InPortBase.h
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00001 // -*- C++ -*-
00020 #ifndef RTC_INPORTBASE_H
00021 #define RTC_INPORTBASE_H
00022 
00023 #include <rtm/PortBase.h>
00024 #include <rtm/DataPortStatus.h>
00025 #include <rtm/CdrBufferBase.h>
00026 #include <rtm/ConnectorListener.h>
00027 
00042 namespace RTC
00043 {
00044   class InPortProvider;
00045   class OutPortConsumer;
00046   class InPortConnector;
00047 
00067   class InPortBase
00068     : public PortBase, public DataPortStatus
00069   {
00070   public:
00071     DATAPORTSTATUS_ENUM
00072 
00073     typedef std::vector<InPortConnector*> ConnectorList;
00074 
00094     InPortBase(const char* name, const char* data_type);
00095     
00109     virtual ~InPortBase(void);
00110 
00126     void init(coil::Properties& prop);
00127 
00142     virtual bool read() = 0;
00143 
00159     coil::Properties& properties();
00160 
00179     const std::vector<InPortConnector*>& connectors();
00180 
00199     ConnectorInfoList getConnectorProfiles();
00200 
00219     coil::vstring getConnectorIds();
00220 
00239     coil::vstring getConnectorNames();
00240 
00261     InPortConnector* getConnectorById(const char* id);
00262 
00283    InPortConnector* getConnectorByName(const char* name);
00284 
00307     bool getConnectorProfileById(const char* id,
00308                                  ConnectorInfo& prof);
00309 
00332     bool getConnectorProfileByName(const char* name,
00333                                    ConnectorInfo& prof);
00334 
00335 
00352     virtual void activateInterfaces();
00353 
00370     virtual void deactivateInterfaces();
00371 
00447     void addConnectorDataListener(ConnectorDataListenerType listener_type,
00448                                   ConnectorDataListener* listener,
00449                                   bool autoclean = true);
00450 
00451 
00471     void removeConnectorDataListener(ConnectorDataListenerType listener_type,
00472                                      ConnectorDataListener* listener);
00473     
00474 
00527     void addConnectorListener(ConnectorListenerType callback_type,
00528                               ConnectorListener* listener,
00529                               bool autoclean = true);
00530 
00550     void removeConnectorListener(ConnectorListenerType callback_type,
00551                                  ConnectorListener* listener);
00552 
00570     bool isLittleEndian();
00571 
00597     virtual ReturnCode_t
00598     connect(ConnectorProfile& connector_profile)
00599       throw (CORBA::SystemException);
00600 
00601   protected:
00602 
00631     virtual ReturnCode_t
00632     publishInterfaces(ConnectorProfile& connector_profile);
00633     
00661     virtual ReturnCode_t
00662     subscribeInterfaces(const ConnectorProfile& connector_profile);
00663     
00685     virtual void
00686     unsubscribeInterfaces(const ConnectorProfile& connector_profile);
00687 
00688 
00696     void initProviders();
00697 
00705     void initConsumers();
00706 
00738     bool checkEndian(const coil::Properties& prop, bool& littleEndian);
00739 
00751     InPortProvider*
00752     createProvider(ConnectorProfile& cprof, coil::Properties& prop);
00753 
00765     OutPortConsumer*
00766     createConsumer(const ConnectorProfile& cprof, coil::Properties& prop);
00767 
00779     InPortConnector*
00780     createConnector(ConnectorProfile& cprof, coil::Properties& prop,
00781                     InPortProvider* provider);
00793     InPortConnector*
00794     createConnector(const ConnectorProfile& cprof, coil::Properties& prop,
00795                     OutPortConsumer* consumer);
00796 
00797   protected:
00813     bool m_singlebuffer;
00821     CdrBufferBase* m_thebuffer;
00829     coil::Properties m_properties;
00837     coil::vstring m_providerTypes;
00845     coil::vstring m_consumerTypes;
00853     ConnectorList m_connectors;
00861     bool m_littleEndian;
00862 
00870     ConnectorListeners m_listeners;
00871   };
00872 }; // namespace RTC
00873 
00874 #endif // RTC_INPORTBASE_H


openrtm_aist
Author(s): Noriaki Ando
autogenerated on Thu Aug 27 2015 14:16:37