#include <PublisherPeriodic.h>

Inheritance diagram for RTC::PublisherPeriodic:

Public Types
typedef coil::Condition< Mutex >	Condition

typedef coil::Guard< coil::Mutex >	Guard

typedef coil::Mutex	Mutex

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...

Public Member Functions
virtual ReturnCode	activate ()
	activation More...

virtual ReturnCode	deactivate ()
	deactivation More...

virtual ReturnCode	init (coil::Properties &prop)
	Initialization. More...

virtual bool	isActive ()
	If publisher is active state. More...

DATAPORTSTATUS_ENUM	PublisherPeriodic (void)
	Constructor. More...

virtual ReturnCode	setBuffer (CdrBufferBase *buffer)
	Setting buffer pointer. More...

virtual ReturnCode	setConsumer (InPortConsumer *consumer)
	Store InPort consumer. More...

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

virtual int	svc (void)
	Thread execution function. More...

virtual ReturnCode	write (const cdrMemoryStream &data, unsigned long sec, unsigned long usec)
	Write data. More...

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

Public Member Functions inherited from RTC::PublisherBase
virtual void	release ()
	Release the Publisher. More...

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

Protected Types
enum	Policy { ALL, FIFO, SKIP, NEW }

Protected Member Functions
ReturnCode	convertReturn (BufferStatus::Enum status, const cdrMemoryStream &data)
	Convertion from BufferStatus to DataPortStatus. More...

bool	createTask (const coil::Properties &prop)
	Setting Task. More...

ReturnCode	invokeListener (DataPortStatus::Enum status, const cdrMemoryStream &data)
	Call listeners according to the DataPortStatus. More...

void	onBufferEmpty ()
	Notify an ON_BUFFER_EMPTY event to listeners. More...

void	onBufferFull (const cdrMemoryStream &data)
	Notify an ON_BUFFER_FULL event to listeners. More...

void	onBufferRead (const cdrMemoryStream &data)
	Notify an ON_BUFFER_READ event to listeners. More...

void	onBufferWrite (const cdrMemoryStream &data)
	Notify an ON_BUFFER_WRITE event to listeners. More...

void	onBufferWriteTimeout (const cdrMemoryStream &data)
	Notify an ON_BUFFER_WRITE_TIMEOUT event to listeners. More...

void	onReceived (const cdrMemoryStream &data)
	Notify an ON_RECEIVED event to listeners. More...

void	onReceiverError (const cdrMemoryStream &data)
	Notify an ON_RECEIVER_ERROR event to listeners. More...

void	onReceiverFull (const cdrMemoryStream &data)
	Notify an ON_RECEIVER_FULL event to listeners. More...

void	onReceiverTimeout (const cdrMemoryStream &data)
	Notify an ON_RECEIVER_TIMEOUT event to listeners. More...

void	onSend (const cdrMemoryStream &data)
	Notify an ON_SEND event to listners. More...

void	onSenderEmpty ()
	Notify an ON_SENDER_EMPTY event to listeners. More...

void	onSenderError ()
	Notify an ON_SENDER_ERROR event to listeners. More...

ReturnCode	pushAll ()
	push "all" policy More...

ReturnCode	pushFifo ()
	push "fifo" policy More...

ReturnCode	pushNew ()
	push "new" policy More...

ReturnCode	pushSkip ()
	push "skip" policy More...

void	setPushPolicy (const coil::Properties &prop)
	Setting PushPolicy. More...

Private Member Functions
bool	bufferIsEmpty ()

Private Attributes
bool	m_active

CdrBufferBase *	m_buffer

InPortConsumer *	m_consumer

int	m_leftskip

ConnectorListeners *	m_listeners

ConnectorInfo	m_profile

Policy	m_pushPolicy

bool	m_readback

ReturnCode	m_retcode

Mutex	m_retmutex

int	m_skipn

coil::PeriodicTaskBase *	m_task

Logger	rtclog

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

Detailed Description

PublisherPeriodic class.

Publisher for periodic data transmitting. Usually this class object exists in a Connector object, and it is associated with a buffer and a consumer. This publisher periodically gets data from the buffer and publish it into the consumer.

Definition at line 64 of file PublisherPeriodic.h.

Member Typedef Documentation

◆ Condition

typedef coil::Condition<Mutex> RTC::PublisherPeriodic::Condition

Definition at line 69 of file PublisherPeriodic.h.

◆ Guard

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

Definition at line 70 of file PublisherPeriodic.h.

◆ Mutex

typedef coil::Mutex RTC::PublisherPeriodic::Mutex

Definition at line 68 of file PublisherPeriodic.h.

Member Enumeration Documentation

◆ Policy

enum RTC::PublisherPeriodic::Policy

protected

Enumerator
ALL
FIFO
SKIP
NEW

Definition at line 428 of file PublisherPeriodic.h.

Constructor & Destructor Documentation

◆ PublisherPeriodic()

RTC::PublisherPeriodic::PublisherPeriodic ( void )

Constructor.

Definition at line 40 of file PublisherPeriodic.cpp.

◆ ~PublisherPeriodic()

RTC::PublisherPeriodic::~PublisherPeriodic ( void )

virtual

Destructor.

Destructor

Definition at line 56 of file PublisherPeriodic.cpp.

Member Function Documentation

◆ activate()

PublisherBase::ReturnCode RTC::PublisherPeriodic::activate ( )

virtual

activation

This function activates the publisher. By calling this function, this publisher starts the thread that pushes data to InPort. If precondition such as initialization process and so on is not met, the error code PRECONDITION_NOT_MET is returned.

Returns: PORT_OK normal return PRECONDITION_NOT_MET precondition is not met

Implements RTC::PublisherBase.

Definition at line 222 of file PublisherPeriodic.cpp.

◆ bufferIsEmpty()

bool RTC::PublisherPeriodic::bufferIsEmpty ( )

inlineprivate

Definition at line 729 of file PublisherPeriodic.h.

◆ convertReturn()

PublisherBase::ReturnCode RTC::PublisherPeriodic::convertReturn	(	BufferStatus::Enum	status,
		const cdrMemoryStream &	data
	)

protected

Convertion from BufferStatus to DataPortStatus.

This function converts return value from the buffer to DataPortStatus::Enum typed return value. The conversion rule is as follows. Callback functions are also shown, if it exists.

BUFFER_OK: PORT_OK
- None
BUFFER_ERROR: BUFFER_ERROR
- None
BUFFER_FULL: BUFFER_FULL
- onBufferFull()
NOT_SUPPORTED: PORT_ERROR
- None
TIMEOUT: BUFFER_TIMEOUT
- onBufferWriteTimeout()
PRECONDITION_NOT_MET: PRECONDITION_NOT_MET
- None
other: PORT_ERROR
- None

Parameters

status	BufferStatus
data	cdrMemoryStream

Returns: DataPortStatus typed return code

Definition at line 516 of file PublisherPeriodic.cpp.

◆ createTask()

bool RTC::PublisherPeriodic::createTask ( const coil::Properties & prop )

protected

Setting Task.

Definition at line 448 of file PublisherPeriodic.cpp.

◆ deactivate()

PublisherBase::ReturnCode RTC::PublisherPeriodic::deactivate ( )

virtual

deactivation

This function deactivates the publisher. By calling this function, this publisher stops the thread that pushes data to InPort. If precondition such as initialization process and so on is not met, the error code PRECONDITION_NOT_MET is returned.

Returns: PORT_OK normal return PRECONDITION_NOT_MET precondition is not met

Implements RTC::PublisherBase.

Definition at line 238 of file PublisherPeriodic.cpp.

◆ init()

PublisherBase::ReturnCode RTC::PublisherPeriodic::init ( coil::Properties & prop )

virtual

Initialization.

initialization

This function have to be called before using this class object. Properties object that includes certain configuration information should be given as an argument. At least, a numerical value of unit of Hz with the key of "dataport.publisher.push_rate" has to be set to the Properties object of argument. The value is the invocation cycle of data sending process. In case of 5 ms period or 200 Hz, the value should be set as 200.0. False will be returned, if there is no value with the key of "dataport.publisher.push_rate".

The following options are available.

publisher.thread_type: Thread type (string, default: default)
publisher.push_rate: Publisher sending period (numberical)
publisher.push_policy: Push policy (all, fifo, skip, new)
publisher.skip_count: The number of skip count in the "skip" policy
measurement.exec_time: Task execution time measurement (enable/disable)
measurement.exec_count: Task execution time measurement count (numerical, number of times)
measurement.period_time: Task period time measurement (enable/disable)
measurement.period_count: Task period time measurement count (number, count)

Parameters

property Property objects that includes the control information of this Publisher

Returns: ReturnCode PORT_OK normal return INVALID_ARGS Properties with invalid values.

Implements RTC::PublisherBase.

Definition at line 82 of file PublisherPeriodic.cpp.

◆ invokeListener()

PublisherPeriodic::ReturnCode RTC::PublisherPeriodic::invokeListener	(	DataPortStatus::Enum	status,
		const cdrMemoryStream &	data
	)

protected

Call listeners according to the DataPortStatus.

Parameters

status	DataPortStatus
data	cdrMemoryStream

Returns: Return code

Definition at line 564 of file PublisherPeriodic.cpp.

◆ isActive()

bool RTC::PublisherPeriodic::isActive ( void )

virtual

If publisher is active state.

Confirm to activate.

A Publisher can be activated/deactivated synchronized with the data port. The active state and the non-active state are made transition by the "activate()" and the "deactivate()" functions respectively. This function confirms if the publisher is in active state.

Returns: Result of state confirmation (Active state:true, Inactive state:false)

Implements RTC::PublisherBase.

Definition at line 210 of file PublisherPeriodic.cpp.

◆ onBufferEmpty()

void RTC::PublisherPeriodic::onBufferEmpty ( )

inlineprotected

Notify an ON_BUFFER_EMPTY event to listeners.

Definition at line 695 of file PublisherPeriodic.h.

◆ onBufferFull()

void RTC::PublisherPeriodic::onBufferFull ( const cdrMemoryStream & data )

inlineprotected

Notify an ON_BUFFER_FULL event to listeners.

Parameters

data	cdrMemoryStream

Definition at line 577 of file PublisherPeriodic.h.

◆ onBufferRead()

void RTC::PublisherPeriodic::onBufferRead ( const cdrMemoryStream & data )

inlineprotected

Notify an ON_BUFFER_READ event to listeners.

Parameters

data	cdrMemoryStream

Definition at line 607 of file PublisherPeriodic.h.

◆ onBufferWrite()

void RTC::PublisherPeriodic::onBufferWrite ( const cdrMemoryStream & data )

inlineprotected

Notify an ON_BUFFER_WRITE event to listeners.

Parameters

data	cdrMemoryStream

Definition at line 562 of file PublisherPeriodic.h.

◆ onBufferWriteTimeout()

void RTC::PublisherPeriodic::onBufferWriteTimeout ( const cdrMemoryStream & data )

inlineprotected

Notify an ON_BUFFER_WRITE_TIMEOUT event to listeners.

Parameters

data	cdrMemoryStream

Definition at line 592 of file PublisherPeriodic.h.

◆ onReceived()

void RTC::PublisherPeriodic::onReceived ( const cdrMemoryStream & data )

inlineprotected

Notify an ON_RECEIVED event to listeners.

Parameters

data	cdrMemoryStream

Definition at line 637 of file PublisherPeriodic.h.

◆ onReceiverError()

void RTC::PublisherPeriodic::onReceiverError ( const cdrMemoryStream & data )

inlineprotected

Notify an ON_RECEIVER_ERROR event to listeners.

Parameters

data	cdrMemoryStream

Definition at line 682 of file PublisherPeriodic.h.

◆ onReceiverFull()

void RTC::PublisherPeriodic::onReceiverFull ( const cdrMemoryStream & data )

inlineprotected

Notify an ON_RECEIVER_FULL event to listeners.

Parameters

data	cdrMemoryStream

Definition at line 652 of file PublisherPeriodic.h.

◆ onReceiverTimeout()

void RTC::PublisherPeriodic::onReceiverTimeout ( const cdrMemoryStream & data )

inlineprotected

Notify an ON_RECEIVER_TIMEOUT event to listeners.

Parameters

data	cdrMemoryStream

Definition at line 667 of file PublisherPeriodic.h.

◆ onSend()

void RTC::PublisherPeriodic::onSend ( const cdrMemoryStream & data )

inlineprotected

Notify an ON_SEND event to listners.

Parameters

data	cdrMemoryStream

Definition at line 622 of file PublisherPeriodic.h.

◆ onSenderEmpty()

void RTC::PublisherPeriodic::onSenderEmpty ( )

inlineprotected

Notify an ON_SENDER_EMPTY event to listeners.

Definition at line 708 of file PublisherPeriodic.h.

◆ onSenderError()

void RTC::PublisherPeriodic::onSenderError ( )

inlineprotected

Notify an ON_SENDER_ERROR event to listeners.

Definition at line 721 of file PublisherPeriodic.h.

◆ pushAll()

PublisherBase::ReturnCode RTC::PublisherPeriodic::pushAll ( )

protected

push "all" policy

push all policy

Definition at line 280 of file PublisherPeriodic.cpp.

◆ pushFifo()

PublisherBase::ReturnCode RTC::PublisherPeriodic::pushFifo ( )

protected

push "fifo" policy

Definition at line 308 of file PublisherPeriodic.cpp.

◆ pushNew()

PublisherBase::ReturnCode RTC::PublisherPeriodic::pushNew ( )

protected

push "new" policy

Definition at line 373 of file PublisherPeriodic.cpp.

◆ pushSkip()

PublisherBase::ReturnCode RTC::PublisherPeriodic::pushSkip ( )

protected

push "skip" policy

Definition at line 334 of file PublisherPeriodic.cpp.

◆ setBuffer()

PublisherBase::ReturnCode RTC::PublisherPeriodic::setBuffer ( CdrBufferBase * buffer )

virtual

Setting buffer pointer.

This operation sets a buffer that is associated with this object. If the buffer object is NULL, INVALID_ARGS will be returned.

Parameters

buffer A pointer to a CDR buffer object.

Returns: ReturnCode PORT_OK normal return INVALID_ARGS given argument has invalid value

Implements RTC::PublisherBase.

Definition at line 129 of file PublisherPeriodic.cpp.

◆ setConsumer()

PublisherBase::ReturnCode RTC::PublisherPeriodic::setConsumer ( InPortConsumer * consumer )

virtual

Store InPort consumer.

This operation sets a consumer that is associated with this object. If the consumer object is NULL, INVALID_ARGS will be returned.

Parameters

consumer A pointer to a consumer object.

Returns: ReturnCode PORT_OK normal return INVALID_ARGS given argument has invalid value

Implements RTC::PublisherBase.

Definition at line 109 of file PublisherPeriodic.cpp.

◆ setListener()

PublisherBase::ReturnCode RTC::PublisherPeriodic::setListener	(	ConnectorInfo &	info,
		ConnectorListeners *	listeners
	)

virtual

Set the listener.

Setting buffer pointer.

This function sets ConnectorListeners listener object to the Publisher. By setting ConnectorListeners containing various listeners objects, these listeners are called at the time of reading and writing of a buffer, and transmission of data etc. Since the ownership of the ConnectorListeners object is owned by Port or RTObject, the Publisher never deletes the ConnectorListeners object. If the given ConnectorListeners' pointer is NULL, this function returns INVALID_ARGS.

Parameters

info	ConnectorInfo that is localized object of ConnectorProfile
listeners	ConnectorListeners that holds various listeners

Returns: PORT_OK Normal return INVALID_ARGS Invalid arguments

Implements RTC::PublisherBase.

Definition at line 150 of file PublisherPeriodic.cpp.

◆ setPushPolicy()

void RTC::PublisherPeriodic::setPushPolicy ( const coil::Properties & prop )

protected

Setting PushPolicy.

Definition at line 408 of file PublisherPeriodic.cpp.

◆ svc()

int RTC::PublisherPeriodic::svc ( void )

virtual

Thread execution function.

A task execution function to be executed by coil::PeriodicTask.

Definition at line 253 of file PublisherPeriodic.cpp.

◆ write()

PublisherBase::ReturnCode RTC::PublisherPeriodic::write	(	const cdrMemoryStream &	data,
		unsigned long	sec,
		unsigned long	usec
	)

virtual

Write data.

This function writes data into the buffer associated with this Publisher. If a Publisher object calls this function, without initializing correctly such as a consumer, a buffer, listeners, etc., error code PRECONDITION_NOT_MET will be returned and no operation of the writing to a buffer etc. will be performed.

Since writing into the buffer and sending data to InPort are performed asynchronously, occasionally this function returns return-codes such as CONNECTION_LOST and BUFFER_FULL that indicate the result of sending data to InPort. In this case, writing data into buffer will not be performed.

When publisher writes data to the buffer, if the buffer is filled, returns error, is returned with timeout and returns precondition error, error codes BUFFER_FULL, BUFFER_ERROR, BUFFER_TIMEOUT and PRECONDITION_NOT_MET will be returned respectively.

In other cases, PROT_ERROR will be returned.

Parameters

data	Data to be wrote to the buffer
sec	Timeout time in unit seconds
nsec	Timeout time in unit nano-seconds

Returns: PORT_OK Normal return PRECONDITION_NO_MET Precondition does not met. A consumer, a buffer, listenes are not set properly. CONNECTION_LOST detected that the connection has been lost BUFFER_FULL The buffer is full status. BUFFER_ERROR Some kind of error occurred in the buffer. NOT_SUPPORTED Some kind of operation that is not supported has been performed. TIMEOUT Timeout occurred when writing to the buffer.

Implements RTC::PublisherBase.

Definition at line 173 of file PublisherPeriodic.cpp.

Member Data Documentation

◆ m_active

bool RTC::PublisherPeriodic::m_active

private

Definition at line 751 of file PublisherPeriodic.h.

◆ m_buffer

CdrBufferBase* RTC::PublisherPeriodic::m_buffer

private

Definition at line 743 of file PublisherPeriodic.h.

◆ m_consumer

InPortConsumer* RTC::PublisherPeriodic::m_consumer

private

Definition at line 742 of file PublisherPeriodic.h.

◆ m_leftskip

int RTC::PublisherPeriodic::m_leftskip

private

Definition at line 753 of file PublisherPeriodic.h.

◆ m_listeners

ConnectorListeners* RTC::PublisherPeriodic::m_listeners

private

Definition at line 746 of file PublisherPeriodic.h.

◆ m_profile

ConnectorInfo RTC::PublisherPeriodic::m_profile

private

Definition at line 744 of file PublisherPeriodic.h.

◆ m_pushPolicy

Policy RTC::PublisherPeriodic::m_pushPolicy

private

Definition at line 749 of file PublisherPeriodic.h.

◆ m_readback

bool RTC::PublisherPeriodic::m_readback

private

Definition at line 752 of file PublisherPeriodic.h.

◆ m_retcode

ReturnCode RTC::PublisherPeriodic::m_retcode

private

Definition at line 747 of file PublisherPeriodic.h.

◆ m_retmutex

Mutex RTC::PublisherPeriodic::m_retmutex

private

Definition at line 748 of file PublisherPeriodic.h.

◆ m_skipn

int RTC::PublisherPeriodic::m_skipn

private

Definition at line 750 of file PublisherPeriodic.h.

◆ m_task

coil::PeriodicTaskBase* RTC::PublisherPeriodic::m_task

private

Definition at line 745 of file PublisherPeriodic.h.

◆ rtclog

Logger RTC::PublisherPeriodic::rtclog

private

Definition at line 741 of file PublisherPeriodic.h.

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

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Condition

◆ Guard

◆ Mutex

Member Enumeration Documentation

◆ Policy

Constructor & Destructor Documentation

◆ PublisherPeriodic()

◆ ~PublisherPeriodic()

Member Function Documentation

◆ activate()

◆ bufferIsEmpty()

◆ convertReturn()

◆ createTask()

◆ deactivate()

◆ init()

◆ invokeListener()

◆ isActive()

◆ onBufferEmpty()

◆ onBufferFull()

◆ onBufferRead()

◆ onBufferWrite()

◆ onBufferWriteTimeout()

◆ onReceived()

◆ onReceiverError()

◆ onReceiverFull()

◆ onReceiverTimeout()

◆ onSend()

◆ onSenderEmpty()

◆ onSenderError()

◆ pushAll()

◆ pushFifo()

◆ pushNew()

◆ pushSkip()

◆ setBuffer()

◆ setConsumer()

◆ setListener()

◆ setPushPolicy()

◆ svc()

◆ write()

Member Data Documentation

◆ m_active

◆ m_buffer

◆ m_consumer

◆ m_leftskip

◆ m_listeners

◆ m_profile

◆ m_pushPolicy

◆ m_readback

◆ m_retcode

◆ m_retmutex

◆ m_skipn

◆ m_task

◆ rtclog