#include <OutPortProvider.h>

Inheritance diagram for RTC::OutPortProvider:

[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)
	Initializing configuration. More...

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

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

virtual void	setBuffer (CdrBufferBase *buffer)=0
	Setting outside buffer's pointer. More...

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

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

virtual DATAPORTSTATUS_ENUM	~OutPortProvider (void)
	Destructor. More...

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

void	setDataType (const char *data_type)
	Set the data type. More...

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

void	setPortType (const char *port_type)
	Set the port type. More...

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

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

Logger	rtclog
	Logger stream. More...

Private Attributes
std::string	m_dataflowType

std::string	m_dataType

std::string	m_interfaceType

std::string	m_portType

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

OutPortProvider.

The virtual class for OutPort's PROVIDED interface implementation. New interface for OutPort 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.

OutPortProvider'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.

OutPort inquires available OutPortProviders to the factory class of OutPortProvider, and publishes available interfaces to others. Therefore, sub-classes of OutPortProvider that provides PROVIDED interface to OutPort should register its factory to OutPortProviderFactory.

RTC::OutPortProviderFactory::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 OutPortCorbaCdrProviderInit(void)
  {
    RTC::OutPortProviderFactory&
                        factory(RTC::OutPortProviderFactory::instance());
    factory.addFactory("corba_cdr",
                       coil::Creator<RTC::OutPortProvider,
                                       RTC::OutPortCorbaCdrProvider>,
                       coil::Destructor<RTC::OutPortProvider,
                                          RTC::OutPortCorbaCdrProvider>);
  }
};

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 OutPortProviders are compiled as a shared object or DLL for dynamic loading, new OutPortProvider types can be added dynamically.

Since: 0.4.0

Definition at line 189 of file OutPortProvider.h.

Constructor & Destructor Documentation

◆ ~OutPortProvider()

RTC::OutPortProvider::~OutPortProvider ( void )

virtual

Destructor.

Virtual destructor

Definition at line 32 of file OutPortProvider.cpp.

Member Function Documentation

◆ init()

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

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

Reimplemented in OutPortBase::OutPortCorbaCdrProviderMock, OutPortPullConnector::OutPortCorbaCdrProviderMock, OutPort::OutPortCorbaCdrProviderMock, and RTC::OutPortCorbaCdrProvider.

Definition at line 43 of file OutPortProvider.cpp.

◆ publishInterface()

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

virtual

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

Reimplemented in OutPortBase::OutPortCorbaCdrProviderMock.

Definition at line 74 of file OutPortProvider.cpp.

◆ publishInterfaceProfile()

void RTC::OutPortProvider::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 OutPortBase::OutPortCorbaCdrProviderMock, OutPortPullConnector::OutPortCorbaCdrProviderMock, and OutPort::OutPortCorbaCdrProviderMock.

Definition at line 54 of file OutPortProvider.cpp.

◆ setBuffer()

void RTC::OutPortProvider::setBuffer ( CdrBufferBase * 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 OutPortBase::OutPortCorbaCdrProviderMock, OutPortPullConnector::OutPortCorbaCdrProviderMock, OutPortProvider::OutPortProviderMock, and RTC::OutPortCorbaCdrProvider.

Definition at line 1035 of file OutPortTests.cpp.

◆ setConnector()

virtual void RTC::OutPortProvider::setConnector ( OutPortConnector * 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 OutPortBase::OutPortCorbaCdrProviderMock, OutPortPullConnector::OutPortCorbaCdrProviderMock, RTC::OutPortCorbaCdrProvider, and OutPortProvider::OutPortProviderMock.

◆ setDataFlowType()

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

protected

Set the data flow type.

Set the data flow type specified by the argument.

Parameters

dataflow_type The target data flow type to set

Definition at line 130 of file OutPortProvider.cpp.

◆ setDataType()

void RTC::OutPortProvider::setDataType ( const char * data_type )

protected

Set the data type.

Set the data type specified by the argument.

Parameters

data_type The target data type to set

Definition at line 106 of file OutPortProvider.cpp.

◆ setInterfaceType()

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

protected

Set the interface type.

Set theinterface type specified by the argument.

Parameters

interface_type The target interface type to set

Definition at line 118 of file OutPortProvider.cpp.

◆ setListener()

virtual void RTC::OutPortProvider::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 OutPortBase::OutPortCorbaCdrProviderMock, OutPortPullConnector::OutPortCorbaCdrProviderMock, RTC::OutPortCorbaCdrProvider, and OutPortProvider::OutPortProviderMock.

◆ setPortType()

void RTC::OutPortProvider::setPortType ( const char * port_type )

protected

Set the port type.

Set the port type specified by the argument.

Parameters

port_type The target port type to set

Definition at line 94 of file OutPortProvider.cpp.

◆ setSubscriptionType()

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

protected

Set the subscription type.

Set the subscription type specified by the argument.

Parameters

subs_type The target subscription type to set

Definition at line 142 of file OutPortProvider.cpp.

Member Data Documentation

◆ m_dataflowType

std::string RTC::OutPortProvider::m_dataflowType

private

Definition at line 496 of file OutPortProvider.h.

◆ m_dataType

std::string RTC::OutPortProvider::m_dataType

private

Definition at line 494 of file OutPortProvider.h.

◆ m_interfaceType

std::string RTC::OutPortProvider::m_interfaceType

private

Definition at line 495 of file OutPortProvider.h.

◆ m_portType

std::string RTC::OutPortProvider::m_portType

private

Definition at line 493 of file OutPortProvider.h.

◆ m_properties

SDOPackage::NVList RTC::OutPortProvider::m_properties

protected

Properties to hold the port profiles.

Definition at line 482 of file OutPortProvider.h.

◆ m_subscriptionType

std::string RTC::OutPortProvider::m_subscriptionType

private

Definition at line 497 of file OutPortProvider.h.

◆ rtclog

Logger RTC::OutPortProvider::rtclog

mutableprotected

Logger stream.

Definition at line 490 of file OutPortProvider.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

◆ ~OutPortProvider()

Member Function Documentation

◆ init()

◆ publishInterface()

◆ publishInterfaceProfile()

◆ setBuffer()

◆ setConnector()

◆ setDataFlowType()

◆ setDataType()

◆ setInterfaceType()

◆ setListener()

◆ setPortType()

◆ setSubscriptionType()

Member Data Documentation

◆ m_dataflowType

◆ m_dataType

◆ m_interfaceType

◆ m_portType

◆ m_properties

◆ m_subscriptionType

◆ rtclog