#include <InPortProvider.h>

Inheritance diagram for RTC::InPortProvider:

[legend]

Classes
struct	publishInterfaceFunc
	Functor to publish interface profile. More...

struct	publishInterfaceProfileFunc
	Functor to publish interface profile. More...

Public Member Functions
virtual void	init (coil::Properties &prop)=0
	Initializing configuration. More...

DATAPORTSTATUS_ENUM	InPortProvider ()
	Constructor. More...

virtual bool	publishInterface (SDOPackage::NVList &properties)
	Publish interface information. More...

virtual void	publishInterfaceProfile (SDOPackage::NVList &properties)
	Publish InterfaceProfile information. More...

virtual void	setBuffer (BufferBase< cdrMemoryStream > *buffer)=0
	Setting outside buffer's pointer. More...

virtual void	setConnector (InPortConnector *connector)=0
	set Connector More...

virtual void	setListener (ConnectorInfo &info, ConnectorListeners *listeners)=0
	Set the listener. More...

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

Protected Member Functions
void	setDataFlowType (const char *dataflow_type)
	Set the dataflow type. More...

void	setInterfaceType (const char *interface_type)
	Set the interface type. More...

void	setSubscriptionType (const char *subs_type)
	Set the subscription type. More...

Protected Attributes
SDOPackage::NVList	m_properties
	Properties to hold port profile. More...

Logger	rtclog
	Logger stream. More...

Private Attributes
std::string	m_dataflowType

std::string	m_interfaceType

std::string	m_subscriptionType

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...

Detailed Description

InPortProvider.

The virtual class for InPort's PROVIDED interface implementation. New interface for InPort have to inherit this class, and have to implement the following functions.

Moreover, calling the following functions in the constructor, and properties have to be set.

InPortProvider's properties that have to be provided to others should be set to protected variable (SDOPackage::NVList) m_properties. Values that are set to the property are published as interface profile information, and it is also published to required interface when connection is established. The following virtual functions are called when port's profiles are acquired from others or connections are established. The following virtual functions are called when port's profiles are acquired from others or connections are established. Interface profile information that is reviously set is given to Port calling by these functions.

InPort inquires available InPortProviders to the factory class of InPortProvider, and publishes available interfaces to others. Therefore, sub-classes of InPortProvider that provides PROVIDED interface to InPort should register its factory to InPortProviderFactory.

RTC::InPortProviderFactory::instance().addFactory() would be called with the following arguments.

1st arg: The name of provider. ex. "corba_cdr" 2nd arg: Factory function. coil::Creator<B, T> 3rd arg: Destruction function. coil::Destructor<B, T>

The following example shows how to register factory function. And it is also declared as a initialization function.

extern "C"
{
  void InPortCorbaCdrProviderInit(void)
  {
    RTC::InPortProviderFactory&
                        factory(RTC::InPortProviderFactory::instance());
    factory.addFactory("corba_cdr",
                       coil::Creator<RTC::InPortProvider,
                                       RTC::InPortCorbaCdrProvider>,
                       coil::Destructor<RTC::InPortProvider,
                                          RTC::InPortCorbaCdrProvider>);
  }
};

It is recommended that the registration process is declared as a initialization function with "extern C" to be accessed from the outside of module. If the InPortProviders are compiled as a shared object or DLL for dynamic loading, new InPortProvider types can be added dynamically.

Since: 0.4.0

Definition at line 190 of file InPortProvider.h.

Constructor & Destructor Documentation

◆ InPortProvider()

RTC::InPortProvider::InPortProvider ( )

Constructor.

Destructor.

Constructor

Definition at line 32 of file InPortProvider.cpp.

◆ ~InPortProvider()

RTC::InPortProvider::~InPortProvider ( void )

virtual

Destructor.

Virtual destructor

Definition at line 44 of file InPortProvider.cpp.

Member Function Documentation

◆ init()

virtual void RTC::InPortProvider::init ( coil::Properties & prop )

pure virtual

Initializing configuration.

This operation would be called to configure in initialization. In the concrete class, configuration should be performed getting appropriate information from the given Properties data. This function might be called right after instantiation and connection sequence respectivly. Therefore, this function should be implemented assuming multiple call.

Parameters

prop	Configuration information

Implemented in InPortBase::InPortCorbaCdrProviderMock, InPortPushConnector::InPortCorbaCdrProviderMock, InPort::InPortCorbaCdrProviderMock, RTC::InPortCorbaCdrProvider, and InPortProvider::InPortProviderMock.

◆ publishInterface()

bool RTC::InPortProvider::publishInterface ( SDOPackage::NVList & properties )

virtual

Publish interface information.

Publish Interface information.

Publish interface information. Check the dataport.interface_type value of the NameValue object specified by an argument in the property information, and add the information to the NameValue if this port is not specified. This does not do anything if the same interface is already subscribed.

Parameters

properties Properties to receive interface information

Returns: true: normal return

Definition at line 76 of file InPortProvider.cpp.

◆ publishInterfaceProfile()

void RTC::InPortProvider::publishInterfaceProfile ( SDOPackage::NVList & properties )

virtual

Publish InterfaceProfile information.

Publish interfaceProfile information. Check the dataport.interface_type value of the NameValue object specified by an argument in property information and get information only when the interface type of the specified port is matched.

Parameters

properties Properties to get InterfaceProfile information

Reimplemented in InPortBase::InPortCorbaCdrProviderMock, InPortPushConnector::InPortCorbaCdrProviderMock, and InPort::InPortCorbaCdrProviderMock.

Definition at line 55 of file InPortProvider.cpp.

◆ setBuffer()

virtual void RTC::InPortProvider::setBuffer ( BufferBase< cdrMemoryStream > * buffer )

pure virtual

Setting outside buffer's pointer.

A pointer to a buffer from which OutPortProvider retrieve data. If already buffer is set, previous buffer's pointer will be overwritten by the given pointer to a buffer. Since OutPortProvider does not assume ownership of the buffer pointer, destructor of the buffer should be done by user.

Parameters

buffer A pointer to a data buffer to be used by OutPortProvider

Implemented in InPortBase::InPortCorbaCdrProviderMock, InPortPushConnector::InPortCorbaCdrProviderMock, InPort::InPortCorbaCdrProviderMock, RTC::InPortCorbaCdrProvider, and InPortProvider::InPortProviderMock.

◆ setConnector()

virtual void RTC::InPortProvider::setConnector ( InPortConnector * connector )

pure virtual

set Connector

OutPort creates OutPortConnector object when it establishes connection between OutPort and InPort, and it calls this function with a pointer to the connector object. Since the OutPort has the ownership of this connector, OutPortProvider should not delete it.

Parameters

connector OutPortConnector

Implemented in InPortBase::InPortCorbaCdrProviderMock, InPortPushConnector::InPortCorbaCdrProviderMock, InPort::InPortCorbaCdrProviderMock, RTC::InPortCorbaCdrProvider, and InPortProvider::InPortProviderMock.

◆ setDataFlowType()

void RTC::InPortProvider::setDataFlowType ( const char * dataflow_type )

protected

Set the dataflow type.

Parameters

dataflow_type The target data flow type for set

Definition at line 115 of file InPortProvider.cpp.

◆ setInterfaceType()

void RTC::InPortProvider::setInterfaceType ( const char * interface_type )

protected

Set the interface type.

Parameters

interface_type The target interface type for set

Definition at line 102 of file InPortProvider.cpp.

◆ setListener()

virtual void RTC::InPortProvider::setListener	(	ConnectorInfo &	info,
		ConnectorListeners *	listeners
	)

pure virtual

Set the listener.

OutPort provides callback functionality that calls specific listener objects according to the events in the data publishing process. For details, see documentation of ConnectorDataListener class and ConnectorListener class in ConnectorListener.h. In the sub-classes of OutPortProvider, the given listeners should be called in the proper timing. However, it is not necessary to call all the listeners.

Parameters

info	Connector information
listeners	Listener objects

Implemented in InPortBase::InPortCorbaCdrProviderMock, InPortPushConnector::InPortCorbaCdrProviderMock, InPort::InPortCorbaCdrProviderMock, RTC::InPortCorbaCdrProvider, and InPortProvider::InPortProviderMock.

◆ setSubscriptionType()

void RTC::InPortProvider::setSubscriptionType ( const char * subs_type )

protected

Set the subscription type.

Parameters

subs_type The target subscription type for set

Definition at line 128 of file InPortProvider.cpp.

Member Data Documentation

◆ m_dataflowType

std::string RTC::InPortProvider::m_dataflowType

private

Definition at line 474 of file InPortProvider.h.

◆ m_interfaceType

std::string RTC::InPortProvider::m_interfaceType

private

Definition at line 473 of file InPortProvider.h.

◆ m_properties

SDOPackage::NVList RTC::InPortProvider::m_properties

protected

Properties to hold port profile.

Definition at line 461 of file InPortProvider.h.

◆ m_subscriptionType

std::string RTC::InPortProvider::m_subscriptionType

private

Definition at line 475 of file InPortProvider.h.

◆ rtclog

Logger RTC::InPortProvider::rtclog

mutableprotected

Logger stream.

Definition at line 470 of file InPortProvider.h.

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ InPortProvider()

◆ ~InPortProvider()

Member Function Documentation

◆ init()

◆ publishInterface()

◆ publishInterfaceProfile()

◆ setBuffer()

◆ setConnector()

◆ setDataFlowType()

◆ setInterfaceType()

◆ setListener()

◆ setSubscriptionType()

Member Data Documentation

◆ m_dataflowType

◆ m_interfaceType

◆ m_properties

◆ m_subscriptionType

◆ rtclog