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RTC::OutPortBase Class Referenceabstract

Output base class. More...

#include <OutPortBase.h>

Inheritance diagram for RTC::OutPortBase:
Inheritance graph
[legend]

Classes

struct  connector_cleanup
 Functor to delete Connectors. More...
 
struct  provider_cleanup
 Functor to delete Providers. More...
 

Public Member Functions

virtual void activateInterfaces ()
 Activate all Port interfaces. More...
 
void addConnectorDataListener (ConnectorDataListenerType listener_type, ConnectorDataListener *listener, bool autoclean=true)
 Adding BufferDataListener type listener. More...
 
void addConnectorListener (ConnectorListenerType callback_type, ConnectorListener *listener, bool autoclean=true)
 Adding ConnectorListener type listener. More...
 
virtual ReturnCode_t connect (ConnectorProfile &connector_profile) throw (CORBA::SystemException)
 [CORBA interface] Connect the Port More...
 
const std::vector< OutPortConnector * > & connectors ()
 Connector list. More...
 
virtual void deactivateInterfaces ()
 Deactivate all Port interfaces. More...
 
OutPortConnectorgetConnectorById (const char *id)
 Getting ConnectorProfile by ID. More...
 
OutPortConnectorgetConnectorByName (const char *name)
 Getting Connector by name. More...
 
coil::vstring getConnectorIds ()
 ConnectorId list. More...
 
coil::vstring getConnectorNames ()
 Connector name list. More...
 
bool getConnectorProfileById (const char *id, ConnectorInfo &prof)
 Getting ConnectorProfile by name. More...
 
bool getConnectorProfileByName (const char *name, ConnectorInfo &prof)
 Getting ConnectorProfile by name. More...
 
ConnectorInfoList getConnectorProfiles ()
 ConnectorProfile list. More...
 
void init (coil::Properties &prop)
 Initializing properties. More...
 
bool isLittleEndian ()
 return it whether endian setting. More...
 
 OutPortBase (const char *name, const char *data_type)
 Constructor. More...
 
coil::Propertiesproperties ()
 Get properties. More...
 
void removeConnectorDataListener (ConnectorDataListenerType listener_type, ConnectorDataListener *listener)
 Removing BufferDataListener type listener. More...
 
void removeConnectorListener (ConnectorListenerType callback_type, ConnectorListener *listener)
 Removing BufferDataListener type listener. More...
 
virtual bool write ()=0
 Write data. More...
 
virtual ~OutPortBase (void)
 Destructor. More...
 
- Public Member Functions inherited from RTC::PortBase
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...
 

Public Attributes

DATAPORTSTATUS_ENUM typedef std::vector< OutPortConnector * > ConnectorList
 

Protected Member Functions

bool checkEndian (const coil::Properties &prop, bool &littleEndian)
 Checking endian flag of serializer. More...
 
void configure ()
 Configureing outport. More...
 
OutPortConnectorcreateConnector (const ConnectorProfile &cprof, coil::Properties &prop, InPortConsumer *consumer)
 OutPortPushConnector creation. More...
 
OutPortConnectorcreateConnector (const ConnectorProfile &cprof, coil::Properties &prop, OutPortProvider *provider)
 OutPortPullConnector creation. More...
 
InPortConsumercreateConsumer (const ConnectorProfile &cprof, coil::Properties &prop)
 InPort consumer creation. More...
 
OutPortProvidercreateProvider (ConnectorProfile &cprof, coil::Properties &prop)
 OutPort provider creation. More...
 
void initConsumers ()
 InPort consumer initialization. More...
 
void initProviders ()
 OutPort provider initialization. More...
 
virtual ReturnCode_t publishInterfaces (ConnectorProfile &connector_profile)
 Publish interface information. More...
 
virtual ReturnCode_t subscribeInterfaces (const ConnectorProfile &connector_profile)
 Subscribe to the interface. More...
 
virtual void unsubscribeInterfaces (const ConnectorProfile &connector_profile)
 Disconnect the interface connection. More...
 
- Protected Member Functions inherited from RTC::PortBase
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 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...
 
void updateConnectorProfile (const ConnectorProfile &connector_profile)
 Append or update the ConnectorProfile list. More...
 
void updateConnectors ()
 Disconnect ports that doesn't exist. More...
 

Protected Attributes

std::vector< OutPortConnector * > m_connectors
 Connection list. More...
 
coil::vstring m_consumerTypes
 Available consumers. More...
 
ConnectorListeners m_listeners
 ConnectorDataListener listener. More...
 
bool m_littleEndian
 Connected Endian. More...
 
coil::Properties m_properties
 Properties. More...
 
coil::vstring m_providerTypes
 Available providers. More...
 
- Protected Attributes inherited from RTC::PortBase
int m_connectionLimit
 The maximum number of connections. More...
 
coil::Mutex m_connectorsMutex
 
RTC::PortService_var m_objref
 Object Reference of the Port. More...
 
ConnectionCallbackm_onConnected
 Callback functor objects. More...
 
ConnectionCallbackm_onConnectionLost
 Callback functor objects. More...
 
ConnectionCallbackm_onDisconnected
 Callback functor objects. More...
 
ConnectionCallbackm_onPublishInterfaces
 Callback functor objects. More...
 
ConnectionCallbackm_onSubscribeInterfaces
 Callback functor objects. More...
 
ConnectionCallbackm_onUnsubscribeInterfaces
 Callback functor objects. More...
 
std::string m_ownerInstanceName
 Instance name. More...
 
PortConnectListenersm_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...
 

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...
 
- Protected Types inherited from RTC::PortBase
typedef coil::Guard< coil::MutexGuard
 

Detailed Description

Output base class.

The base class of OutPort<T> which are implementations of OutPort

Form a kind of Observer pattern with OutPortBase and PublisherBase. attach(), detach(), notify() of OutPortBase and push() of PublisherBase are methods associated with the Observer pattern.

Since
0.2.0

Definition at line 230 of file OutPortBase.h.

Constructor & Destructor Documentation

RTC::OutPortBase::OutPortBase ( const char *  name,
const char *  data_type 
)

Constructor.

Constructor

Parameters
namePort name
data_typeData type

Definition at line 81 of file OutPortBase.cpp.

RTC::OutPortBase::~OutPortBase ( void  )
virtual

Destructor.

Destructor Detach all subscribed Publishers.

Definition at line 110 of file OutPortBase.cpp.

Member Function Documentation

void RTC::OutPortBase::activateInterfaces ( )
virtual

Activate all Port interfaces.

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

Implements RTC::PortBase.

Definition at line 325 of file OutPortBase.cpp.

void RTC::OutPortBase::addConnectorDataListener ( ConnectorDataListenerType  listener_type,
ConnectorDataListener listener,
bool  autoclean = true 
)

Adding BufferDataListener type listener.

This operation adds certain listeners related to buffer writing and reading events. The following listener types are available.

  • ON_BUFFER_WRITE: At the time of buffer write
  • ON_BUFFER_FULL: At the time of buffer full
  • ON_BUFFER_WRITE_TIMEOUT: At the time of buffer write timeout
  • ON_BUFFER_OVERWRITE: At the time of buffer overwrite
  • ON_BUFFER_READ: At the time of buffer read
  • ON_SEND: At the time of sending to InPort
  • ON_RECEIVED: At the time of finishing sending to InPort
  • ON_SENDER_TIMEOUT: At the time of timeout of OutPort
  • ON_SENDER_ERROR: At the time of error of OutPort
  • ON_RECEIVER_FULL: At the time of bufferfull of InPort
  • ON_RECEIVER_TIMEOUT: At the time of timeout of InPort
  • ON_RECEIVER_ERROR: At the time of error of InPort

Listeners should have the following function operator().

ConnectorDataListener:: operator()(const ConnectorProfile&, const cdrStream&)

The ownership of the given listener object is transferred to this OutPort object in default. The given listener object will be destroied automatically in the OutPort's dtor or if the listener is deleted by removeConnectorDataListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters
listener_typeA listener type
listenerA pointer to a listener object
autocleanA flag for automatic listener destruction

Definition at line 365 of file OutPortBase.cpp.

void RTC::OutPortBase::addConnectorListener ( ConnectorListenerType  callback_type,
ConnectorListener listener,
bool  autoclean = true 
)

Adding ConnectorListener type listener.

This operation adds certain listeners related to buffer writing and reading events. The following listener types are available.

  • ON_BUFFER_EMPTY: At the time of buffer empty
  • ON_BUFFER_READTIMEOUT: At the time of buffer read timeout

Listeners should have the following function operator().

ConnectorListener::operator()(const ConnectorProfile&)

The ownership of the given listener object is transferred to this OutPort object in default. The given listener object will be destroied automatically in the OutPort's dtor or if the listener is deleted by removeConnectorListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters
listener_typeA listener type
listenerA pointer to a listener object
autocleanA flag for automatic listener destruction

Definition at line 413 of file OutPortBase.cpp.

bool RTC::OutPortBase::checkEndian ( const coil::Properties prop,
bool &  littleEndian 
)
protected

Checking endian flag of serializer.

This operation checks endian flag of data serializer that is specified properties. If valid specification is found, this operation returns true and set argument littleEndian. True means little endian, false means big endian.

Parameters
propProperties
littleEndianEndian Information(true:little,false:big)
Returns
true:"Serializer" key doesn't exist. or "Serializer" key exists and there is a content. false:There is no content though "Serializer" key exists. or ithe content is not "Little. " though "Serializer" key exists, or the content is not "little" or "big" though "Serializer" key exists.

Definition at line 807 of file OutPortBase.cpp.

void RTC::OutPortBase::configure ( )
protected

Configureing outport.

This operation configures the outport based on the properties.

Definition at line 499 of file OutPortBase.cpp.

ReturnCode_t RTC::OutPortBase::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.

Parameters
connector_profileThe ConnectorProfile.
Returns
ReturnCode_t The return code of ReturnCode_t type.

Reimplemented from RTC::PortBase.

Definition at line 470 of file OutPortBase.cpp.

const std::vector< OutPortConnector * > & RTC::OutPortBase::connectors ( )

Connector list.

This operation returns connector list

Returns
connector list

Definition at line 172 of file OutPortBase.cpp.

OutPortConnector * RTC::OutPortBase::createConnector ( const ConnectorProfile &  cprof,
coil::Properties prop,
InPortConsumer consumer 
)
protected

OutPortPushConnector creation.

Definition at line 943 of file OutPortBase.cpp.

OutPortConnector * RTC::OutPortBase::createConnector ( const ConnectorProfile &  cprof,
coil::Properties prop,
OutPortProvider provider 
)
protected

OutPortPullConnector creation.

Definition at line 996 of file OutPortBase.cpp.

InPortConsumer * RTC::OutPortBase::createConsumer ( const ConnectorProfile &  cprof,
coil::Properties prop 
)
protected

InPort consumer creation.

Definition at line 898 of file OutPortBase.cpp.

OutPortProvider * RTC::OutPortBase::createProvider ( ConnectorProfile &  cprof,
coil::Properties prop 
)
protected

OutPort provider creation.

Definition at line 845 of file OutPortBase.cpp.

void RTC::OutPortBase::deactivateInterfaces ( )
virtual

Deactivate all Port interfaces.

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

Implements RTC::PortBase.

Definition at line 342 of file OutPortBase.cpp.

OutPortConnector * RTC::OutPortBase::getConnectorById ( const char *  id)

Getting ConnectorProfile by ID.

Getting Connector by ID.

This operation returns Connector specified by ID.

Parameters
idConnector ID
Returns
A pointer to connector

Definition at line 239 of file OutPortBase.cpp.

OutPortConnector * RTC::OutPortBase::getConnectorByName ( const char *  name)

Getting Connector by name.

Getting ConnectorProfile by name.

This operation returns Connector specified by name.

Parameters
idConnector ID
Returns
A pointer to connector

Definition at line 262 of file OutPortBase.cpp.

coil::vstring RTC::OutPortBase::getConnectorIds ( )

ConnectorId list.

This operation returns ConnectorId list

Returns
connector list

Definition at line 203 of file OutPortBase.cpp.

coil::vstring RTC::OutPortBase::getConnectorNames ( )

Connector name list.

This operation returns Connector name list

Returns
connector name list

Definition at line 221 of file OutPortBase.cpp.

bool RTC::OutPortBase::getConnectorProfileById ( const char *  id,
ConnectorInfo prof 
)

Getting ConnectorProfile by name.

This operation returns ConnectorProfile specified by name

Parameters
idConnector ID
profConnectorProfile
Returns
falseĦĦspecified ID does not exist

Definition at line 285 of file OutPortBase.cpp.

bool RTC::OutPortBase::getConnectorProfileByName ( const char *  name,
ConnectorInfo prof 
)

Getting ConnectorProfile by name.

This operation returns ConnectorProfile specified by name

Parameters
idConnector ID
profConnectorProfile
Returns
false specified name does not exist

Definition at line 305 of file OutPortBase.cpp.

ConnectorInfoList RTC::OutPortBase::getConnectorProfiles ( )

ConnectorProfile list.

This operation returns ConnectorProfile list

Returns
connector list

Definition at line 185 of file OutPortBase.cpp.

void RTC::OutPortBase::init ( coil::Properties prop)

Initializing properties.

This operation initializes outport's properties

Parameters
propProperty for setting ports

Definition at line 126 of file OutPortBase.cpp.

void RTC::OutPortBase::initConsumers ( )
protected

InPort consumer initialization.

Definition at line 758 of file OutPortBase.cpp.

void RTC::OutPortBase::initProviders ( )
protected

OutPort provider initialization.

Definition at line 709 of file OutPortBase.cpp.

bool RTC::OutPortBase::isLittleEndian ( )

return it whether endian setting.

return it whether endian setting is little

Returns
Return true in the case of "little", false in "big" than it.

Definition at line 458 of file OutPortBase.cpp.

coil::Properties & RTC::OutPortBase::properties ( )

Get properties.

Getting properties of this OutPort

Returns
OutPort's properties

Definition at line 159 of file OutPortBase.cpp.

ReturnCode_t RTC::OutPortBase::publishInterfaces ( ConnectorProfile &  connector_profile)
protectedvirtual

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.

This operation should create the new connection for the new connector_id, and should update the connection for the existing connection_id.

Parameters
connector_profileThe connection profile information
Returns
The return code of ReturnCode_t type.

Implements RTC::PortBase.

Definition at line 512 of file OutPortBase.cpp.

void RTC::OutPortBase::removeConnectorDataListener ( ConnectorDataListenerType  listener_type,
ConnectorDataListener listener 
)

Removing BufferDataListener type listener.

Removing ConnectorDataListener type listener.

This operation removes a specified listener.

Parameters
listener_typeA listener type
listenerA pointer to a listener object

Definition at line 390 of file OutPortBase.cpp.

void RTC::OutPortBase::removeConnectorListener ( ConnectorListenerType  callback_type,
ConnectorListener listener 
)

Removing BufferDataListener type listener.

Removing ConnectorListener type listener.

This operation removes a specified listener.

Parameters
listener_typeA listener type
listenerA pointer to a listener object

Definition at line 437 of file OutPortBase.cpp.

ReturnCode_t RTC::OutPortBase::subscribeInterfaces ( const ConnectorProfile &  connector_profile)
protectedvirtual

Subscribe to the interface.

Subscribe interface.

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

Parameters
connector_profileThe connection profile information
Returns
The return code of ReturnCode_t type.

Implements RTC::PortBase.

Definition at line 589 of file OutPortBase.cpp.

void RTC::OutPortBase::unsubscribeInterfaces ( const ConnectorProfile &  connector_profile)
protectedvirtual

Disconnect the interface connection.

Unsubscribe interface.

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.

Parameters
connector_profileThe profile information associated with the connection

Implements RTC::PortBase.

Definition at line 677 of file OutPortBase.cpp.

virtual bool RTC::OutPortBase::write ( )
pure virtual

Member Data Documentation

DATAPORTSTATUS_ENUM typedef std::vector<OutPortConnector*> RTC::OutPortBase::ConnectorList

Definition at line 236 of file OutPortBase.h.

std::vector<OutPortConnector*> RTC::OutPortBase::m_connectors
protected

Connection list.

Definition at line 1032 of file OutPortBase.h.

coil::vstring RTC::OutPortBase::m_consumerTypes
protected

Available consumers.

Definition at line 1048 of file OutPortBase.h.

ConnectorListeners RTC::OutPortBase::m_listeners
protected

ConnectorDataListener listener.

Definition at line 1064 of file OutPortBase.h.

bool RTC::OutPortBase::m_littleEndian
protected

Connected Endian.

Definition at line 1056 of file OutPortBase.h.

coil::Properties RTC::OutPortBase::m_properties
protected

Properties.

Definition at line 1024 of file OutPortBase.h.

coil::vstring RTC::OutPortBase::m_providerTypes
protected

Available providers.

Definition at line 1040 of file OutPortBase.h.


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


openrtm_aist
Author(s): Noriaki Ando
autogenerated on Mon Jun 10 2019 14:08:04