This class provides the basic tools to create channels that represent connections between two ports. More...

#include <rtt/internal/ConnFactory.hpp>

Public Member Functions
virtual	~ConnFactory ()

virtual base::InputPortInterface *	inputPort (std::string const &name) const =0
	Returns a new InputPort<T> object where T is the type represented by this TypeInfo object. More...

virtual base::OutputPortInterface *	outputPort (std::string const &name) const =0
	Returns a new OutputPort<T> object where T is the type represented by this TypeInfo object. More...

virtual base::ChannelElementBase::shared_ptr	buildDataStorage (ConnPolicy const &policy) const =0
	Creates single data or buffered storage for this type. More...

virtual base::ChannelElementBase::shared_ptr	buildChannelOutput (base::InputPortInterface &port) const =0
	Creates the output endpoint of a communication channel and adds it to an InputPort. More...

virtual base::ChannelElementBase::shared_ptr	buildChannelInput (base::OutputPortInterface &port) const =0
	Creates the input endpoint (starting point) of a communication channel and adds it to an OutputPort. More...

Static Public Member Functions
template<typename T >
static base::ChannelElementBase *	buildDataStorage (ConnPolicy const &policy, const T &initial_value=T())
	This method creates the connection element that will store data inside the connection, based on the given policy. More...

template<typename T >
static base::ChannelElementBase::shared_ptr	buildChannelInput (OutputPort< T > &port, ConnID *conn_id, base::ChannelElementBase::shared_ptr output_channel)
	During the process of building a connection between two ports, this method builds the input half (starting from the OutputPort). More...

template<typename T >
static base::ChannelElementBase::shared_ptr	buildBufferedChannelInput (OutputPort< T > &port, ConnID *conn_id, ConnPolicy const &policy, base::ChannelElementBase::shared_ptr output_channel)
	Extended version of buildChannelInput that also installs a buffer after the channel input endpoint, according to a policy. More...

template<typename T >
static base::ChannelElementBase::shared_ptr	buildChannelOutput (InputPort< T > &port, ConnID *conn_id)
	During the process of building a connection between two ports, this method builds the output part of the channel, that is the half that is connected to the input port. More...

template<typename T >
static base::ChannelElementBase::shared_ptr	buildBufferedChannelOutput (InputPort< T > &port, ConnID *conn_id, ConnPolicy const &policy, T const &initial_value=T())
	Extended version of buildChannelOutput that also installs a buffer before the channel output endpoint, according to a policy. More...

template<typename T >
static bool	createConnection (OutputPort< T > &output_port, base::InputPortInterface &input_port, ConnPolicy const &policy)
	Creates a connection from a local output_port to a local or remote input_port. More...

template<class T >
static bool	createStream (OutputPort< T > &output_port, ConnPolicy const &policy)
	Creates, attaches and checks an outbound stream to an Output port. More...

static bool	createAndCheckStream (base::OutputPortInterface &output_port, ConnPolicy const &policy, base::ChannelElementBase::shared_ptr chan, StreamConnID *conn_id)

template<class T >
static bool	createStream (InputPort< T > &input_port, ConnPolicy const &policy)
	Creates, attaches and checks an inbound stream to an Input port. More...

Static Protected Member Functions
static bool	createAndCheckConnection (base::OutputPortInterface &output_port, base::InputPortInterface &input_port, base::ChannelElementBase::shared_ptr channel_input, ConnPolicy policy)

static bool	createAndCheckStream (base::InputPortInterface &input_port, ConnPolicy const &policy, base::ChannelElementBase::shared_ptr outhalf, StreamConnID *conn_id)

static base::ChannelElementBase::shared_ptr	createRemoteConnection (base::OutputPortInterface &output_port, base::InputPortInterface &input_port, ConnPolicy const &policy)

template<class T >
static base::ChannelElementBase::shared_ptr	createOutOfBandConnection (OutputPort< T > &output_port, InputPort< T > &input_port, ConnPolicy const &policy)
	This code is for setting up an in-process out-of-band connection. More...

static base::ChannelElementBase::shared_ptr	createAndCheckOutOfBandConnection (base::OutputPortInterface &output_port, base::InputPortInterface &input_port, ConnPolicy const &policy, base::ChannelElementBase::shared_ptr output_half, StreamConnID *conn_id)

Detailed Description

This class provides the basic tools to create channels that represent connections between two ports.

The ports and type transports use these functions to setup connections. The interface may change as the needs of these 'users' change.

Definition at line 91 of file ConnFactory.hpp.

Constructor & Destructor Documentation

virtual RTT::internal::ConnFactory::~ConnFactory ( )

inlinevirtual

Definition at line 94 of file ConnFactory.hpp.

Member Function Documentation

template<typename T >

static base::ChannelElementBase::shared_ptr RTT::internal::ConnFactory::buildBufferedChannelInput	(	OutputPort< T > &	port,
		ConnID *	conn_id,
		ConnPolicy const &	policy,
		base::ChannelElementBase::shared_ptr	output_channel
	)

inlinestatic

Extended version of buildChannelInput that also installs a buffer after the channel input endpoint, according to a policy.

Parameters

port	The output port to which the connection will be added by client code.
conn_id	A unique connection id which identifies this connection
policy	The policy dictating which kind of buffer must be installed. The transport and other parameters are ignored.
output_channel	Optional. If present, the buffer will be connected to this element.

Definition at line 219 of file ConnFactory.hpp.

References RTT::base::ChannelElementBase::setOutput().

template<typename T >

static base::ChannelElementBase::shared_ptr RTT::internal::ConnFactory::buildBufferedChannelOutput	(	InputPort< T > &	port,
		ConnID *	conn_id,
		ConnPolicy const &	policy,
		T const &	initial_value = `T()`
	)

inlinestatic

Extended version of buildChannelOutput that also installs a buffer before the channel output endpoint, according to a policy.

Parameters

port	The input port to which the connection is added.
conn_id	A unique connection id which identifies this connection
policy	The policy dictating which kind of buffer must be installed. The transport and other parameters are ignored.
initial_value	The value to use to initialize the connection's storage buffer.

Definition at line 255 of file ConnFactory.hpp.

References RTT::base::ChannelElementBase::setOutput().

virtual base::ChannelElementBase::shared_ptr RTT::internal::ConnFactory::buildChannelInput ( base::OutputPortInterface & port ) const

pure virtual

Creates the input endpoint (starting point) of a communication channel and adds it to an OutputPort.

Parameters

port	The output port to connect the channel's input end to.

Returns: The created endpoint.

Referenced by RTT::types::TemplateConnFactory< bool >::buildChannelInput().

template<typename T >

static base::ChannelElementBase::shared_ptr RTT::internal::ConnFactory::buildChannelInput	(	OutputPort< T > &	port,
		ConnID *	conn_id,
		base::ChannelElementBase::shared_ptr	output_channel
	)

inlinestatic

During the process of building a connection between two ports, this method builds the input half (starting from the OutputPort).

The output_channel argument is the connection element that has been returned by buildChannelOutput.

See also: buildChannelOutput

Definition at line 199 of file ConnFactory.hpp.

References RTT::base::ChannelElementBase::setOutput().

virtual base::ChannelElementBase::shared_ptr RTT::internal::ConnFactory::buildChannelOutput ( base::InputPortInterface & port ) const

pure virtual

Creates the output endpoint of a communication channel and adds it to an InputPort.

Parameters

port	The input port to connect the channel's output end to.

Returns: The created endpoint.

Referenced by RTT::types::TemplateConnFactory< bool >::buildChannelOutput().

template<typename T >

static base::ChannelElementBase::shared_ptr RTT::internal::ConnFactory::buildChannelOutput	(	InputPort< T > &	port,
		ConnID *	conn_id
	)

inlinestatic

During the process of building a connection between two ports, this method builds the output part of the channel, that is the half that is connected to the input port.

The returned value is the connection element that should be connected to the end of the input-half.

See also: buildChannelInput

Definition at line 238 of file ConnFactory.hpp.

virtual base::ChannelElementBase::shared_ptr RTT::internal::ConnFactory::buildDataStorage ( ConnPolicy const & policy ) const

pure virtual

Creates single data or buffered storage for this type.

Parameters

policy Describes the kind of storage requested by the user

Returns: a storage element.

template<typename T >

static base::ChannelElementBase* RTT::internal::ConnFactory::buildDataStorage	(	ConnPolicy const &	policy,
		const T &	initial_value = `T()`
	)

inlinestatic

This method creates the connection element that will store data inside the connection, based on the given policy.

Todo:: : shouldn't this belong in the template type info ? This allows the type lib to choose which locked/lockfree algorithms are implemented and leaves out 4x code generation for each alternative in each compilation unit.

Contra: needs T in typelib.

Todo:: : since setDataSample, initial_value is no longer needed.

Definition at line 139 of file ConnFactory.hpp.

References RTT::ConnPolicy::BUFFER, RTT::ConnPolicy::CIRCULAR_BUFFER, RTT::ConnPolicy::DATA, RTT::ConnPolicy::LOCK_FREE, RTT::ConnPolicy::lock_policy, RTT::ConnPolicy::LOCKED, RTT::ConnPolicy::size, RTT::ConnPolicy::type, RTT::ConnPolicy::UNSYNC, and RTT::Warning.

bool ConnFactory::createAndCheckConnection	(	base::OutputPortInterface &	output_port,
		base::InputPortInterface &	input_port,
		base::ChannelElementBase::shared_ptr	channel_input,
		ConnPolicy	policy
	)

staticprotected

Definition at line 100 of file ConnFactory.cpp.

References RTT::base::OutputPortInterface::addConnection(), RTT::base::InputPortInterface::channelReady(), RTT::Debug, RTT::base::OutputPortInterface::disconnect(), RTT::Error, RTT::base::PortInterface::getName(), and RTT::base::PortInterface::getPortID().

base::ChannelElementBase::shared_ptr ConnFactory::createAndCheckOutOfBandConnection	(	base::OutputPortInterface &	output_port,
		base::InputPortInterface &	input_port,
		ConnPolicy const &	policy,
		base::ChannelElementBase::shared_ptr	output_half,
		StreamConnID *	conn_id
	)

staticprotected

Definition at line 191 of file ConnFactory.cpp.

References RTT::types::TypeTransporter::createStream(), RTT::ConnPolicy::data_size, RTT::Debug, RTT::Error, RTT::base::OutputPortInterface::getDataSource(), RTT::base::PortInterface::getName(), RTT::types::TypeInfo::getProtocol(), RTT::types::TypeMarshaller::getSampleSize(), RTT::base::PortInterface::getTypeInfo(), RTT::types::TypeInfo::getTypeName(), RTT::Info, RTT::base::PortInterface::isLocal(), RTT::internal::StreamConnID::name_id, RTT::ConnPolicy::name_id, RTT::ConnPolicy::pull, and RTT::ConnPolicy::transport.

bool ConnFactory::createAndCheckStream	(	base::OutputPortInterface &	output_port,
		ConnPolicy const &	policy,
		base::ChannelElementBase::shared_ptr	chan,
		StreamConnID *	conn_id
	)

static

Warning: This helper function will be moved to the protected: scope in the next major release

Definition at line 122 of file ConnFactory.cpp.

References RTT::base::OutputPortInterface::addConnection(), RTT::types::TypeTransporter::createStream(), RTT::ConnPolicy::data_size, RTT::Debug, RTT::Error, RTT::base::OutputPortInterface::getDataSource(), RTT::base::PortInterface::getName(), RTT::types::TypeInfo::getProtocol(), RTT::types::TypeMarshaller::getSampleSize(), RTT::base::PortInterface::getTypeInfo(), RTT::types::TypeInfo::getTypeName(), RTT::Info, RTT::ConnPolicy::name_id, and RTT::ConnPolicy::transport.

bool ConnFactory::createAndCheckStream	(	base::InputPortInterface &	input_port,
		ConnPolicy const &	policy,
		base::ChannelElementBase::shared_ptr	outhalf,
		StreamConnID *	conn_id
	)

staticprotected

Definition at line 157 of file ConnFactory.cpp.

References RTT::base::InputPortInterface::channelReady(), RTT::types::TypeTransporter::createStream(), RTT::Error, RTT::base::PortInterface::getName(), RTT::types::TypeInfo::getProtocol(), RTT::base::PortInterface::getTypeInfo(), RTT::types::TypeInfo::getTypeName(), RTT::Info, RTT::internal::StreamConnID::name_id, RTT::ConnPolicy::name_id, and RTT::ConnPolicy::transport.

template<typename T >

static bool RTT::internal::ConnFactory::createConnection	(	OutputPort< T > &	output_port,
		base::InputPortInterface &	input_port,
		ConnPolicy const &	policy
	)

inlinestatic

Creates a connection from a local output_port to a local or remote input_port.

This function contains all logic to decide on how connections must be created to local or remote input ports.

In order to set up out-of-band communication between input_port and output_port, use a different transport number in the policy parameter than the transport of the input port.

Definition at line 274 of file ConnFactory.hpp.

References RTT::Error, RTT::OutputPort< T >::getLastWrittenValue(), RTT::base::PortInterface::getName(), RTT::base::PortInterface::getPortID(), RTT::base::PortInterface::isLocal(), and RTT::ConnPolicy::transport.

Referenced by RTT::OutputPort< T >::createConnection().

template<class T >

static base::ChannelElementBase::shared_ptr RTT::internal::ConnFactory::createOutOfBandConnection	(	OutputPort< T > &	output_port,
		InputPort< T > &	input_port,
		ConnPolicy const &	policy
	)

inlinestaticprotected

This code is for setting up an in-process out-of-band connection.

This means that both input and output port are present in the same process. This function is used when the policy dictates a transport protocol, but both ports are local.

Returns: a channel element chain with a channel output endpoint, but no channel input endpoint.

Definition at line 370 of file ConnFactory.hpp.

References RTT::ConnPolicy::name_id.

base::ChannelElementBase::shared_ptr RTT::internal::ConnFactory::createRemoteConnection	(	base::OutputPortInterface &	output_port,
		base::InputPortInterface &	input_port,
		ConnPolicy const &	policy
	)

staticprotected

Definition at line 73 of file ConnFactory.cpp.

References RTT::Error, RTT::base::PortInterface::getName(), RTT::types::TypeInfo::getProtocol(), RTT::base::PortInterface::getTypeInfo(), RTT::types::TypeInfo::getTypeName(), RTT::base::PortInterface::serverProtocol(), and RTT::ConnPolicy::transport.

template<class T >

static bool RTT::internal::ConnFactory::createStream	(	OutputPort< T > &	output_port,
		ConnPolicy const &	policy
	)

inlinestatic

Creates, attaches and checks an outbound stream to an Output port.

Parameters

output_port	The port to connect the stream to.
policy	The policy dictating which transport to use.

Returns: true if the stream could be created and connected to output_port.

Definition at line 327 of file ConnFactory.hpp.

References RTT::ConnPolicy::name_id.

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

template<class T >

static bool RTT::internal::ConnFactory::createStream	(	InputPort< T > &	input_port,
		ConnPolicy const &	policy
	)

inlinestatic

Creates, attaches and checks an inbound stream to an Input port.

Parameters

input_port	The port to connect the stream to.
policy	The policy dictating which transport to use.

Returns: true if the stream could be created and connected to input_port.

Definition at line 345 of file ConnFactory.hpp.

References RTT::ConnPolicy::name_id, and RTT::base::InputPortInterface::removeConnection().

virtual base::InputPortInterface* RTT::internal::ConnFactory::inputPort ( std::string const & name ) const

pure virtual

Returns a new InputPort<T> object where T is the type represented by this TypeInfo object.

virtual base::OutputPortInterface* RTT::internal::ConnFactory::outputPort ( std::string const & name ) const

pure virtual

Returns a new OutputPort<T> object where T is the type represented by this TypeInfo object.

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

rtt/internal/ConnFactory.hpp
rtt/internal/ConnFactory.cpp

Public Member Functions

Static Public Member Functions

Static Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation