Port base class. More...

#include <PortBase.h>

Inheritance diagram for RTC::PortBase:

[legend]

Classes
struct	find_conn_id
	Functor to find a ConnectorProfile named id. More...

struct	find_interface
	Functor to find interface from name and polarity. More...

struct	find_port_ref
	Functor to find the object reference that is identical port_ref. More...

Public Member Functions
virtual void	activateInterfaces ()=0
	Activate all Port interfaces. More...

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

virtual void	deactivateInterfaces ()=0
	Deactivate all Port interfaces. More...

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...

Protected Types
typedef coil::Guard< coil::Mutex >	Guard

Protected Member Functions
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 ReturnCode_t	publishInterfaces (ConnectorProfile &connector_profile)=0
	Publish interface information. More...

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...

virtual ReturnCode_t	subscribeInterfaces (const ConnectorProfile &connector_profile)=0
	Publish interface information. More...

virtual void	unsubscribeInterfaces (const ConnectorProfile &connector_profile)=0
	Disconnect interface connection. 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
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

Port base class.

This class is a base class of RTC::Port. RTC::Port inherits a concept of RT-Component, and can be regarded as almost the same as it. In the concept of RT-Component, Port is attached to the component, can mediate interaction between other components and usually is associated with some interfaces. Component can provide or require interface for outside via Port, and the Port plays a role to manage the connection.

Concrete class of Port assumes to be usually created at the same time that RT-Component's instance is created, be registerd to RT-Component after provided and required interfaces are registerd, and function as accessible Port from outside.

RTC::Port provides the following operations as CORBA interface:

This class provides implementations of these operations.

In these operations, as for get_port_profile(), get_connector_profiles(), get_connector_profile(), connect(), disconnect() and disconnect_all(), since their behaviors especially need not to be change in subclass, overriding is not recommended.

As for notify_connect() and notify_disconnect(), you may have to modify behavior according to the kind of interfaces that subclass provides and requires, however it is not recommended these are overriden directly. In the section of notify_connect() and notify_disconnect() as described below, it is recommended that you modify behavior by overriding the protected function related to these functions.

Since: 0.4.0

Definition at line 134 of file PortBase.h.

Member Typedef Documentation

◆ Guard

typedef coil::Guard<coil::Mutex> RTC::PortBase::Guard

protected

Definition at line 2089 of file PortBase.h.

Constructor & Destructor Documentation

◆ PortBase()

RTC::PortBase::PortBase ( const char * name = "" )

Constructor.

The constructor of the ProtBase class is given the name of this Port and initialized. At the same time, the PortBase activates itself as CORBA object and stores its object reference to the PortProfile's port_ref member. Characters except "." can be used for the name of the port.

Parameters

name	The name of Port (The default value:"")

Definition at line 38 of file PortBase.cpp.

◆ ~PortBase()

RTC::PortBase::~PortBase ( void )

virtual

Destructor.

In the destructor, PortService CORBA object is deactivated. This function never throws exception.

Definition at line 71 of file PortBase.cpp.

Member Function Documentation

◆ _publishInterfaces()

ReturnCode_t RTC::PortBase::_publishInterfaces ( void )

protectedvirtual

Publish interface information.

Returns: The return code of ReturnCode_t type

Definition at line 315 of file PortBase.cpp.

◆ activateInterfaces()

virtual void RTC::PortBase::activateInterfaces ( )

pure virtual

Activate all Port interfaces.

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

Implemented in RTC::CorbaPort, RTC::OutPortBase, RTC::InPortBase, RTObject::PortMock, PortBase::PortBaseMock, PortAdmin::PortMock, and CORBA_SeqUtil::PortMock.

◆ addProperty()

template<class ValueType >

void RTC::PortBase::addProperty	(	const char *	key,
		ValueType	value
	)

inlineprotected

Add NameValue data to PortProfile's properties.

Add NameValue data to PortProfile's properties. Type of additional data is specified by ValueType.

Parameters

key	The name of properties
value	The value of properties

Definition at line 1876 of file PortBase.h.

◆ appendInterface()

bool RTC::PortBase::appendInterface	(	const char *	name,
		const char *	type_name,
		PortInterfacePolarity	pol
	)

protected

Append an interface to the PortInterfaceProfile.

This operation appends interface information to the PortInterfaceProfile that is owned by the Port. The given interfaces information only updates PortInterfaceProfile of PortProfile that is obtained through get_port_profile(). In order to provide and require interfaces, proper functions (for example publishInterface(), subscribeInterface() and so on) should be overridden in subclasses, and these functions provide concrete interface connection and disconnection functionality.

The interface (instance) name have to be unique in the Port. If the given interface name is identical with stored interface name, this function returns false.

Parameters

name	The instance name of the interface.
type_name	The type name of the interface.
pol	The interface's polarity (RTC::PROVIDED or RTC:REQUIRED)

Returns: false would be returned if the same name is already registered.

Definition at line 841 of file PortBase.cpp.

◆ appendProperty()

void RTC::PortBase::appendProperty	(	const char *	key,
		const char *	value
	)

inlineprotected

Append NameValue data to PortProfile's properties.

Append NameValue data to PortProfile's properties. The properties which are set by this function would be referred through get_port_profile() from outsides.

Parameters

key	The name of properties
value	The value of properties

Definition at line 1907 of file PortBase.h.

◆ checkPorts()

bool RTC::PortBase::checkPorts ( ::RTC::PortServiceList & ports )

protected

Existence of ports.

Parameters

ports Checked ports

Returns: true:existent,false:non existent

Definition at line 937 of file PortBase.cpp.

◆ connect()

ReturnCode_t RTC::PortBase::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.

Precondition: To establish the connection among Ports of RT-Components, application programs must call this operation giving ConnectorProfile with valid values as an argument.; Out of ConnectorProfile member variables, "name", "ports" and "properties" members shall be set valid data. "connector_id" shall be set as empty string value or valid string UUID value.; ConnectorProfile::name that is connection identifier shall be any valid CORBA::string.; ConnectorProfile::connector_id shall be set unique identifier (usually UUID is used) for all connections. Since UUID string value is usually set in the connect() function, caller should just set empty string. If the connect() is called with the same UUID as existing connection, this function returns PRECONDITION_NOT_MET error. However, in order to update the existing connection profile, the "connect()" operation with existing connector ID might be used as valid method by future extension; ConnectorProfile::ports, which is sequence of RTC::PortService references, shall store usually two or more ports' references. As exceptions, the "connect()" operation might be called with only one reference in ConnectorProfile, in case of just getting interfaces information from the port, or connecting a special port (i.e. the peer port except RTC::PortService on CORBA).; ConnectorProfile::properties might be used to give certain properties to the service interfaces associated with the port. The properties is a sequence variable with a pair of key string and Any type value. Although the A variable can store any type of values, it is not recommended except string.; The following is the summary of the ConnectorProfile member to be set when this operation is called.

ConnectorProfile::name: The any name of connection
ConnectorProfile::connector_id: Empty string
ConnectorProfile::ports: One or more port references
ConnectorProfile::properties: Properties for the interfaces

Postcondition: connect() operation will call the first port in the sequence of the ConnectorProfile.; "noify_connect()"s perform cascaded call to the ports stored in the ConnectorProfile::ports by order. Even if errors are raised by intermediate notify_connect() operation, as long as ports' object references are valid, it is guaranteed that this cascaded call is completed in all the ports. If invalid or dead ports exist in the port's sequence, the ports are skipped and notify_connect() is called for the next valid port.; connect() function returns RTC_OK if all the notify_connect() return RTC_OK. At this time the connection is completed. If notify_connect()s return except RTC_OK, connect() calls disconnect() operation with the connector_id to destruct the connection, and then it returns error code from notify_connect().; The ConnectorProfile argument of the connect() operation returns ConnectorProfile::connector_id and various information about service interfaces that is published by publishInterfaces() in the halfway ports. The connect() and halfway notify_connect() functions never change ConnectorProfile::{name, ports}.

Parameters

connector_profile The ConnectorProfile.

Returns: ReturnCode_t The return code of ReturnCode_t type.

Reimplemented in RTC::OutPortBase, and RTC::InPortBase.

Definition at line 181 of file PortBase.cpp.

◆ connectNext()

ReturnCode_t RTC::PortBase::connectNext ( ConnectorProfile & connector_profile )

protectedvirtual

Call notify_connect() of the next Port.

Call notify_connect() for the next Port.

This operation calls the notify_connect() of the next Port's that stored in ConnectorProfile's port_ref sequence.

Parameters

connector_profile The connection profile information

Returns: The return code of ReturnCode_t type.

Definition at line 626 of file PortBase.cpp.

◆ deactivateInterfaces()

virtual void RTC::PortBase::deactivateInterfaces ( )

pure virtual

Deactivate all Port interfaces.

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

Implemented in RTC::CorbaPort, RTC::OutPortBase, RTC::InPortBase, RTObject::PortMock, PortBase::PortBaseMock, PortAdmin::PortMock, and CORBA_SeqUtil::PortMock.

◆ deleteInterface()

bool RTC::PortBase::deleteInterface	(	const char *	name,
		PortInterfacePolarity	pol
	)

protected

Delete the interface registration from the PortInterfaceProfile.

This operation deletes interface information from the PortInterfaceProfile that is owned by the Port.

Parameters

name	The instance name of the interface.
pol	The interface's polarity (RTC::PROVIDED or RTC:REQUIRED)

Returns: Delete processing result of interface. false would be returned if the given name is not registered.

Definition at line 867 of file PortBase.cpp.

◆ disconnect()

ReturnCode_t RTC::PortBase::disconnect	(	const char *	connector_id	)
throw	(	CORBA::SystemException
	)

virtual

[CORBA interface] Disconnect the Port

This operation destroys connection between this port and the peer port according to given connector_id. Usually connector_id should be a UUID string that is unique in the system. And the connection, which is established by connect()/notify_connect() functions, is identified by the ConnectorProfile::connector_id.

Precondition: connector_id shall be a character string which is same with ID of at least one of the ConnectorProfiles stored in this port. If ConnectorProfile that has same ID with the given connector_id does not exist in the list of ConnectorProfile, this operation returns BAD_PARAMTER error.; ConnectorProfile::ports that is same ID with given connector_id shall store the valid ports' references.

Postcondition: disconnect() function invokes the notify_disconnect() for the port that is stored in the first of the ConnectorProfile::ports. If notify_disconnect() call fails for the first port, It tries on calling "notify_disconnect()" in order for ports stored in ConnectorProfile::ports until the operation call is succeeded. If notify_disconnect() succeeded for at least one port, it returns return code from notify_disconnect(). If none of notify_connect() call succeeded, it returns RTC_ERROR error.

Parameters

connector_id The ID of the ConnectorProfile.

Returns: ReturnCode_t The return code of ReturnCode_t type.

Definition at line 339 of file PortBase.cpp.

◆ disconnect_all()

ReturnCode_t RTC::PortBase::disconnect_all	(		)
throw	(	CORBA::SystemException
	)

virtual

[CORBA interface] Disconnect the All Ports

This operation destroys all connections associated with this Port.

Returns: ReturnCode_t The return code of ReturnCode_t type.

Definition at line 454 of file PortBase.cpp.

◆ disconnectNext()

ReturnCode_t RTC::PortBase::disconnectNext ( ConnectorProfile & connector_profile )

protectedvirtual

Call notify_disconnect() of the next Port.

Call notify_disconnect() for the next Port.

This operation calls the notify_disconnect() of the next Port's that stored in ConnectorProfile's port_ref sequence.

Parameters

connector_profile The connection profile information

Returns: The return code of ReturnCode_t type.

Definition at line 650 of file PortBase.cpp.

◆ eraseConnectorProfile()

bool RTC::PortBase::eraseConnectorProfile ( const char * id )

protected

Delete the ConnectorProfile.

This operation deletes a ConnectorProfile specified by id from ConnectorProfileList owned by PortProfile of this Port.

Parameters

id	The id of the ConnectorProfile to be deleted.

Returns: true would be returned if it deleted correctly. false woluld be returned if specified ConnectorProfile cannot be found.

Definition at line 823 of file PortBase.cpp.

◆ findConnProfile()

ConnectorProfile RTC::PortBase::findConnProfile ( const char * id )

protected

Find ConnectorProfile with id.

This operation returns ConnectorProfile with the given id from Port's ConnectorProfiles' list. If the ConnectorProfile with connector id that is identical with the given id does not exist, empty ConnectorProfile is returned.

Parameters

id	the connector_id to be searched in Port's ConnectorProfiles

Returns: CoonectorProfile with connector_id

Definition at line 770 of file PortBase.cpp.

◆ findConnProfileIndex()

CORBA::Long RTC::PortBase::findConnProfileIndex ( const char * id )

protected

Find ConnectorProfile with id.

This operation returns ConnectorProfile with the given id from Port's ConnectorProfiles' list. If the ConnectorProfile with connector id that is identical with the given id does not exist, -1 is returned.

Parameters

id	the connector_id to be searched

Returns: The index of ConnectorProfile of the Port

Definition at line 785 of file PortBase.cpp.

◆ get_connector_profile()

ConnectorProfile * RTC::PortBase::get_connector_profile	(	const char *	connector_id	)
throw	(	CORBA::SystemException
	)

virtual

[CORBA interface] Get the ConnectorProfile

This operation returns the ConnectorProfiles specified connector_id. Since this function is CORBA operation, callers have responsibility to destruction of the returned ConnectorProfile object according to the CORBA memory management rules.

If ConnectorProfile with specified connector_id is not included, empty ConnectorProfile is returned.

Postcondition: This function never changes the state of the object.

Parameters

connector_id ID of the ConnectorProfile

Returns: the ConnectorProfile identified by the connector_id

Definition at line 153 of file PortBase.cpp.

◆ get_connector_profiles()

ConnectorProfileList * RTC::PortBase::get_connector_profiles	(		)
throw	(	CORBA::SystemException
	)

virtual

[CORBA interface] Get the ConnectorProfileList of the Port

This operation returns a list of the ConnectorProfiles of the Port. Since this function is CORBA operation, callers have responsibility to destruction of the returned ConnectorProfileList object according to the CORBA memory management rules.

ConnectorProfile includes the connection information that describes relation between (among) Ports, and Ports exchange the ConnectionProfile on connection process and hold the same information in every Port. ConnectionProfile has the following members:

name [string type] The name of the connection.
connector_id [string type] Unique identifier.
ports [Port sequnce] The sequence of Port's object reference that are related the connection.
properties [NVList type] The other properties.

Postcondition: This function never changes the state of the object.

Returns: ConnectorProfileList of the Port

Definition at line 133 of file PortBase.cpp.

◆ get_port_profile()

PortProfile * RTC::PortBase::get_port_profile	(		)
throw	(	CORBA::SystemException
	)

virtual

[CORBA interface] Get the PortProfile of the Port

This operation returns the PortProfile of the Port. Since this function is CORBA operation, callers have responsibility to destruction of the returned PortProfile object according to the CORBA memory management rules.

PortProfile struct has the following members:

name [string type] The name of the Port.
interfaces [PortInterfaceProfileList type] The sequence of PortInterfaceProfile owned by the Port
port_ref [Port Object type] The object reference of the Port.
connector_profile [ConnectorProfileList type] The sequence of ConnectorProfile owned by the Port.
owner [RTObject Object type] The object reference of RTObject that is owner of the Port.
properties [NVList type] The other properties.

Postcondition: This function never changes the state of the object.

Returns: PortProfile of the Port

Definition at line 100 of file PortBase.cpp.

◆ getName()

const char * RTC::PortBase::getName ( void ) const

Get the name of this Port.

This operation returns the name of this Port.

Returns: The name of this Port.; The name of this Port.

Definition at line 504 of file PortBase.cpp.

◆ getPortProfile()

const PortProfile & RTC::PortBase::getPortProfile ( ) const

Get the PortProfile of the Port.

This function is a const function that returns a const reference of the PortProfile stored in this Port.

Postcondition: This function never changes the state of the object.

Returns: PortProfile

Definition at line 119 of file PortBase.cpp.

◆ getPortRef()

PortService_ptr RTC::PortBase::getPortRef ( )

Get the object reference of this Port.

Get the object reference of the Port.

This operation returns the object reference that is stored in the Port's PortProfile.

Returns: The object reference of this Port.

Definition at line 545 of file PortBase.cpp.

◆ getProfile()

const PortProfile & RTC::PortBase::getProfile ( ) const

Get the PortProfile of the Port.

This operation returns const reference of the PortProfile.

Returns: PortProfile of the Port

Definition at line 517 of file PortBase.cpp.

◆ getUUID()

const std::string RTC::PortBase::getUUID ( ) const

protected

Generate the UUID.

This operation generates UUID.

Returns: uuid

Definition at line 728 of file PortBase.cpp.

◆ isEmptyId()

bool RTC::PortBase::isEmptyId ( const ConnectorProfile & connector_profile ) const

protected

Check whether connector_id of ConnectorProfile is empty.

Check whether connector_id of specified ConnectorProfile is empty.

Parameters

connector_profile Target ConnectorProfile for the check

Returns: If the given ConnectorProfile's connector_id is empty string, it returns true.

Definition at line 715 of file PortBase.cpp.

◆ isExistingConnId()

bool RTC::PortBase::isExistingConnId ( const char * id )

protected

Check whether the given id exists in stored ConnectorProfiles.

This operation returns boolean whether the given id exists in the Port's ConnectorProfiles.

Parameters

id	connector_id to be find in Port's ConnectorProfiles

Returns: id exestance resutl

Definition at line 757 of file PortBase.cpp.

◆ notify_connect()

ReturnCode_t RTC::PortBase::notify_connect	(	ConnectorProfile &	connector_profile	)
throw	(	CORBA::SystemException
	)

virtual

[CORBA interface] Notify the Ports connection

This operation is usually called from other ports' connect() or notify_connect() operations when connection between ports is established. This function is not premised on calling from other functions or application programs.

According to the template method pattern, the notify_connect() calls "publishInterfaces()" and "subsctiveInterfaces()" functions, which are premised on implementing in the subclasses. The processing sequence is as follows.

publishInterfaces(): Publishing interface information
connectNext(): Calling notify_connect() of the next port
subscribeInterfaces(): Subscribing interface information
Storing connection profile

According to the order of port's references stored in the ConnectorProfile::ports, publishing interface information to all the ports and subscription interface information from all the ports is performed by "notify_connect()"s. This cascaded call never aborts in the halfway operations, and calling sequence shall be completed for all the ports.

Precondition: notify_connect() calls notify_connect() for the port's reference that is stored in next of this port's reference in the sequence of the ConnectorProfile::ports. Therefore the reference of this port shall be stored in the ConnectorProfile::ports. If this port's reference is not stored in the sequence, BAD_PARAMETER error will be returned, except the return code is overwritten by other operations.; UUID shall be set to ConnectorProfile::connector_id as a unique identifier when this operation is called. Usually, connector_id is given by a connect() function and, the behavior is undefined in the case of a null character.

Postcondition: ConnectorProfile::name, ConnectorProfile::connector_id, ConnectorProfile::ports are invariant, and they are never rewritten by notify_connect() operations.; In order to transfer interface information to other ports, interface property information is stored into the ConnectorProfile::properties.; At the end of notify_connect() operation for the first port stored in the ConnectorProfile::ports sequence, the related ports' notify_connect() invocations complete. Even if errors are raised at the halfway of publishInterfaces(), connectNext(), subscribeInterfaces() and storing process of ConnectorProfile, error codes are saved and the first error is returned.

Parameters

connector_profile The ConnectorProfile.

Returns: ReturnCode_t The return code of ReturnCode_t type.

Definition at line 229 of file PortBase.cpp.

◆ notify_disconnect()

ReturnCode_t RTC::PortBase::notify_disconnect	(	const char *	connector_id	)
throw	(	CORBA::SystemException
	)

virtual

[CORBA interface] Notify the Ports disconnection

This operation is invoked between Ports internally when the connection is destroied. Generally it is not premised on calling from application programs or RTC objects except Port object.

According to the template method pattern, the notify_disconnect() calls unsubsctiveInterfaces() function, which are premised on implementing in the subclasses. The processing sequence is as follows.

Searching ConnectorProfile
Calling notify_disconnect() for the next port
Unsubscribing interfaces
Deleting ConnectorProfile

notify_disconnect() notifies disconnection to all the ports by cascaded call to the stored ports in the ConnectorProfile::ports in order.

Precondition: The port shall store the ConnectorProfile having same id with connector_id.

Postcondition: If ConnectorProfile of same ID with connector_id does not exist, it returns BAD_PARAMETER error.; For the cascaded call, this operation calls noify_disconnect() for the port that is stored in the next of this port in the ConnectorProfile::ports. If the operation call raises exception for some failure, it tries to call notify_disconnect() and skips until the operation succeeded. If none of operation call succeeded, it returns RTC_ERROR.; At the end of notify_disconnect() operation for the first port stored in the ConnectorProfile::ports sequence, the related ports' notify_disconnect() invocations complete.

Parameters

connector_id The ID of the ConnectorProfile.

Returns: ReturnCode_t The return code of ReturnCode_t type.

Reimplemented in PortBase::PortBaseMock.

Definition at line 396 of file PortBase.cpp.

◆ onConnected()

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

inlineprotected

Definition at line 2021 of file PortBase.h.

◆ onConnectNextport()

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

inlineprotected

Definition at line 1997 of file PortBase.h.

◆ onDisconnected()

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

inlineprotected

Definition at line 2043 of file PortBase.h.

◆ onDisconnectNextport()

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

inlineprotected

Definition at line 2032 of file PortBase.h.

◆ onNotifyConnect()

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

inlineprotected

Definition at line 1956 of file PortBase.h.

◆ onNotifyDisconnect()

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

inlineprotected

Definition at line 1966 of file PortBase.h.

◆ onPublishInterfaces()

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

inlineprotected

Definition at line 1985 of file PortBase.h.

◆ onSubscribeInterfaces()

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

inlineprotected

Definition at line 2009 of file PortBase.h.

◆ onUnsubscribeInterfaces()

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

inlineprotected

Definition at line 1975 of file PortBase.h.

◆ publishInterfaces()

virtual ReturnCode_t RTC::PortBase::publishInterfaces ( ConnectorProfile & connector_profile )

protectedpure virtual

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.

In the concrete Port, this method should be overridden. This method processes the given ConnectorProfile argument and if the given parameter is invalid, it would return error code of ReturnCode_t. Usually, publishInterfaces() method should set interfaces information owned by this Port, and publish it to the other Ports.
When this method is called, other Ports' interfaces information may not be completed. Therefore, the process to obtain other Port's interfaces information should be done in the subscribeInterfaces() method.
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.

Implemented in RTC::CorbaPort, RTC::OutPortBase, and RTC::InPortBase.

◆ setConnectionLimit()

void RTC::PortBase::setConnectionLimit ( int limit_value )

protectedvirtual

Set the maximum number of connections.

Parameters

limit_value The maximum number of connections

Definition at line 700 of file PortBase.cpp.

◆ setName()

void RTC::PortBase::setName ( const char * name )

Set the name of this Port.

This operation sets the name of this Port. The given Port's name is applied to Port's PortProfile.name.

Parameters

name	The name of this Port.

Definition at line 488 of file PortBase.cpp.

◆ setOnConnected()

void RTC::PortBase::setOnConnected ( ConnectionCallback * on_connected )

Setting callback called on connection established.

This operation sets a functor that is called when connection between ports established.

Since the ownership of the callback functor object is owned by the caller, it has the responsibility of object destruction.

The callback functor is called only when notify_connect() function successfully returns. In case of error, the functor will not be called.

Since this functor is called with ConnectorProfile argument that is same as out-parameter of notify_connect() function, you can get all the information of published interfaces of related ports in the connection. Although by using this functor, you can modify ConnectorProfile argument for out-paramter of notify_connect(), the modification should be done carefully for fear of causing connection inconsistency.

Parameters

on_subscribe a pointer to ConnectionCallback's subclasses

Definition at line 589 of file PortBase.cpp.

◆ setOnConnectionLost()

void RTC::PortBase::setOnConnectionLost ( ConnectionCallback * on_connection_lost )

Setting callback called on connection lost.

This operation sets a functor that is called when connection of this port does lost.

Parameters

on_connection_lost a pointer to ConnectionCallback's subclasses

Definition at line 604 of file PortBase.cpp.

◆ setOnDisconnected()

void RTC::PortBase::setOnDisconnected ( ConnectionCallback * on_disconnected )

Setting callback called on disconnected.

This operation sets a functor that is called when connection between ports is destructed.

Since the ownership of the callback functor object is owned by the caller, it has the responsibility of object destruction.

The callback functor is called just before notify_disconnect() that is disconnection execution function returns.

This functor is called with argument of corresponding ConnectorProfile. Since this ConnectorProfile will be destructed after calling this functor, modifications never affect others.

Parameters

on_disconnected a pointer to ConnectionCallback's subclasses

Definition at line 599 of file PortBase.cpp.

◆ setOnPublishInterfaces()

void RTC::PortBase::setOnPublishInterfaces ( ConnectionCallback * on_publish )

Setting callback called on publish interfaces.

This operation sets a functor that is called after publishing interfaces process when connecting between ports.

Since the ownership of the callback functor object is owned by the caller, it has the responsibility of object destruction.

The callback functor is called after calling publishInterfaces() that is virtual member function of the PortBase class with an argument of ConnectorProfile type that is same as the argument of publishInterfaces() function. Although by using this functor, you can modify the ConnectorProfile published by publishInterfaces() function, the modification should be done carefully for fear of causing connection inconsistency.

Parameters

on_publish a pointer to ConnectionCallback's subclasses

Definition at line 579 of file PortBase.cpp.

◆ setOnSubscribeInterfaces()

void RTC::PortBase::setOnSubscribeInterfaces ( ConnectionCallback * on_subscribe )

Setting callback called on publish interfaces.

This operation sets a functor that is called before subscribing interfaces process when connecting between ports.

Since the ownership of the callback functor object is owned by the caller, it has the responsibility of object destruction.

The callback functor is called before calling subscribeInterfaces() that is virtual member function of the PortBase class with an argument of ConnectorProfile type that is same as the argument of subscribeInterfaces() function. Although by using this functor, you can modify ConnectorProfile argument for subscribeInterfaces() function, the modification should be done carefully for fear of causing connection inconsistency.

Parameters

on_subscribe a pointer to ConnectionCallback's subclasses

Definition at line 584 of file PortBase.cpp.

◆ setOnUnsubscribeInterfaces()

void RTC::PortBase::setOnUnsubscribeInterfaces ( ConnectionCallback * on_subscribe )

Setting callback called on unsubscribe interfaces.

This operation sets a functor that is called before unsubscribing interfaces process when disconnecting between ports.

Since the ownership of the callback functor object is owned by the caller, it has the responsibility of object destruction.

The callback functor is called before calling unsubscribeInterfaces() that is virtual member function of the PortBase class with an argument of ConnectorProfile type that is same as the argument of unsubscribeInterfaces() function. Although by using this functor, you can modify ConnectorProfile argument for unsubscribeInterfaces() function, the modification should be done carefully for fear of causing connection inconsistency.

Parameters

on_unsubscribe a pointer to ConnectionCallback's subclasses

Definition at line 594 of file PortBase.cpp.

◆ setOwner()

void RTC::PortBase::setOwner ( RTObject_ptr owner )

Set the owner RTObject of the Port.

This operation sets the owner RTObject of this Port.

Parameters

owner The owner RTObject's reference of this Port

Definition at line 559 of file PortBase.cpp.

◆ setPortConnectListenerHolder()

void RTC::PortBase::setPortConnectListenerHolder ( PortConnectListeners * portconnListeners )

Setting PortConnectListener holder.

This operation sets a functor that is called when connection of this port does lost.

Parameters

on_connection_lost a pointer to ConnectionCallback's subclasses

Definition at line 610 of file PortBase.cpp.

◆ setPortRef()

void RTC::PortBase::setPortRef ( PortService_ptr port_ref )

Set the object reference of this Port.

Set the object reference of the Port.

This operation sets the object reference itself to the Port's PortProfile.

Parameters

port_ref The object reference of this Port.

Definition at line 531 of file PortBase.cpp.

◆ setUUID()

void RTC::PortBase::setUUID ( ConnectorProfile & connector_profile ) const

protected

Generate and set the UUID to the ConnectorProfile.

Generate the UUID and set it to the ConnectorProfile.

This operation generates and set UUID to the ConnectorProfile.

Parameters

connector_profile ConnectorProfile to be set connector_id

Definition at line 744 of file PortBase.cpp.

◆ subscribeInterfaces()

virtual ReturnCode_t RTC::PortBase::subscribeInterfaces ( const ConnectorProfile & connector_profile )

protectedpure virtual

Publish interface information.

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

In the concrete Port, this method should be overridden. This method processes the given ConnectorProfile argument and if the given parameter is invalid, it would return error code of ReturnCode_t. The given argument ConnectorProfile includes all the interfaces information in it. Usually, subscribeInterafaces() method obtains information of interfaces from ConnectorProfile, and should set it to the interfaces that require them.
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.

Implemented in RTC::CorbaPort, RTC::OutPortBase, and RTC::InPortBase.

◆ unsubscribeInterfaces()

virtual void RTC::PortBase::unsubscribeInterfaces ( const ConnectorProfile & connector_profile )

protectedpure virtual

Disconnect interface connection.

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 in order to disconnect.

disconnectNext()
unsubscribeInterfaces()
eraseConnectorProfile()
In the concrete Port, this method should be overridden. This method processes the given ConnectorProfile argument and disconnect interface connection.

Parameters

connector_profile The connection profile information

Implemented in RTC::CorbaPort, RTC::OutPortBase, and RTC::InPortBase.

◆ updateConnectorProfile()

void RTC::PortBase::updateConnectorProfile ( const ConnectorProfile & connector_profile )

protected

Append or update the ConnectorProfile list.

This operation appends or updates ConnectorProfile of the Port by the given ConnectorProfile. If the connector_id of the given ConnectorProfile does not exist in the Port's ConnectorProfile list, the given ConnectorProfile would be append to the list. If the same id exists, the list would be updated.

Parameters

connector_profile the ConnectorProfile to be appended or updated

Definition at line 799 of file PortBase.cpp.

◆ updateConnectors()

void RTC::PortBase::updateConnectors ( )

protected

Disconnect ports that doesn't exist.

This function detects dead-port, and if dead ports are found in the connection list, disconnects them.

Definition at line 886 of file PortBase.cpp.

Member Data Documentation

◆ m_connectionLimit

int RTC::PortBase::m_connectionLimit

protected

The maximum number of connections.

Definition at line 2107 of file PortBase.h.

◆ m_connectorsMutex

coil::Mutex RTC::PortBase::m_connectorsMutex

mutableprotected

Definition at line 2088 of file PortBase.h.

std::string RTC::PortBase::m_ownerInstanceName

protected

Instance name.

Definition at line 2098 of file PortBase.h.

◆ m_portconnListeners

PortConnectListeners* RTC::PortBase::m_portconnListeners

protected

PortConnectListener holder.

Holders of PortConnectListeners

Definition at line 2211 of file PortBase.h.

◆ m_profile

PortProfile RTC::PortBase::m_profile

protected

PortProfile of the Port.

Definition at line 2070 of file PortBase.h.

◆ m_profile_mutex

coil::Mutex RTC::PortBase::m_profile_mutex

mutableprotected

Mutex of PortProfile.

Definition at line 2087 of file PortBase.h.

◆ rtclog

Logger RTC::PortBase::rtclog

mutableprotected

Logger stream.

Definition at line 2062 of file PortBase.h.

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

Classes

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Guard

Constructor & Destructor Documentation

◆ PortBase()

◆ ~PortBase()

Member Function Documentation

◆ _publishInterfaces()

◆ activateInterfaces()

◆ addProperty()

◆ appendInterface()

◆ appendProperty()

◆ checkPorts()

◆ connect()

◆ connectNext()

◆ deactivateInterfaces()

◆ deleteInterface()

◆ disconnect()

◆ disconnect_all()

◆ disconnectNext()

◆ eraseConnectorProfile()

◆ findConnProfile()

◆ findConnProfileIndex()

◆ get_connector_profile()

◆ get_connector_profiles()

◆ get_port_profile()

◆ getName()

◆ getPortProfile()

◆ getPortRef()

◆ getProfile()

◆ getUUID()

◆ isEmptyId()

◆ isExistingConnId()

◆ notify_connect()

◆ notify_disconnect()

◆ onConnected()

◆ onConnectNextport()

◆ onDisconnected()

◆ onDisconnectNextport()

◆ onNotifyConnect()

◆ onNotifyDisconnect()

◆ onPublishInterfaces()

◆ onSubscribeInterfaces()

◆ onUnsubscribeInterfaces()

◆ publishInterfaces()

◆ setConnectionLimit()

◆ setName()

◆ setOnConnected()

◆ setOnConnectionLost()

◆ setOnDisconnected()

◆ setOnPublishInterfaces()

◆ setOnSubscribeInterfaces()

◆ setOnUnsubscribeInterfaces()

◆ setOwner()

◆ setPortConnectListenerHolder()

◆ setPortRef()

◆ setUUID()

◆ subscribeInterfaces()

◆ unsubscribeInterfaces()

◆ updateConnectorProfile()

◆ updateConnectors()

Member Data Documentation

◆ m_connectionLimit

◆ m_connectorsMutex

◆ m_objref

◆ m_onConnected

◆ m_onConnectionLost

◆ m_onDisconnected

◆ m_onPublishInterfaces

◆ m_onSubscribeInterfaces

◆ m_onUnsubscribeInterfaces

◆ m_ownerInstanceName

◆ m_portconnListeners

◆ m_profile

◆ m_profile_mutex