#include <DataFlowInterface.hpp>

Inheritance diagram for RTT::DataFlowInterface:

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Public Types
typedef std::vector< std::string >	PortNames

typedef std::vector< base::PortInterface * >	Ports

typedef boost::function< void(base::PortInterface *)>	SlotFunction

Public Member Functions
base::InputPortInterface &	addEventPort (const std::string &name, base::InputPortInterface &port, SlotFunction callback=SlotFunction())

base::InputPortInterface &	addEventPort (base::InputPortInterface &port, SlotFunction callback=SlotFunction())

base::InputPortInterface &	addLocalEventPort (base::InputPortInterface &port, SlotFunction callback=SlotFunction())

base::PortInterface &	addLocalPort (base::PortInterface &port)

base::PortInterface &	addPort (const std::string &name, base::PortInterface &port)

base::PortInterface &	addPort (base::PortInterface &port)

void	clear ()

	DataFlowInterface (Service *parent=0)

void	dataOnPort (base::PortInterface *port)

TaskContext *	getOwner () const

base::PortInterface *	getPort (const std::string &name) const

std::string	getPortDescription (const std::string &name) const

PortNames	getPortNames () const

Ports	getPorts () const

template<class Type >
Type *	getPortType (const std::string &name)

Service *	getService () const

void	removeLocalPort (const std::string &name)

void	removePort (const std::string &name)

bool	setPortDescription (const std::string &name, const std::string description)

	~DataFlowInterface ()

Protected Member Functions
bool	chkPtr (const std::string &where, const std::string &name, const void *ptr)

Service *	createPortObject (const std::string &name)

Protected Attributes
Ports	mports

Service *	mservice

Detailed Description

The Interface of a TaskContext which exposes its data-flow ports.

Definition at line 59 of file DataFlowInterface.hpp.

Member Typedef Documentation

typedef std::vector<std::string> RTT::DataFlowInterface::PortNames

A sequence of names of ports.

Definition at line 70 of file DataFlowInterface.hpp.

typedef std::vector<base::PortInterface*> RTT::DataFlowInterface::Ports

A sequence of pointers to ports.

Definition at line 65 of file DataFlowInterface.hpp.

typedef boost::function<void(base::PortInterface*)> RTT::DataFlowInterface::SlotFunction

Definition at line 72 of file DataFlowInterface.hpp.

Constructor & Destructor Documentation

RTT::DataFlowInterface::DataFlowInterface ( Service * parent = 0 )

Construct the DataFlow interface of a Service.

Parameters

parent If not null, a Service will be added to parent for each port added to this interface.

Definition at line 48 of file DataFlowInterface.cpp.

RTT::DataFlowInterface::~DataFlowInterface ( )

Definition at line 52 of file DataFlowInterface.cpp.

Member Function Documentation

base::InputPortInterface& RTT::DataFlowInterface::addEventPort	(	const std::string &	name,
		base::InputPortInterface &	port,
		SlotFunction	callback = `SlotFunction()`
	)

inline

Name and add an Event triggering Port to the interface of this task and add a Service with the same name of the port.

Parameters

name	The name to give to the port.
port	The port to add.
callback	(Optional) provide a function which will be called when new data arrives on this port. The callback function will be called instead of updateHook(). Use this->trigger() in your callback function in order to schedule an updateHook() nevertheless in the same cycle. If callback is not provided, updateHook() will be executed by default.

Definition at line 117 of file DataFlowInterface.hpp.

InputPortInterface & RTT::DataFlowInterface::addEventPort	(	base::InputPortInterface &	port,
		SlotFunction	callback = `SlotFunction()`
	)

Add an Event triggering Port to the interface of this task and add a Service with the same name of the port. When data arrives on this port your TaskContext will be woken up and updateHook() will be executed by default.

Parameters

port	The port to add.
callback	(Optional) provide a function which will be called when new data arrives on this port. The callback function will be called instead of updateHook(). Use this->trigger() in your callback function in order to schedule an updateHook() nevertheless in the same cycle. If callback is not provided, updateHook() will be executed by default.

Returns: port

Definition at line 97 of file DataFlowInterface.cpp.

InputPortInterface & RTT::DataFlowInterface::addLocalEventPort	(	base::InputPortInterface &	port,
		SlotFunction	callback = `SlotFunction()`
	)

Add an Event triggering Port to this task without registering a service for it. When data arrives on this port your TaskContext will be woken up and updateHook will be executed.

Parameters

port	The port to add.
callback	(Optional) provide a function which will be called when new data arrives on this port. The callback function will be called in sequence with updateHook(), so asynchronously with regard to the arrival of data on the port.

Returns: port

Definition at line 135 of file DataFlowInterface.cpp.

PortInterface & RTT::DataFlowInterface::addLocalPort ( base::PortInterface & port )

Add a Port to this task without registering a service for it. If a port with the same name already exists, addPort will replace it with port and log a warning.

Returns: port

Definition at line 82 of file DataFlowInterface.cpp.

base::PortInterface& RTT::DataFlowInterface::addPort	(	const std::string &	name,
		base::PortInterface &	port
	)

inline

Name and add a Port to the interface of this task and add a Service with the same name of the port.

Parameters

name	The name to give to the port.
port	The port to add.

Definition at line 89 of file DataFlowInterface.hpp.

PortInterface & RTT::DataFlowInterface::addPort ( base::PortInterface & port )

Add a Port to the interface of this task and add a Service with the same name of the port. If a port or service with the name already exists, addPort will replace them with port and log a warning.

Parameters

port	The port to add.

Returns: port

Definition at line 59 of file DataFlowInterface.cpp.

bool RTT::DataFlowInterface::chkPtr	(	const std::string &	where,
		const std::string &	name,
		const void *	ptr
	)

protected

Definition at line 265 of file DataFlowInterface.cpp.

void RTT::DataFlowInterface::clear ( )

Remove all added ports from this interface and all associated TaskObjects.

Definition at line 253 of file DataFlowInterface.cpp.

Service * RTT::DataFlowInterface::createPortObject ( const std::string & name )

protected

Create a Service through which one can access a Port.

Parameters

name	The port name

Definition at line 238 of file DataFlowInterface.cpp.

void RTT::DataFlowInterface::dataOnPort ( base::PortInterface * port )

Used by the input ports to notify this class of new data.

Definition at line 128 of file DataFlowInterface.cpp.

TaskContext * RTT::DataFlowInterface::getOwner ( ) const

Returns the component this interface belongs to.

Definition at line 55 of file DataFlowInterface.cpp.

PortInterface * RTT::DataFlowInterface::getPort ( const std::string & name ) const

Get an added port.

Parameters

name	The port name

Returns: a pointer to a port or null if it does not exist.

Definition at line 211 of file DataFlowInterface.cpp.

std::string RTT::DataFlowInterface::getPortDescription ( const std::string & name ) const

Get the description of an added Port.

Parameters

name	The port name

Returns: The description or "" if it does not exist.

Definition at line 220 of file DataFlowInterface.cpp.

DataFlowInterface::PortNames RTT::DataFlowInterface::getPortNames ( ) const

Get all port names of this interface.

Returns: A sequence of strings containing the port names.

Deprecated:: by getNames()

Definition at line 202 of file DataFlowInterface.cpp.

DataFlowInterface::Ports RTT::DataFlowInterface::getPorts ( ) const

Get all ports of this interface.

Returns: A sequence of pointers to ports.

Definition at line 198 of file DataFlowInterface.cpp.

template<class Type >

Type* RTT::DataFlowInterface::getPortType ( const std::string & name )

inline

Get a port of a specific type.

Definition at line 244 of file DataFlowInterface.hpp.

Service* RTT::DataFlowInterface::getService ( ) const

inline

Returns the service this interface belongs to. The returned service is a service living in the component returned by getOwner() or in one of its sub-services.

Definition at line 203 of file DataFlowInterface.hpp.

void RTT::DataFlowInterface::removeLocalPort ( const std::string & name )

Remove a locally added Port from this interface. This will remove all connections and callbacks assosiated with this port.

Parameters

port	The port to remove.

Note: this function will not check if a service with the same name as name exists, and will not remove it. So use removePort() in case you want to get rid of the service as well.

Definition at line 186 of file DataFlowInterface.cpp.

void RTT::DataFlowInterface::removePort ( const std::string & name )

Remove a Port from this interface. This will remove all services, connections and callbacks assosiated with this port.

Parameters

port	The port to remove.

Note: Since services are refcounted, removePort may effectively delete the this object in case no Service::shared_ptr exists to this DataFlowInterface. In order to prevent such cleanup, create a Service::shared_ptr to this object before calling removePort().

Definition at line 165 of file DataFlowInterface.cpp.

bool RTT::DataFlowInterface::setPortDescription	(	const std::string &	name,
		const std::string	description
	)

Sets the description for the service of an added port. It's prefered to use getPort(name)->doc(description) instead of this method, since this function only updates the documentation of the service representing this port, and not the documentation stored in the port.

Parameters

name	The port name
description	The new description for this port's service

Returns: true if the port was found and the description was set, false otherwise.

Definition at line 229 of file DataFlowInterface.cpp.

Member Data Documentation

Ports RTT::DataFlowInterface::mports

protected

All our ports.

Definition at line 280 of file DataFlowInterface.hpp.

Service* RTT::DataFlowInterface::mservice

protected

The parent Service. May be null in exceptional cases.

Definition at line 284 of file DataFlowInterface.hpp.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation