RTC::InPort< DataType > Class Template Reference

InPort template class. More...

#include <InPort.h>

Inheritance diagram for RTC::InPort< DataType >:

Public Member Functions
DataPortStatus::Enum	getStatus (int index)
	Getting specified connector's writing status. More...
DataPortStatusList	getStatusList ()
	Getting specified connector's writing status list. More...
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 bool	isEmpty ()
	Check whether the data is newest. More...
virtual bool	isNew ()
	Check whether the data is newest. More...
virtual const char *	name ()
	Get port name. More...
void	operator>> (DataType &rhs)
	Read the newly value data in InPort to type-T variable. More...
bool	read ()
	Readout the value from DataPort. 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...
virtual void	update ()
	Read the newly value to type-T variable which is bound to InPort's buffer. More...
virtual	~InPort (void)
	Destructor. More...
Public Member Functions inherited from RTC::InPortBase
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< InPortConnector * > &	connectors ()
	Connector list. More...
virtual void	deactivateInterfaces ()
	Deactivate all Port interfaces. More...
InPortConnector *	getConnectorById (const char *id)
	Getting ConnectorProfile by ID. More...
InPortConnector *	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...
	InPortBase (const char *name, const char *data_type)
	Constructor. More...
bool	isLittleEndian ()
	return it whether endian setting. 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	~InPortBase (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...

Private Attributes
std::string	m_name
OnRead< DataType > *	m_OnRead
	Pointer to OnRead callback functor. More...
OnReadConvert< DataType > *	m_OnReadConvert
	Pointer to OnReadConvert callback functor. More...
DataPortStatusList	m_status
std::string	m_typename
DataType &	m_value
	The reference to type-T value bound this OutPort. 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...
Public Attributes inherited from RTC::InPortBase
DATAPORTSTATUS_ENUM typedef std::vector< InPortConnector * >	ConnectorList
Protected Types inherited from RTC::PortBase
typedef coil::Guard< coil::Mutex >	Guard
Protected Member Functions inherited from RTC::InPortBase
bool	checkEndian (const coil::Properties &prop, bool &littleEndian)
	Checking endian flag of serializer. 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...
OutPortConsumer *	createConsumer (const ConnectorProfile &cprof, coil::Properties &prop)
	InPort provider creation. More...
InPortProvider *	createProvider (ConnectorProfile &cprof, coil::Properties &prop)
	InPort provider creation. More...
void	initConsumers ()
	OutPort consumer initialization. More...
void	initProviders ()
	InPort 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 inherited from RTC::InPortBase
ConnectorList	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...
bool	m_singlebuffer
	Buffer mode. More...
CdrBufferBase *	m_thebuffer
	Buffer. 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...

Detailed Description

template<class DataType>
class RTC::InPort< DataType >

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.

Since

0.2.0

Definition at line 89 of file InPort.h.

Constructor & Destructor Documentation

InPort()

template<class DataType>

DATAPORTSTATUS_ENUM RTC::InPort< DataType >::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  )

inline

A constructor.

constructor. This is bound to type-T variable given as a parameter.

Parameters

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)

Definition at line 145 of file InPort.h.

~InPort()

template<class DataType>

virtual RTC::InPort< DataType >::~InPort ( void  )

inlinevirtual

Destructor.

Destructor

Definition at line 175 of file InPort.h.

Member Function Documentation

getStatus()

template<class DataType>

DataPortStatus::Enum RTC::InPort< DataType >::getStatus ( int  index )

inline

Getting specified connector's writing status.

An InPort has Connectors that are virtual data stream channel for each connection. "write()" function write into these Connectors, and each Connector returns writing-status. write() function will return a true value if all Connectors return normal status, and a false value will be returned if at least one Connector failed. This function can be used to inspect each return status

Parameters

index

Connector index

Returns

Writing status

Definition at line 518 of file InPort.h.

getStatusList()

template<class DataType>

DataPortStatusList RTC::InPort< DataType >::getStatusList ( )

inline

Getting specified connector's writing status list.

An InPort has Connectors that are virtual data stream channel for each connection. "write()" function write into these Connectors, and each Connector returns writing-status. write() function will return a true value if all Connectors return normal status, and a false value will be returned if at least one Connector failed. This function can be used to inspect each return status

Returns

Writing status list

Definition at line 552 of file InPort.h.

isEmpty()

template<class DataType>

virtual bool RTC::InPort< DataType >::isEmpty ( void  )

inlinevirtual

Check whether the data is newest.

Check whether the data stored at a current buffer position is newest.

Returns

Newest data check result ( true:Newest data. Data has not been readout yet. false:Past data¡¥Data has already been readout.)

Definition at line 277 of file InPort.h.

isNew()

template<class DataType>

virtual bool RTC::InPort< DataType >::isNew ( )

inlinevirtual

Check whether the data is newest.

Check whether the data stored at a current buffer position is newest.

Returns

Newest data check result ( true:Newest data. Data has not been readout yet. false:Past data¡¥Data has already been readout.)

Definition at line 226 of file InPort.h.

name()

template<class DataType>

virtual const char* RTC::InPort< DataType >::name ( )

inlinevirtual

Get port name.

Get port name.

Returns

The port name

Definition at line 196 of file InPort.h.

operator>>()

template<class DataType>

void RTC::InPort< DataType >::operator>> ( DataType &  rhs )

inline

Read the newly value data in InPort to type-T variable.

Read the newly data set in InPort and set to specified data variable.

Parameters

rhs	The type-T variable to read from InPort's buffer

Definition at line 479 of file InPort.h.

read()

template<class DataType>

bool RTC::InPort< DataType >::read ( )

inlinevirtual

Readout the value from DataPort.

Readout the value from DataPort

• When Callback functor OnRead is already set, OnRead will be invoked before reading from the buffer held by DataPort.
• When the buffer held by DataPort can detect the underflow, and when it detected the underflow at reading, callback functor OnUnderflow will be invoked.
• When callback functor OnReadConvert is already set, the return value of operator() of OnReadConvert will be the return value of read().
• When timeout of reading is already set by setReadTimeout(), it waits for only timeout time until the state of the buffer underflow is reset, and if OnUnderflow is already set, this will be invoked to return.

Returns

Readout result (Successful:true, Failed:false)

Implements RTC::InPortBase.

Definition at line 379 of file InPort.h.

setOnRead()

template<class DataType>

void RTC::InPort< DataType >::setOnRead ( OnRead< DataType > *  on_read )

inline

Set callback when data is read from the InPort buffer.

Set the callback object that is invoked right before data is read from the InPort's buffer

Parameters

on_read

OnRead<DataType> type object

Definition at line 578 of file InPort.h.

setOnReadConvert()

template<class DataType>

void RTC::InPort< DataType >::setOnReadConvert ( OnReadConvert< DataType > *  on_rconvert )

inline

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.

Parameters

on_rconvert

OnReadConvert<DataType> type object

Definition at line 606 of file InPort.h.

update()

template<class DataType>

virtual void RTC::InPort< DataType >::update ( void  )

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.

Definition at line 454 of file InPort.h.

Member Data Documentation

m_name

template<class DataType>

std::string RTC::InPort< DataType >::m_name

private

Port's name

Definition at line 620 of file InPort.h.

m_OnRead

template<class DataType>

OnRead<DataType>* RTC::InPort< DataType >::m_OnRead

private

Pointer to OnRead callback functor.

Definition at line 638 of file InPort.h.

m_OnReadConvert

template<class DataType>

OnReadConvert<DataType>* RTC::InPort< DataType >::m_OnReadConvert

private

Pointer to OnReadConvert callback functor.

Definition at line 647 of file InPort.h.

m_status

template<class DataType>

DataPortStatusList RTC::InPort< DataType >::m_status

private

Definition at line 649 of file InPort.h.

m_typename

template<class DataType>

std::string RTC::InPort< DataType >::m_typename

private

Definition at line 612 of file InPort.h.

m_value

template<class DataType>

DataType& RTC::InPort< DataType >::m_value

private

The reference to type-T value bound this OutPort.

Definition at line 629 of file InPort.h.

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

• InPort.h