The base class of the InputPort. More...

#include <rtt/base/InputPortInterface.hpp>

Inheritance diagram for RTT::base::InputPortInterface:

Public Member Functions
	InputPortInterface (std::string const &name, ConnPolicy const &default_policy=ConnPolicy())

virtual	~InputPortInterface ()

void	clear ()
	Clears the connection. More...

ConnPolicy	getDefaultPolicy () const

virtual bool	addConnection (internal::ConnID *port_id, ChannelElementBase::shared_ptr channel_input, ConnPolicy const &policy)
	Adds a user created connection to this port. More...

virtual bool	removeConnection (internal::ConnID *cid)
	Removes the input channel. More...

virtual DataSourceBase *	getDataSource ()=0
	Returns a DataSourceBase interface to read this port. More...

virtual FlowStatus	read (DataSourceBase::shared_ptr source, bool copy_old_data=true)
	Reads the port and updates the value hold by the given data source. More...

virtual void	disconnect ()
	Removes any connection that either go to or come from this port and removes all callbacks and cleans up the NewDataOnPortEvent. More...

virtual bool	disconnect (PortInterface *port)
	Removes the channel that connects this port to `port`. More...

virtual bool	connected () const
	Returns true if this port is connected. More...

virtual bool	channelReady (base::ChannelElementBase::shared_ptr channel, ConnPolicy const &policy)
	Call this to indicate that the connection leading to this port is ready to use. More...

void	signalInterface (bool true_false)
	When called with true, will signal the DataFlowInterface when new data is available. More...

virtual bool	connectTo (PortInterface *other, ConnPolicy const &policy)
	Connects this port with other, using the given policy. More...

virtual bool	connectTo (PortInterface *other)
	Connects this port with other, using the default policy of the input. More...

virtual const internal::ConnectionManager *	getManager () const
	Returns the connection manager of this port (if any). More...

virtual base::ChannelElementBase::shared_ptr	buildRemoteChannelOutput (base::OutputPortInterface &output_port, types::TypeInfo const *type_info, base::InputPortInterface &input, const ConnPolicy &policy)
	This method is analoguous to the static ConnFactory::buildChannelOutput. More...

virtual internal::ConnID *	getPortID () const
	Returns the identity of this port in a ConnID object. More...

const std::string &	getName () const
	Get the name of this Port. More...

bool	setName (const std::string &name)
	Change the name of this unconnected Port. More...

const std::string &	getDescription () const
	Get the documentation of this port. More...

PortInterface &	doc (const std::string &desc)
	Set the documentation of this port. More...

virtual const types::TypeInfo *	getTypeInfo () const =0
	Returns the types::TypeInfo object for the port's type. More...

virtual bool	isLocal () const
	Returns true if this port is located on this process, and false otherwise. More...

virtual int	serverProtocol () const
	Returns the protocol over which this port can be accessed. More...

virtual PortInterface *	clone () const =0
	Create a local clone of this port with the same name. More...

virtual PortInterface *	antiClone () const =0
	Create a local clone of this port with the same name. More...

virtual Service *	createPortObject ()
	Create accessor Object for this Port, for addition to a TaskContext Object interface. More...

virtual bool	createStream (ConnPolicy const &policy)=0
	Creates a data stream from or to this port using connection-less transports. More...

void	setInterface (DataFlowInterface *iface)
	Once a port is added to a DataFlowInterface, it gets a pointer to that interface. More...

DataFlowInterface *	getInterface () const
	Returns the DataFlowInterface this port belongs to or null if it was not added to such an interface. More...

Protected Member Functions
void	signal ()
	The ConnOutputEndpoint signals that new data is available. More...

	InputPortInterface (const InputPortInterface &orig)

Protected Attributes
internal::ConnectionManager	cmanager

ConnPolicy	default_policy

bool	msignal_interface

DataFlowInterface *	iface

Detailed Description

The base class of the InputPort.

It contains the connection management code, which is independent of the actual data being transmitted.

Definition at line 60 of file InputPortInterface.hpp.

Constructor & Destructor Documentation

RTT::base::InputPortInterface::InputPortInterface ( const InputPortInterface & orig )

protected

RTT::base::InputPortInterface::InputPortInterface	(	std::string const &	name,
		ConnPolicy const &	default_policy = `ConnPolicy()`
	)

InputPortInterface::~InputPortInterface ( )

virtual

Definition at line 64 of file InputPortInterface.cpp.

Member Function Documentation

bool InputPortInterface::addConnection	(	internal::ConnID *	cid,
		ChannelElementBase::shared_ptr	channel_input,
		ConnPolicy const &	policy
	)

virtual

Adds a user created connection to this port.

This is an advanced method, prefer to use connectTo and createStream.

Implements RTT::base::PortInterface.

Reimplemented in RTT::corba::RemoteInputPort, and RTT::corba::RemotePort< base::InputPortInterface >.

Definition at line 100 of file InputPortInterface.cpp.

virtual PortInterface* RTT::base::PortInterface::antiClone ( ) const

pure virtualinherited

Create a local clone of this port with the same name.

If this port is a local port, this is an object of the inverse direction (read for write and write for read), and same name. If this object is a remote port, then it is a local port of the inverse direction and with the same name.

Implemented in RTT::OutputPort< T >, RTT::InputPort< T >, RTT::corba::RemoteInputPort, and RTT::corba::RemoteOutputPort.

base::ChannelElementBase::shared_ptr InputPortInterface::buildRemoteChannelOutput	(	base::OutputPortInterface &	output_port,
		types::TypeInfo const *	type_info,
		base::InputPortInterface &	input,
		const ConnPolicy &	policy
	)

virtual

This method is analoguous to the static ConnFactory::buildChannelOutput.

It is provided for remote connection building: for these connections, no template can be used and therefore the connection setup should be done based on the types::TypeInfo object

Reimplemented in RTT::corba::RemoteInputPort.

Definition at line 170 of file InputPortInterface.cpp.

bool InputPortInterface::channelReady	(	base::ChannelElementBase::shared_ptr	channel,
		RTT::ConnPolicy const &	policy
	)

virtual

Call this to indicate that the connection leading to this port is ready to use.

The input port will check its channel elements by sending an inputReady() message. If this succeeds, this function returns true and the input port is ready to use (this->connected() == true). If sending inputReady() returns failure, this method returns false and the connection is aborted (this->connected() == false).

Reimplemented in RTT::corba::RemoteInputPort.

Definition at line 107 of file InputPortInterface.cpp.

References RTT::Error.

Referenced by RTT::internal::ConnFactory::createAndCheckConnection(), RTT::internal::ConnFactory::createAndCheckStream(), and RTT::corba::CDataFlowInterface_i::deregisterChannel().

void InputPortInterface::clear ( )

Clears the connection.

After call to read() will return false after clear() has been called

Definition at line 155 of file InputPortInterface.cpp.

Referenced by RTT::InputPort< T >::createPortObject(), and RTT::internal::InputPortSource< T >::reset().

virtual PortInterface* RTT::base::PortInterface::clone ( ) const

pure virtualinherited

Create a local clone of this port with the same name.

If this port is a local port, this is an object of the same type and same name. If this object is a remote port, then it is a local port of the same type and same name.

Implemented in RTT::OutputPort< T >, RTT::InputPort< T >, RTT::corba::RemoteInputPort, and RTT::corba::RemoteOutputPort.

bool InputPortInterface::connected ( ) const

virtual

Returns true if this port is connected.

Implements RTT::base::PortInterface.

Reimplemented in RTT::corba::RemotePort< base::InputPortInterface >.

Definition at line 152 of file InputPortInterface.cpp.

bool InputPortInterface::connectTo	(	PortInterface *	other,
		ConnPolicy const &	policy
	)

virtual

Connects this port with other, using the given policy.

Unlike OutputPortInterface::createConnection, other can be the write port and this the read port.

Returns: true on success, false on failure

Implements RTT::base::PortInterface.

Definition at line 85 of file InputPortInterface.cpp.

References RTT::base::OutputPortInterface::createConnection(), RTT::Error, and RTT::base::PortInterface::getName().

bool InputPortInterface::connectTo ( PortInterface * other )

virtual

Connects this port with other, using the default policy of the input.

Unlike OutputPortInterface::createConnection, other can be the write port and this the read port.

Returns: true on success, false on failure

Implements RTT::base::PortInterface.

Definition at line 95 of file InputPortInterface.cpp.

Service * PortInterface::createPortObject ( )

virtualinherited

Create accessor Object for this Port, for addition to a TaskContext Object interface.

Reimplemented in RTT::OutputPort< T >, and RTT::InputPort< T >.

Definition at line 75 of file PortInterface.cpp.

References RTT::Service::addSynchronousOperation(), RTT::base::PortInterface::connected(), RTT::base::PortInterface::disconnect(), RTT::base::PortInterface::getName(), RTT::DataFlowInterface::getOwner(), and RTT::base::PortInterface::iface.

Referenced by RTT::InputPort< T >::createPortObject(), RTT::DataFlowInterface::createPortObject(), and RTT::OutputPort< T >::createPortObject().

virtual bool RTT::base::PortInterface::createStream ( ConnPolicy const & policy )

pure virtualinherited

Creates a data stream from or to this port using connection-less transports.

Typically, policy.transport and policy.name_id must be properly filled in such that the data stream can be set up and input and output port can find each other. You need to call this method on two ports (input and output) using the same transport and (probably) same name_id.

Parameters

policy The connection policy describing how the stream must be set up.

Implemented in RTT::OutputPort< T >, RTT::InputPort< T >, RTT::corba::RemotePort< base::InputPortInterface >, and RTT::corba::RemotePort< base::OutputPortInterface >.

Referenced by RTT::corba::CDataFlowInterface_i::deregisterChannel().

void InputPortInterface::disconnect ( )

virtual

Removes any connection that either go to or come from this port and removes all callbacks and cleans up the NewDataOnPortEvent.

Implements RTT::base::PortInterface.

Reimplemented in RTT::corba::RemotePort< base::InputPortInterface >.

Definition at line 160 of file InputPortInterface.cpp.

Referenced by RTT::InputPort< T >::~InputPort().

bool InputPortInterface::disconnect ( PortInterface * port )

virtual

Removes the channel that connects this port to port.

All other ports or callbacks remain unaffected.

Implements RTT::base::PortInterface.

Reimplemented in RTT::corba::RemoteInputPort.

Definition at line 165 of file InputPortInterface.cpp.

PortInterface & PortInterface::doc ( const std::string & desc )

inherited

Set the documentation of this port.

Parameters

desc	The description of the port

Returns: a reference to this object.

Definition at line 60 of file PortInterface.cpp.

References RTT::base::PortInterface::iface, and RTT::DataFlowInterface::setPortDescription().

Referenced by RTT::InputPort< T >::createPortObject().

virtual DataSourceBase* RTT::base::InputPortInterface::getDataSource ( )

pure virtual

Returns a DataSourceBase interface to read this port.

The returned data source is always a new object.

Implemented in RTT::InputPort< T >, and RTT::corba::RemoteInputPort.

ConnPolicy InputPortInterface::getDefaultPolicy ( ) const

Definition at line 74 of file InputPortInterface.cpp.

Referenced by RTT::base::OutputPortInterface::createBufferConnection().

const std::string& RTT::base::PortInterface::getDescription ( ) const

inlineinherited

Get the documentation of this port.

Returns: A description.

Definition at line 91 of file PortInterface.hpp.

DataFlowInterface * PortInterface::getInterface ( ) const

inherited

Returns the DataFlowInterface this port belongs to or null if it was not added to such an interface.

Definition at line 95 of file PortInterface.cpp.

References RTT::base::PortInterface::iface.

Referenced by RTT::corba::RemoteInputPort::buildRemoteChannelOutput(), RTT::corba::RemoteOutputPort::createConnection(), and RTT::mqueue::MQSendRecv::setupStream().

virtual const internal::ConnectionManager* RTT::base::InputPortInterface::getManager ( ) const

inlinevirtual

Returns the connection manager of this port (if any).

This method provides access to the internals of this port in order to allow connection introspection.

Returns: null if no such manager is available, or the manager otherwise.

See also: ConnectionManager::getChannels() for a list of all connections of this port.

Implements RTT::base::PortInterface.

Definition at line 159 of file InputPortInterface.hpp.

const std::string& RTT::base::PortInterface::getName ( ) const

inlineinherited

Get the name of this Port.

Definition at line 77 of file PortInterface.hpp.

Referenced by RTT::DataFlowInterface::addEventPort(), RTT::DataFlowInterface::addLocalEventPort(), RTT::DataFlowInterface::addLocalPort(), RTT::DataFlowInterface::addPort(), RTT::corba::RemoteOutputPort::antiClone(), RTT::corba::RemoteInputPort::antiClone(), RTT::InputPort< T >::antiClone(), RTT::OutputPort< T >::antiClone(), RTT::corba::CorbaFallBackProtocol::buildChannelInput(), RTT::corba::CorbaFallBackProtocol::buildChannelOutput(), RTT::corba::RemoteInputPort::buildRemoteChannelOutput(), RTT::corba::RemoteInputPort::channelReady(), RTT::corba::RemoteOutputPort::clone(), RTT::corba::RemoteInputPort::clone(), RTT::InputPort< T >::clone(), RTT::OutputPort< T >::clone(), RTT::TaskContext::connectPorts(), connectTo(), RTT::internal::ConnFactory::createAndCheckConnection(), RTT::internal::ConnFactory::createAndCheckOutOfBandConnection(), RTT::internal::ConnFactory::createAndCheckStream(), RTT::corba::RemoteOutputPort::createConnection(), RTT::internal::ConnFactory::createConnection(), RTT::base::PortInterface::createPortObject(), RTT::internal::ConnFactory::createRemoteConnection(), RTT::corba::CorbaFallBackProtocol::createStream(), RTT::corba::CDataFlowInterface_i::deregisterChannel(), RTT::corba::RemoteOutputPort::disconnect(), and RTT::mqueue::MQSendRecv::setupStream().

ConnID * PortInterface::getPortID ( ) const

virtualinherited

Returns the identity of this port in a ConnID object.

Reimplemented in RTT::corba::RemotePort< base::InputPortInterface >, and RTT::corba::RemotePort< base::OutputPortInterface >.

Definition at line 72 of file PortInterface.cpp.

Referenced by RTT::internal::ConnFactory::createAndCheckConnection(), RTT::internal::ConnFactory::createConnection(), and RTT::internal::ConnectionManager::disconnect().

virtual const types::TypeInfo* RTT::base::PortInterface::getTypeInfo ( ) const

pure virtualinherited

Returns the types::TypeInfo object for the port's type.

Implemented in RTT::OutputPort< T >, RTT::InputPort< T >, RTT::corba::RemotePort< base::InputPortInterface >, and RTT::corba::RemotePort< base::OutputPortInterface >.

Referenced by RTT::corba::CDataFlowInterface_i::_default_POA(), RTT::internal::ConnFactory::createAndCheckOutOfBandConnection(), RTT::internal::ConnFactory::createAndCheckStream(), RTT::internal::ConnFactory::createRemoteConnection(), and RTT::corba::CDataFlowInterface_i::deregisterChannel().

bool PortInterface::isLocal ( ) const

virtualinherited

Returns true if this port is located on this process, and false otherwise.

Definition at line 67 of file PortInterface.cpp.

References RTT::base::PortInterface::serverProtocol().

Referenced by RTT::internal::ConnFactory::createAndCheckOutOfBandConnection(), and RTT::internal::ConnFactory::createConnection().

FlowStatus InputPortInterface::read	(	DataSourceBase::shared_ptr	source,
		bool	copy_old_data = `true`
	)

virtual

Reads the port and updates the value hold by the given data source.

This is only valid for local ports.

source has to be an assignable data source

Reimplemented in RTT::InputPort< T >.

Definition at line 149 of file InputPortInterface.cpp.

bool InputPortInterface::removeConnection ( internal::ConnID * cid )

virtual

Removes the input channel.

Returns true if the provided channel was actually a channel of this port, and false otherwise.

You should usually not use this directly. Use disconnect() instead.

Implements RTT::base::PortInterface.

Definition at line 133 of file InputPortInterface.cpp.

Referenced by RTT::internal::ConnFactory::createStream(), and RTT::internal::ConnOutputEndpoint< T >::disconnect().

int PortInterface::serverProtocol ( ) const

virtualinherited

Returns the protocol over which this port can be accessed.

Reimplemented in RTT::corba::RemotePort< base::InputPortInterface >, and RTT::corba::RemotePort< base::OutputPortInterface >.

Definition at line 69 of file PortInterface.cpp.

Referenced by RTT::internal::ConnFactory::createRemoteConnection(), and RTT::base::PortInterface::isLocal().

void PortInterface::setInterface ( DataFlowInterface * iface )

inherited

Once a port is added to a DataFlowInterface, it gets a pointer to that interface.

This allows advanced ports to track back to which component they belong.

Definition at line 91 of file PortInterface.cpp.

References RTT::base::PortInterface::iface.

Referenced by RTT::DataFlowInterface::addLocalPort(), and RTT::corba::CDataFlowInterface_i::deregisterChannel().

bool PortInterface::setName ( const std::string & name )

inherited

Change the name of this unconnected Port.

One can only change the name when it is not yet connected.

Return values

true	if !this->connected(), the name has changed.
false	if this->connected(), the name has not been changed.

Definition at line 51 of file PortInterface.cpp.

References RTT::base::PortInterface::connected().

Referenced by RTT::DataFlowInterface::addEventPort(), RTT::TaskContext::addEventPort(), RTT::DataFlowInterface::addPort(), and RTT::TaskContext::addPort().

void InputPortInterface::signal ( )

protected

The ConnOutputEndpoint signals that new data is available.

Definition at line 139 of file InputPortInterface.cpp.

Referenced by RTT::internal::ConnOutputEndpoint< T >::signal().

void InputPortInterface::signalInterface ( bool true_false )

When called with true, will signal the DataFlowInterface when new data is available.

Definition at line 144 of file InputPortInterface.cpp.

Referenced by RTT::DataFlowInterface::addLocalEventPort().

Member Data Documentation

internal::ConnectionManager RTT::base::InputPortInterface::cmanager

protected

Definition at line 69 of file InputPortInterface.hpp.

Referenced by RTT::InputPort< T >::getDataSample(), and RTT::InputPort< T >::read().

ConnPolicy RTT::base::InputPortInterface::default_policy

protected

Definition at line 70 of file InputPortInterface.hpp.

DataFlowInterface* RTT::base::PortInterface::iface

protectedinherited

Definition at line 62 of file PortInterface.hpp.

Referenced by RTT::base::PortInterface::createPortObject(), RTT::base::PortInterface::doc(), RTT::base::PortInterface::getInterface(), and RTT::base::PortInterface::setInterface().

bool RTT::base::InputPortInterface::msignal_interface

protected

Definition at line 74 of file InputPortInterface.hpp.

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

rtt/base/InputPortInterface.hpp
rtt/base/InputPortInterface.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation