Inheritance diagram for OpenRTM_aist.PublisherPeriodic.PublisherPeriodic:

Public Member Functions
def	__del__
	Destructor.
def	__init__
	Constructor.
def	activate
	activation
def	bufferIsEmpty
	Whether a buffer is empty.
def	convertReturn
	Convertion from BufferStatus to DataPortStatus.
def	createTask
	Setting Taskbool PublisherNew::createTask(const coil::Properties& prop)
def	deactivate
	deactivation
def	init
	Initialization.
def	invokeListener
	Call listeners according to the DataPortStatus.
def	isActive
	If publisher is active state.
def	onBufferEmpty
	Notify an ON_BUFFER_EMPTY event to listenersinline void onBufferEmpty()
def	onBufferFull
	Notify an ON_BUFFER_FULL event to listeners.
def	onBufferRead
	Notify an ON_BUFFER_READ event to listeners.
def	onBufferWrite
	Notify an ON_BUFFER_WRITE event to listeners.
def	onBufferWriteTimeout
	Notify an ON_BUFFER_WRITE_TIMEOUT event to listeners.
def	onReceived
	Notify an ON_RECEIVED event to listeners.
def	onReceiverError
	Notify an ON_RECEIVER_ERROR event to listeners.
def	onReceiverFull
	Notify an ON_RECEIVER_FULL event to listeners.
def	onReceiverTimeout
	Notify an ON_RECEIVER_TIMEOUT event to listeners.
def	onSend
	Notify an ON_SEND event to listners.
def	onSenderEmpty
	Notify an ON_SENDER_EMPTY event to listenersinline void onSenderEmpty()
def	onSenderError
	Notify an ON_SENDER_ERROR event to listenersinline void onSenderError()
def	pushAll
	push all policy
def	pushFifo
	push "fifo" policy
def	pushNew
	push "new" policy
def	pushSkip
	push "skip" policy
def	setBuffer
	Setting buffer pointer.
def	setConsumer
	Store InPort consumer.
def	setListener
	Set the listener.
def	setPushPolicy
	Setting PushPolicyvoid PublisherNew::setPushPolicy(const coil::Properties& prop)
def	svc
	Thread execution function A task execution function to be executed by coil::PeriodicTask.
def	write
	Write data.
Static Public Attributes
int	ALL = 0
int	FIFO = 1
int	NEW = 3
int	SKIP = 2
Private Attributes
	_active
	_buffer
	_consumer
	_leftskip
	_listeners
	_profile
	_pushPolicy
	_readback
	_retcode
	_retmutex
	_rtcout
	_skipn
	_task

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 45 of file PublisherPeriodic.py.

Constructor & Destructor Documentation

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.__init__ ( self )

Constructor.

Reimplemented from OpenRTM_aist.DataPortStatus.DataPortStatus.

Definition at line 72 of file PublisherPeriodic.py.

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.__del__ ( self )

Destructor.

Definition at line 100 of file PublisherPeriodic.py.

Member Function Documentation

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.activate ( self )

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

PublisherBase::ReturnCode PublisherPeriodic::activate()

Reimplemented from OpenRTM_aist.PublisherBase.PublisherBase.

Definition at line 570 of file PublisherPeriodic.py.

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.bufferIsEmpty ( self )

Whether a buffer is empty.

bool bufferIsEmpty()

Definition at line 1087 of file PublisherPeriodic.py.

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.convertReturn	(	self,
		status,
		data
	)

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

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

Definition at line 829 of file PublisherPeriodic.py.

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.createTask	(	self,
		prop
	)

Setting Taskbool PublisherNew::createTask(const coil::Properties& prop)

Definition at line 172 of file PublisherPeriodic.py.

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.deactivate ( self )

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

PublisherBase::ReturnCode PublisherPeriodic::deactivate()

Reimplemented from OpenRTM_aist.PublisherBase.PublisherBase.

Definition at line 603 of file PublisherPeriodic.py.

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.init	(	self,
		prop
	)

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.

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

Reimplemented from OpenRTM_aist.PublisherBase.PublisherBase.

Definition at line 288 of file PublisherPeriodic.py.

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.invokeListener	(	self,
		status,
		data
	)

Call listeners according to the DataPortStatus.

Parameters:

status	DataPortStatus
data	cdrMemoryStream

Returns:: Return code

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

Definition at line 875 of file PublisherPeriodic.py.

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.isActive ( self )

If publisher is active state.

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)

bool PublisherPeriodic::isActive()

Reimplemented from OpenRTM_aist.PublisherBase.PublisherBase.

Definition at line 541 of file PublisherPeriodic.py.

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.onBufferEmpty ( self )

Notify an ON_BUFFER_EMPTY event to listenersinline void onBufferEmpty()

Definition at line 1047 of file PublisherPeriodic.py.

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.onBufferFull	(	self,
		data
	)

Notify an ON_BUFFER_FULL event to listeners.

Parameters:

data	cdrMemoryStream

inline void onBufferFull(const cdrMemoryStream& data)

Definition at line 928 of file PublisherPeriodic.py.

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.onBufferRead	(	self,
		data
	)

Notify an ON_BUFFER_READ event to listeners.

Parameters:

data	cdrMemoryStream

inline void onBufferRead(const cdrMemoryStream& data)

Definition at line 958 of file PublisherPeriodic.py.

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.onBufferWrite	(	self,
		data
	)

Notify an ON_BUFFER_WRITE event to listeners.

Parameters:

data	cdrMemoryStream

inline void onBufferWrite(const cdrMemoryStream& data)

Definition at line 913 of file PublisherPeriodic.py.

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.onBufferWriteTimeout	(	self,
		data
	)

Notify an ON_BUFFER_WRITE_TIMEOUT event to listeners.

Parameters:

data	cdrMemoryStream

inline void onBufferWriteTimeout(const cdrMemoryStream& data)

Definition at line 943 of file PublisherPeriodic.py.

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.onReceived	(	self,
		data
	)

Notify an ON_RECEIVED event to listeners.

Parameters:

data	cdrMemoryStream

inline void onReceived(const cdrMemoryStream& data)

Definition at line 988 of file PublisherPeriodic.py.

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.onReceiverError	(	self,
		data
	)

Notify an ON_RECEIVER_ERROR event to listeners.

Parameters:

data	cdrMemoryStream

inline void onReceiverError(const cdrMemoryStream& data)

Definition at line 1033 of file PublisherPeriodic.py.

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.onReceiverFull	(	self,
		data
	)

Notify an ON_RECEIVER_FULL event to listeners.

Parameters:

data	cdrMemoryStream

inline void onReceiverFull(const cdrMemoryStream& data)

Definition at line 1003 of file PublisherPeriodic.py.

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.onReceiverTimeout	(	self,
		data
	)

Notify an ON_RECEIVER_TIMEOUT event to listeners.

Parameters:

data	cdrMemoryStream

inline void onReceiverTimeout(const cdrMemoryStream& data)

Definition at line 1018 of file PublisherPeriodic.py.

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.onSend	(	self,
		data
	)

Notify an ON_SEND event to listners.

Parameters:

data	cdrMemoryStream

inline void onSend(const cdrMemoryStream& data)

Definition at line 973 of file PublisherPeriodic.py.

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.onSenderEmpty ( self )

Notify an ON_SENDER_EMPTY event to listenersinline void onSenderEmpty()

Definition at line 1060 of file PublisherPeriodic.py.

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.onSenderError ( self )

Notify an ON_SENDER_ERROR event to listenersinline void onSenderError()

Definition at line 1073 of file PublisherPeriodic.py.

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.pushAll ( self )

push all policy

PublisherBase::ReturnCode PublisherPeriodic::pushAll()

Definition at line 647 of file PublisherPeriodic.py.

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.pushFifo ( self )

push "fifo" policy

PublisherBase::ReturnCode PublisherPeriodic::pushFifo()

Definition at line 677 of file PublisherPeriodic.py.

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.pushNew ( self )

push "new" policy

PublisherBase::ReturnCode PublisherPeriodic::pushNew()

Definition at line 741 of file PublisherPeriodic.py.

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.pushSkip ( self )

push "skip" policy

PublisherBase::ReturnCode PublisherPeriodic::pushSkip()

Definition at line 705 of file PublisherPeriodic.py.

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.setBuffer	(	self,
		buffer
	)

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

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

Reimplemented from OpenRTM_aist.PublisherBase.PublisherBase.

Definition at line 356 of file PublisherPeriodic.py.

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.setConsumer	(	self,
		consumer
	)

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

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

Reimplemented from OpenRTM_aist.PublisherBase.PublisherBase.

Definition at line 320 of file PublisherPeriodic.py.

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.setListener	(	self,
		info,
		listeners
	)

Set the listener.

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

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

Reimplemented from OpenRTM_aist.PublisherBase.PublisherBase.

Definition at line 402 of file PublisherPeriodic.py.

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.setPushPolicy	(	self,
		prop
	)

Setting PushPolicyvoid PublisherNew::setPushPolicy(const coil::Properties& prop)

Definition at line 125 of file PublisherPeriodic.py.

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.svc ( self )

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

int PublisherPeriodic::svc(void)

Definition at line 619 of file PublisherPeriodic.py.

def OpenRTM_aist.PublisherPeriodic.PublisherPeriodic.write	(	self,
		data,
		sec,
		usec
	)

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.

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

Reimplemented from OpenRTM_aist.PublisherBase.PublisherBase.

Definition at line 492 of file PublisherPeriodic.py.