OutPortPushConnector.cpp
Go to the documentation of this file.
00001 // -*- C++ -*-
00020 #include <coil/stringutil.h>
00021 
00022 #include <rtm/OutPortPushConnector.h>
00023 #include <rtm/ConnectorListener.h>
00024 
00025 namespace RTC
00026 {
00034   OutPortPushConnector::OutPortPushConnector(ConnectorInfo info, 
00035                                              InPortConsumer* consumer,
00036                                              ConnectorListeners& listeners,
00037                                              CdrBufferBase* buffer)
00038     : OutPortConnector(info),
00039       m_consumer(consumer), m_publisher(0),
00040       m_listeners(listeners), m_buffer(buffer)
00041   {
00042     // publisher/buffer creation. This may throw std::bad_alloc;
00043     m_publisher = createPublisher(info);
00044     if (m_buffer == 0)
00045       {
00046         m_buffer = createBuffer(info);
00047       }
00048     if (m_publisher == 0 || m_buffer == 0 || m_consumer == 0) 
00049       { throw std::bad_alloc(); }
00050     
00051     if (m_publisher->init(info.properties) != PORT_OK)
00052       {
00053         throw std::bad_alloc();
00054       }
00055     m_buffer->init(info.properties.getNode("buffer"));
00056     m_consumer->init(info.properties);
00057     
00058     m_publisher->setConsumer(m_consumer);
00059     m_publisher->setBuffer(m_buffer);
00060     m_publisher->setListener(m_profile, &m_listeners);
00061 
00062     onConnect();
00063   }
00064   
00072   OutPortPushConnector::~OutPortPushConnector()
00073   {
00074     onDisconnect();
00075     disconnect();
00076   }
00077   
00085   ConnectorBase::ReturnCode
00086   OutPortPushConnector::write(const cdrMemoryStream& data)
00087   {
00088     RTC_TRACE(("write()"));
00089     RTC_PARANOID(("data size = %d bytes", data.bufSize()));
00090     
00091     return m_publisher->write(data, 0, 0);
00092   }
00093   
00101   ConnectorBase::ReturnCode OutPortPushConnector::disconnect()
00102   {
00103     RTC_TRACE(("disconnect()"));
00104     // delete publisher
00105     if (m_publisher != 0)
00106       {
00107         RTC_DEBUG(("delete publisher"));
00108         PublisherFactory& pfactory(PublisherFactory::instance());
00109         pfactory.deleteObject(m_publisher);
00110       }
00111     m_publisher = 0;
00112     
00113     // delete consumer
00114     if (m_consumer != 0)
00115       {
00116         RTC_DEBUG(("delete consumer"));
00117         InPortConsumerFactory& cfactory(InPortConsumerFactory::instance());
00118         cfactory.deleteObject(m_consumer);
00119       }
00120     m_consumer = 0;
00121     
00122     // delete buffer
00123     if (m_buffer != 0)
00124       {
00125         RTC_DEBUG(("delete buffer"));
00126         CdrBufferFactory& bfactory(CdrBufferFactory::instance());
00127         bfactory.deleteObject(m_buffer);
00128       }
00129     m_buffer = 0;
00130     RTC_TRACE(("disconnect() done"));
00131     return PORT_OK;
00132   }
00133 
00143   void OutPortPushConnector::activate()
00144   {
00145     m_publisher->activate();
00146   }
00147 
00157   void OutPortPushConnector::deactivate()
00158   {
00159     m_publisher->deactivate();
00160   }
00161   
00175   CdrBufferBase* OutPortPushConnector::getBuffer()
00176   {
00177     return m_buffer;
00178   }
00179   
00187   PublisherBase* OutPortPushConnector::createPublisher(ConnectorInfo& info)
00188   {
00189     std::string pub_type;
00190     pub_type = info.properties.getProperty("subscription_type",
00191                                               "flush");
00192     coil::normalize(pub_type);
00193     return PublisherFactory::instance().createObject(pub_type);
00194   }
00195   
00203   CdrBufferBase* OutPortPushConnector::createBuffer(ConnectorInfo& info)
00204   {
00205     std::string buf_type;
00206     buf_type = info.properties.getProperty("buffer_type",
00207                                               "ring_buffer");
00208     return CdrBufferFactory::instance().createObject(buf_type);
00209   }
00210 
00218   void OutPortPushConnector::onConnect()
00219   {
00220     m_listeners.connector_[ON_CONNECT].notify(m_profile);
00221   }
00222 
00230   void OutPortPushConnector::onDisconnect()
00231   {
00232     m_listeners.connector_[ON_DISCONNECT].notify(m_profile);
00233   }
00234 };
00235 


openrtm_aist
Author(s): Noriaki Ando
autogenerated on Sun Mar 26 2017 03:37:16