char *	toString (DataPortStatus::Enum status)
	Convert DataPortStatus into the string. More...

Protected Types inherited from RTC::PortBase
typedef coil::Guard< coil::Mutex >	Guard

Detailed Description

Output base class.

The base class of OutPort<T> which are implementations of OutPort

Form a kind of Observer pattern with OutPortBase and PublisherBase. attach(), detach(), notify() of OutPortBase and push() of PublisherBase are methods associated with the Observer pattern.

Since: 0.2.0

Definition at line 230 of file OutPortBase.h.

Constructor & Destructor Documentation

RTC::OutPortBase::OutPortBase	(	const char *	name,
		const char *	data_type
	)

Constructor.

Constructor

Parameters

name	Port name
data_type	Data type

Definition at line 81 of file OutPortBase.cpp.

RTC::OutPortBase::~OutPortBase ( void )

virtual

Destructor.

Destructor Detach all subscribed Publishers.

Definition at line 110 of file OutPortBase.cpp.

Member Function Documentation

void RTC::OutPortBase::activateInterfaces ( )

virtual

Activate all Port interfaces.

This operation activate all interfaces that is registered in the ports.

Implements RTC::PortBase.

Definition at line 325 of file OutPortBase.cpp.

void RTC::OutPortBase::addConnectorDataListener	(	ConnectorDataListenerType	listener_type,
		ConnectorDataListener *	listener,
		bool	autoclean = `true`
	)

Adding BufferDataListener type listener.

This operation adds certain listeners related to buffer writing and reading events. The following listener types are available.

ON_BUFFER_WRITE: At the time of buffer write
ON_BUFFER_FULL: At the time of buffer full
ON_BUFFER_WRITE_TIMEOUT: At the time of buffer write timeout
ON_BUFFER_OVERWRITE: At the time of buffer overwrite
ON_BUFFER_READ: At the time of buffer read
ON_SEND: At the time of sending to InPort
ON_RECEIVED: At the time of finishing sending to InPort
ON_SENDER_TIMEOUT: At the time of timeout of OutPort
ON_SENDER_ERROR: At the time of error of OutPort
ON_RECEIVER_FULL: At the time of bufferfull of InPort
ON_RECEIVER_TIMEOUT: At the time of timeout of InPort
ON_RECEIVER_ERROR: At the time of error of InPort

Listeners should have the following function operator().

ConnectorDataListener:: operator()(const ConnectorProfile&, const cdrStream&)

The ownership of the given listener object is transferred to this OutPort object in default. The given listener object will be destroied automatically in the OutPort's dtor or if the listener is deleted by removeConnectorDataListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters

listener_type	A listener type
listener	A pointer to a listener object
autoclean	A flag for automatic listener destruction

Definition at line 365 of file OutPortBase.cpp.

void RTC::OutPortBase::addConnectorListener	(	ConnectorListenerType	callback_type,
		ConnectorListener *	listener,
		bool	autoclean = `true`
	)

Adding ConnectorListener type listener.

This operation adds certain listeners related to buffer writing and reading events. The following listener types are available.

ON_BUFFER_EMPTY: At the time of buffer empty
ON_BUFFER_READTIMEOUT: At the time of buffer read timeout

Listeners should have the following function operator().

ConnectorListener::operator()(const ConnectorProfile&)

The ownership of the given listener object is transferred to this OutPort object in default. The given listener object will be destroied automatically in the OutPort's dtor or if the listener is deleted by removeConnectorListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters

listener_type	A listener type
listener	A pointer to a listener object
autoclean	A flag for automatic listener destruction

Definition at line 413 of file OutPortBase.cpp.

bool RTC::OutPortBase::checkEndian	(	const coil::Properties &	prop,
		bool &	littleEndian
	)

protected

Checking endian flag of serializer.

This operation checks endian flag of data serializer that is specified properties. If valid specification is found, this operation returns true and set argument littleEndian. True means little endian, false means big endian.

Parameters

prop	Properties
littleEndian	Endian Information(true:little,false:big)

Returns: true:"Serializer" key doesn't exist. or "Serializer" key exists and there is a content. false:There is no content though "Serializer" key exists. or ithe content is not "Little. " though "Serializer" key exists, or the content is not "little" or "big" though "Serializer" key exists.

Definition at line 807 of file OutPortBase.cpp.

void RTC::OutPortBase::configure ( )

protected

Configureing outport.

This operation configures the outport based on the properties.

Definition at line 499 of file OutPortBase.cpp.

ReturnCode_t RTC::OutPortBase::connect	(	ConnectorProfile &	connector_profile	)
throw	(	CORBA::SystemException
	)

virtual

[CORBA interface] Connect the Port

This operation establishes connection according to the given ConnectionProfile inforamtion. This function is premised on calling from mainly application program or tools.

Parameters

connector_profile The ConnectorProfile.

Returns: ReturnCode_t The return code of ReturnCode_t type.

Reimplemented from RTC::PortBase.

Definition at line 470 of file OutPortBase.cpp.

const std::vector< OutPortConnector * > & RTC::OutPortBase::connectors ( )

Connector list.

This operation returns connector list

Returns: connector list

Definition at line 172 of file OutPortBase.cpp.

OutPortConnector * RTC::OutPortBase::createConnector	(	const ConnectorProfile &	cprof,
		coil::Properties &	prop,
		InPortConsumer *	consumer
	)

protected

OutPortPushConnector creation.

Definition at line 943 of file OutPortBase.cpp.

OutPortConnector * RTC::OutPortBase::createConnector	(	const ConnectorProfile &	cprof,
		coil::Properties &	prop,
		OutPortProvider *	provider
	)

protected

OutPortPullConnector creation.

Definition at line 996 of file OutPortBase.cpp.

InPortConsumer * RTC::OutPortBase::createConsumer	(	const ConnectorProfile &	cprof,
		coil::Properties &	prop
	)

protected

InPort consumer creation.

Definition at line 898 of file OutPortBase.cpp.

OutPortProvider * RTC::OutPortBase::createProvider	(	ConnectorProfile &	cprof,
		coil::Properties &	prop
	)

protected

OutPort provider creation.

Definition at line 845 of file OutPortBase.cpp.

void RTC::OutPortBase::deactivateInterfaces ( )

virtual

Deactivate all Port interfaces.

This operation deactivate all interfaces that is registered in the ports.

Implements RTC::PortBase.

Definition at line 342 of file OutPortBase.cpp.

OutPortConnector * RTC::OutPortBase::getConnectorById ( const char * id )

Getting ConnectorProfile by ID.

Getting Connector by ID.

This operation returns Connector specified by ID.

Parameters

id	Connector ID

Returns: A pointer to connector

Definition at line 239 of file OutPortBase.cpp.

OutPortConnector * RTC::OutPortBase::getConnectorByName ( const char * name )

Getting Connector by name.

Getting ConnectorProfile by name.

This operation returns Connector specified by name.

Parameters

id	Connector ID

Returns: A pointer to connector

Definition at line 262 of file OutPortBase.cpp.

coil::vstring RTC::OutPortBase::getConnectorIds ( )

ConnectorId list.

This operation returns ConnectorId list

Returns: connector list

Definition at line 203 of file OutPortBase.cpp.

coil::vstring RTC::OutPortBase::getConnectorNames ( )

Connector name list.

This operation returns Connector name list

Returns: connector name list

Definition at line 221 of file OutPortBase.cpp.

bool RTC::OutPortBase::getConnectorProfileById	(	const char *	id,
		ConnectorInfo &	prof
	)

Getting ConnectorProfile by name.

This operation returns ConnectorProfile specified by name

Parameters

id	Connector ID
prof	ConnectorProfile

Returns: false��specified ID does not exist

Definition at line 285 of file OutPortBase.cpp.

bool RTC::OutPortBase::getConnectorProfileByName	(	const char *	name,
		ConnectorInfo &	prof
	)

Getting ConnectorProfile by name.

This operation returns ConnectorProfile specified by name

Parameters

id	Connector ID
prof	ConnectorProfile

Returns: false specified name does not exist

Definition at line 305 of file OutPortBase.cpp.

ConnectorInfoList RTC::OutPortBase::getConnectorProfiles ( )

ConnectorProfile list.

This operation returns ConnectorProfile list

Returns: connector list

Definition at line 185 of file OutPortBase.cpp.

void RTC::OutPortBase::init ( coil::Properties & prop )

Initializing properties.

This operation initializes outport's properties

Parameters

prop	Property for setting ports

Definition at line 126 of file OutPortBase.cpp.

void RTC::OutPortBase::initConsumers ( )

protected

InPort consumer initialization.

Definition at line 758 of file OutPortBase.cpp.

void RTC::OutPortBase::initProviders ( )

protected

OutPort provider initialization.

Definition at line 709 of file OutPortBase.cpp.

bool RTC::OutPortBase::isLittleEndian ( )

return it whether endian setting.

return it whether endian setting is little

Returns: Return true in the case of "little", false in "big" than it.

Definition at line 458 of file OutPortBase.cpp.

coil::Properties & RTC::OutPortBase::properties ( )

Get properties.

Getting properties of this OutPort

Returns: OutPort's properties

Definition at line 159 of file OutPortBase.cpp.

ReturnCode_t RTC::OutPortBase::publishInterfaces ( ConnectorProfile & connector_profile )

protectedvirtual

Publish interface information.

This operation is pure virutal function that would be called at the beginning of the notify_connect() process sequence. In the notify_connect(), the following methods would be called in order.

This operation should create the new connection for the new connector_id, and should update the connection for the existing connection_id.

Parameters

connector_profile The connection profile information

Returns: The return code of ReturnCode_t type.

Implements RTC::PortBase.

Definition at line 512 of file OutPortBase.cpp.

void RTC::OutPortBase::removeConnectorDataListener	(	ConnectorDataListenerType	listener_type,
		ConnectorDataListener *	listener
	)

Removing BufferDataListener type listener.

Removing ConnectorDataListener type listener.

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

Definition at line 390 of file OutPortBase.cpp.

void RTC::OutPortBase::removeConnectorListener	(	ConnectorListenerType	callback_type,
		ConnectorListener *	listener
	)

Removing BufferDataListener type listener.

Removing ConnectorListener type listener.

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

Definition at line 437 of file OutPortBase.cpp.

ReturnCode_t RTC::OutPortBase::subscribeInterfaces ( const ConnectorProfile & connector_profile )

protectedvirtual

Subscribe to the interface.

Subscribe interface.

This operation is pure virutal function that would be called at the middle of the notify_connect() process sequence. In the notify_connect(), the following methods would be called in order.

Parameters

connector_profile The connection profile information

Returns: The return code of ReturnCode_t type.

Implements RTC::PortBase.

Definition at line 589 of file OutPortBase.cpp.

void RTC::OutPortBase::unsubscribeInterfaces ( const ConnectorProfile & connector_profile )

protectedvirtual

Disconnect the interface connection.

Unsubscribe interface.

This operation is pure virutal function that would be called at the end of the notify_disconnect() process sequence. In the notify_disconnect(), the following methods would be called.

Parameters

connector_profile The profile information associated with the connection

Implements RTC::PortBase.

Definition at line 677 of file OutPortBase.cpp.

virtual bool RTC::OutPortBase::write ( )

pure virtual

Write data.

Write data to the port. Write the value, which was set to the bound variable, to the port.

Returns: Writing result (Successful:true, Failed:false)

Implemented in OutPortBase::OutPortBaseMock, RTC::OutPort< DataType >, RTC::OutPort< TimedFloat >, RTC::OutPort< TimedOctet >, RTC::OutPort< TimedFloatSeq >, RTC::OutPort< TimedShortSeq >, RTC::OutPort< TimedOctetSeq >, RTC::OutPort< TimedLong >, RTC::OutPort< TimedLongSeq >, RTC::OutPort< TimedShort >, RTC::OutPort< RTC::TimedFloat >, RTC::OutPort< TimedDoubleSeq >, RTC::OutPort< TimedDouble >, RTObject::OutPortMock, and OutPortConnector::OutPortMock.

Member Data Documentation

DATAPORTSTATUS_ENUM typedef std::vector<OutPortConnector*> RTC::OutPortBase::ConnectorList

Definition at line 236 of file OutPortBase.h.

std::vector<OutPortConnector*> RTC::OutPortBase::m_connectors

protected

Connection list.

Definition at line 1032 of file OutPortBase.h.

coil::vstring RTC::OutPortBase::m_consumerTypes

protected

Available consumers.

Definition at line 1048 of file OutPortBase.h.

ConnectorListeners RTC::OutPortBase::m_listeners

protected

ConnectorDataListener listener.

Definition at line 1064 of file OutPortBase.h.

bool RTC::OutPortBase::m_littleEndian

protected

Connected Endian.

Definition at line 1056 of file OutPortBase.h.

coil::Properties RTC::OutPortBase::m_properties

protected

Properties.

Definition at line 1024 of file OutPortBase.h.

coil::vstring RTC::OutPortBase::m_providerTypes

protected

Available providers.

Definition at line 1040 of file OutPortBase.h.

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

Classes

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation