#include <ChannelElementBase.hpp>

Inheritance diagram for RTT::base::ChannelElementBase:

[legend]

Public Types
typedef boost::intrusive_ptr< ChannelElementBase >	shared_ptr

Public Member Functions
	ChannelElementBase ()

virtual bool	channelReady (ChannelElementBase::shared_ptr const &caller, ConnPolicy const &policy, internal::ConnID *conn_id=0)

virtual void	clear ()

virtual bool	connected ()

virtual bool	connectFrom (ChannelElementBase::shared_ptr const &input)

virtual bool	connectTo (ChannelElementBase::shared_ptr const &output, bool mandatory=true)

virtual void	disconnect (bool forward)

virtual bool	disconnect (ChannelElementBase::shared_ptr const &channel, bool forward)

virtual const ConnPolicy *	getConnPolicy () const

virtual std::string	getElementName () const

shared_ptr	getInput ()

virtual shared_ptr	getInputEndPoint ()

virtual std::string	getLocalURI () const

shared_ptr	getOutput ()

virtual shared_ptr	getOutputEndPoint ()

virtual PortInterface *	getPort () const

virtual std::string	getRemoteURI () const

virtual bool	inputReady (ChannelElementBase::shared_ptr const &caller)

virtual bool	isRemoteElement () const

template<typename T >
ChannelElement< T > *	narrow ()

RTT_DEPRECATED void	setInput (const ChannelElementBase::shared_ptr &input)

RTT_DEPRECATED void	setOutput (const ChannelElementBase::shared_ptr &output)

virtual bool	signal ()

virtual bool	signalFrom (ChannelElementBase *)

virtual	~ChannelElementBase ()

Static Public Member Functions
template<typename T >
static ChannelElement< T > *	narrow (ChannelElementBase *e)

Protected Member Functions
virtual bool	addInput (shared_ptr const &input)

virtual bool	addOutput (shared_ptr const &output, bool mandatory=true)

void	deref ()

void	ref ()

virtual void	removeInput (shared_ptr const &input)

virtual void	removeOutput (shared_ptr const &output)

Protected Attributes
shared_ptr	input

RTT::os::SharedMutex	input_lock

shared_ptr	output

RTT::os::SharedMutex	output_lock

Private Member Functions
virtual bool	inputReady ()

Private Attributes
oro_atomic_t	refcount

Friends
void RTT_API	intrusive_ptr_add_ref (ChannelElementBase *e)

void RTT_API	intrusive_ptr_release (ChannelElementBase *e)

class	MultipleInputsChannelElementBase

class	MultipleOutputsChannelElementBase

Detailed Description

In the data flow implementation, a channel is created by chaining ChannelElementBase objects.

ChannelElementBase objects are refcounted. In the chain, an element maintains the refcount for its successor, and holds a simple pointer to its predecessor.

Definition at line 65 of file ChannelElementBase.hpp.

Member Typedef Documentation

typedef boost::intrusive_ptr<ChannelElementBase> RTT::base::ChannelElementBase::shared_ptr

Definition at line 68 of file ChannelElementBase.hpp.

Constructor & Destructor Documentation

ChannelElementBase::ChannelElementBase ( )

A default constructed ChannelElementBase has no input nor output configured. The only way to set an input or output is to use connectTo() or connectFrom().

Definition at line 47 of file ChannelInterface.cpp.

ChannelElementBase::~ChannelElementBase ( )

virtual

Definition at line 52 of file ChannelInterface.cpp.

Member Function Documentation

bool ChannelElementBase::addInput ( shared_ptr const & input )

protectedvirtual

Sets the new input channel element of this element or adds a channel to the inputs list.

Parameters

input the previous element in chain.

Returns: true if the input was set or false if this element does not support multiple inputs and the input is already set.

Reimplemented in RTT::base::MultipleInputsChannelElementBase.

Definition at line 106 of file ChannelInterface.cpp.

bool ChannelElementBase::addOutput	(	shared_ptr const &	output,
		bool	mandatory = `true`
	)

protectedvirtual

Sets the new output channel element of this element or adds a channel to the outputs list.

Parameters

output	the next element in chain.
mandatory	whether the added output is mandatory for a write to succeed

Returns: true if the output was set or false if this element does not support multiple outputs and the output is already set.

Reimplemented in RTT::base::MultipleOutputsChannelElementBase.

Definition at line 79 of file ChannelInterface.cpp.

bool ChannelElementBase::channelReady	(	ChannelElementBase::shared_ptr const &	caller,
		ConnPolicy const &	policy,
		internal::ConnID *	conn_id = `0`
	)

virtual

This is called on the output half of a new connection by the connection factory in order to notify the output side of the new connection and check if it is ready to receive data. Each channel element has the responsibility to pass this notification on to the next, in the direction of the input. The ConnOutputEndPoint then calls back the inputReady() method in reverse direction to notify the output that the connection was successfully established.

Returns: false if a fatal connection failure was encountered and the channel needs to be destroyed.

Reimplemented in RTT::corba::RemoteChannelElement< T >, RTT::base::MultipleOutputsChannelElementBase, RTT::internal::ConnOutputEndpoint< T >, RTT::internal::ConnOutputEndpoint< double >, RTT::internal::ConnOutputEndpoint< int >, and RTT::internal::ConnOutputEndpoint< bool >.

Definition at line 169 of file ChannelInterface.cpp.

void ChannelElementBase::clear ( )

virtual

Clears any data stored by the channel. It means that ChannelElement::read() will return false afterwards (provided that no new data has been written on the meantime of course)

By default, the channel element forwards the calls to its input

Reimplemented in RTT::base::MultipleInputsChannelElementBase, RTT::internal::SharedConnection< T >, RTT::internal::ChannelBufferElement< T >, and RTT::internal::ChannelDataElement< T >.

Definition at line 188 of file ChannelInterface.cpp.

bool ChannelElementBase::connected ( )

virtual

Returns true, if this channel element is connected on the input or output side.

Reimplemented in RTT::base::MultipleInputsMultipleOutputsChannelElementBase, RTT::base::MultipleOutputsChannelElementBase, and RTT::base::MultipleInputsChannelElementBase.

Definition at line 123 of file ChannelInterface.cpp.

bool ChannelElementBase::connectFrom ( ChannelElementBase::shared_ptr const & input )

virtual

Connects a new input to this element.

Parameters

input the previous element in chain.

Definition at line 96 of file ChannelInterface.cpp.

bool ChannelElementBase::connectTo	(	ChannelElementBase::shared_ptr const &	output,
		bool	mandatory = `true`
	)

virtual

Connects a new output to this element.

Parameters

output	the next element in chain.
mandatory	whether the added output is mandatory for a write operation to succeed

Definition at line 69 of file ChannelInterface.cpp.

void ChannelElementBase::deref ( )

protected

Decreases the reference count, and deletes the object if it is zero

Definition at line 467 of file ChannelInterface.cpp.

void ChannelElementBase::disconnect ( bool forward )

virtual

Performs a disconnection of this channel's endpoints. If forward is true, then the disconnection is initiated by the input endpoint. Otherwise, it has been initiated by the output endpoint.

Definition at line 130 of file ChannelInterface.cpp.

virtual bool RTT::base::ChannelElementBase::disconnect	(	ChannelElementBase::shared_ptr const &	channel,
		bool	forward
	)

virtual

Performs a disconnection of a single input or output endpoint. If forward is true, then the disconnection is initiated by the input endpoint and channel must be a connected input. Otherwise, it has been initiated by the output endpoint and channel must be a connected output. The disconnect call is only forwarded to the opposite side of the channel element after the last input/output element on either side has been removed.

The ChannelElementBase implementation ignores the given channel and disconnects unconditinally.

Reimplemented in RTT::base::MultipleInputsMultipleOutputsChannelElementBase, RTT::base::MultipleOutputsChannelElementBase, RTT::base::MultipleInputsChannelElementBase, RTT::corba::RemoteChannelElement< T >, RTT::internal::ConnOutputEndpoint< T >, RTT::internal::ConnOutputEndpoint< double >, RTT::internal::ConnOutputEndpoint< int >, RTT::internal::ConnOutputEndpoint< bool >, RTT::internal::ConnInputEndpoint< T >, RTT::internal::ConnInputEndpoint< double >, RTT::internal::ConnInputEndpoint< int >, and RTT::internal::ConnInputEndpoint< bool >.

const ConnPolicy * ChannelElementBase::getConnPolicy ( ) const

virtual

Get a pointer to the connection policy used to build this channel element, if available. This method will be overwritten for data and buffer elements.

Returns: null if there is no ConnPolicy associated with this element, a pointer to an instance of ConnPolicy otherwise.

Reimplemented in RTT::internal::ChannelBufferElement< T >, RTT::internal::ChannelDataElement< T >, and RTT::internal::SharedConnectionBase.

Definition at line 207 of file ChannelInterface.cpp.

std::string ChannelElementBase::getElementName ( ) const

virtual

Returns the class name of this element. This is primary useful for special case handling in the connection tracking.

Returns: The name of the class of the ChannelElement

Definition at line 227 of file ChannelInterface.cpp.

ChannelElementBase::shared_ptr ChannelElementBase::getInput ( )

Returns the current input channel element. This will only return a valid channel element if another element has received this object as an argument to connectTo().

Returns

Definition at line 57 of file ChannelInterface.cpp.

ChannelElementBase::shared_ptr ChannelElementBase::getInputEndPoint ( )

virtual

Returns the first input channel element of this connection. Will return the channel element the furthest away from the input port, or this if none.

Returns: getInput() ? getInput()->getInputEndPoint() : this

Reimplemented in RTT::internal::ConnInputEndpoint< T >, RTT::internal::ConnInputEndpoint< double >, RTT::internal::ConnInputEndpoint< int >, and RTT::internal::ConnInputEndpoint< bool >.

Definition at line 157 of file ChannelInterface.cpp.

std::string ChannelElementBase::getLocalURI ( ) const

virtual

This function return the URI of this element. The URI must be unique.

Returns: URI of this element.

Reimplemented in RTT::corba::RemoteChannelElement< T >, and RTT::mqueue::MQChannelElement< T >.

Definition at line 223 of file ChannelInterface.cpp.

ChannelElementBase::shared_ptr ChannelElementBase::getOutput ( )

Returns the next channel element in the channel's propagation direction

Definition at line 63 of file ChannelInterface.cpp.

ChannelElementBase::shared_ptr ChannelElementBase::getOutputEndPoint ( )

virtual

Returns the last output channel element of this connection. Will return the channel element the furthest away from the output port, or this if none.

Returns: getOutput() ? getOutput()->getOutputEndPoint() : this

Reimplemented in RTT::internal::ConnOutputEndpoint< T >, RTT::internal::ConnOutputEndpoint< double >, RTT::internal::ConnOutputEndpoint< int >, and RTT::internal::ConnOutputEndpoint< bool >.

Definition at line 163 of file ChannelInterface.cpp.

PortInterface * ChannelElementBase::getPort ( ) const

virtual

Gets the port this channel element is connected to.

Returns: null if no port is connected to this element, the port (or a proxy representing the port) otherwise.

Reimplemented in RTT::internal::ConnOutputEndpoint< T >, RTT::internal::ConnOutputEndpoint< double >, RTT::internal::ConnOutputEndpoint< int >, RTT::internal::ConnOutputEndpoint< bool >, RTT::internal::ConnInputEndpoint< T >, RTT::internal::ConnInputEndpoint< double >, RTT::internal::ConnInputEndpoint< int >, and RTT::internal::ConnInputEndpoint< bool >.

Definition at line 203 of file ChannelInterface.cpp.

std::string ChannelElementBase::getRemoteURI ( ) const

virtual

This function returns the URI of the next channel element in the logical chain. The URI must be unique. E.g: In the local case output->getLocalURI() In the remote case the URI of the remote channel element.

Returns: URI of the next element.

Reimplemented in RTT::corba::RemoteChannelElement< T >, and RTT::mqueue::MQChannelElement< T >.

Definition at line 215 of file ChannelInterface.cpp.

virtual bool RTT::base::ChannelElementBase::inputReady ( ChannelElementBase::shared_ptr const & caller )

virtual

This is called by an input port when it is ready to receive data. Each channel element has the responsibility to pass this notification on to the next, in the direction of the output.

Returns: false if a fatal connection failure was encountered and the channel needs to be destroyed.

Reimplemented in RTT::corba::RemoteChannelElement< T >, RTT::base::MultipleInputsChannelElementBase, RTT::mqueue::MQChannelElement< T >, RTT::internal::ConnInputEndpoint< T >, RTT::internal::ConnInputEndpoint< double >, RTT::internal::ConnInputEndpoint< int >, and RTT::internal::ConnInputEndpoint< bool >.

bool ChannelElementBase::inputReady ( )

privatevirtual

Deprecated, argument-less variant of inputReady(shared_ptr). Left here as a fallback for backwards compatibility, if transports deriving from ChannelElementBase implement inputReady() only.

Reimplemented in RTT::corba::RemoteChannelElement< T >.

Definition at line 176 of file ChannelInterface.cpp.

bool ChannelElementBase::isRemoteElement ( ) const

virtual

This function may be used to identify, if the current element uses a network transport, to send the data to the next Element in the logical chain.

Returns: true if a network transport is used.

Reimplemented in RTT::corba::RemoteChannelElement< T >, and RTT::mqueue::MQChannelElement< T >.

Definition at line 211 of file ChannelInterface.cpp.

template<typename T >

static ChannelElement<T>* RTT::base::ChannelElementBase::narrow ( ChannelElementBase * e )

inlinestatic

Return a pointer to the typed instance of a ChannelElementBase

Definition at line 101 of file ChannelElementBase.hpp.

template<typename T >

ChannelElement<T>* RTT::base::ChannelElementBase::narrow ( )

inline

Return a pointer to the typed variant of this ChannelElementBase

Definition at line 109 of file ChannelElementBase.hpp.

void ChannelElementBase::ref ( )

protected

Increases the reference count

Definition at line 462 of file ChannelInterface.cpp.

void ChannelElementBase::removeInput ( shared_ptr const & input )

protectedvirtual

Remove an input from the inputs list.

Parameters

input the element to be removed, or null to remove unconditionally

Reimplemented in RTT::base::MultipleInputsChannelElementBase, and RTT::base::MultipleInputsChannelElement< T >.

Definition at line 115 of file ChannelInterface.cpp.

void ChannelElementBase::removeOutput ( shared_ptr const & output )

protectedvirtual

Remove an output from the outputs list.

Parameters

output the element to be removed, or null to remove unconditionally

Reimplemented in RTT::base::MultipleOutputsChannelElementBase.

Definition at line 88 of file ChannelInterface.cpp.

RTT_DEPRECATED void RTT::base::ChannelElementBase::setInput ( const ChannelElementBase::shared_ptr & input )

inline

Definition at line 244 of file ChannelElementBase.hpp.

RTT_DEPRECATED void RTT::base::ChannelElementBase::setOutput ( const ChannelElementBase::shared_ptr & output )

inline

Definition at line 238 of file ChannelElementBase.hpp.

bool ChannelElementBase::signal ( )

virtual

Signals that there is new data available on this channel By default, the channel element forwards the call to its output

Returns: false if an error occured that requires the channel to be invalidated. In no ways it indicates that the sample has been received by the other side of the channel.

Reimplemented in RTT::base::MultipleOutputsChannelElementBase, RTT::internal::ConnOutputEndpoint< T >, RTT::internal::ConnOutputEndpoint< double >, RTT::internal::ConnOutputEndpoint< int >, RTT::internal::ConnOutputEndpoint< bool >, RTT::mqueue::MQChannelElement< T >, and RTT::corba::RemoteChannelElement< T >.

Definition at line 195 of file ChannelInterface.cpp.

virtual bool RTT::base::ChannelElementBase::signalFrom ( ChannelElementBase * )

inlinevirtual

Signals that there is new data available on this channel Forwards to signal() unless overwritten in a derived class.

Reimplemented in RTT::base::MultipleInputsChannelElementBase.

Definition at line 173 of file ChannelElementBase.hpp.

Friends And Related Function Documentation

void RTT_API intrusive_ptr_add_ref ( ChannelElementBase * e )

friend

void RTT_API intrusive_ptr_release ( ChannelElementBase * e )

friend

friend class MultipleInputsChannelElementBase

friend

Definition at line 289 of file ChannelElementBase.hpp.

friend class MultipleOutputsChannelElementBase

friend

Definition at line 290 of file ChannelElementBase.hpp.

Member Data Documentation

shared_ptr RTT::base::ChannelElementBase::input

protected

Definition at line 76 of file ChannelElementBase.hpp.

RTT::os::SharedMutex RTT::base::ChannelElementBase::input_lock

mutableprotected

Definition at line 79 of file ChannelElementBase.hpp.

shared_ptr RTT::base::ChannelElementBase::output

protected

Definition at line 77 of file ChannelElementBase.hpp.

RTT::os::SharedMutex RTT::base::ChannelElementBase::output_lock

mutableprotected

Definition at line 80 of file ChannelElementBase.hpp.

oro_atomic_t RTT::base::ChannelElementBase::refcount

private

Definition at line 71 of file ChannelElementBase.hpp.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Friends

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation