An interface to access the dataflow of a CControlTask object. More...
import"rtt/transports/corba/DataFlow.idl";
Public Types | |
| typedef sequence< string > | CPortNames |
| typedef sequence< CPortDescription > | CPortDescriptions |
Public Member Functions | |
| CPortNames | getPorts () |
| Returns the names of the ports of this component. More... | |
| CPortDescriptions | getPortDescriptions () |
| Returns the names of the ports of this component. More... | |
| CPortType | getPortType (in string port_name) raises (CNoSuchPortException) |
| Returns the type of the given port. More... | |
| string | getDataType (in string port_name) raises (CNoSuchPortException) |
| Returns the data type for the given port. More... | |
| boolean | isConnected (in string port_name) raises (CNoSuchPortException) |
| Check if the given port is already connected to something. More... | |
| void | disconnectPort (in string port_name) raises (CNoSuchPortException) |
| Disconnects this port from all connections it is part of. More... | |
| CChannelElement | buildChannelOutput (in string input_port, inout CConnPolicy policy) raises (CNoCorbaTransport,CNoSuchPortException) |
| Use this to write to an input port with the given policy. More... | |
| CChannelElement | buildChannelInput (in string output_port, inout CConnPolicy policy) raises (CNoCorbaTransport,CNoSuchPortException) |
| Use this to read from an output port with the given policy. More... | |
| boolean | createConnection (in string local_port, in CDataFlowInterface remote_ports, in string remote_port, inout CConnPolicy policy) raises (CNoSuchPortException) |
| Connect the given named port to the given remote port. More... | |
| boolean | removeConnection (in string local_port, in CDataFlowInterface remote_ports, in string remote_port) raises (CNoSuchPortException) |
| Removes the specified connection created with createConnection. More... | |
| boolean | createStream (in string local_port, inout CConnPolicy policy) raises (CNoSuchPortException) |
| Create an out-of-band data stream with a given policy. More... | |
| void | removeStream (in string local_port, in string stream_name) raises (CNoSuchPortException) |
| Removes a stream added with createStream. More... | |
| boolean | channelReady (in string input_port, in CChannelElement channel, in CConnPolicy cp) raises (CNoSuchPortException) |
| Checks if the connection channel elements are ready for a given input port. More... | |
Detailed Description
An interface to access the dataflow of a CControlTask object.
Data ports are exported as assignable expressions (Set/Get). Buffer ports are exported as buffer channels.
Definition at line 119 of file DataFlow.idl.
Member Typedef Documentation
| typedef sequence<CPortDescription> RTT::corba::CDataFlowInterface::CPortDescriptions |
Definition at line 122 of file DataFlow.idl.
| typedef sequence<string> RTT::corba::CDataFlowInterface::CPortNames |
Definition at line 121 of file DataFlow.idl.
Member Function Documentation
| CChannelElement RTT::corba::CDataFlowInterface::buildChannelInput | ( | in string | output_port, |
| inout CConnPolicy | policy | ||
| ) | |||
| raises | ( | CNoCorbaTransport, | |
| CNoSuchPortException | |||
| ) | |||
Use this to read from an output port with the given policy.
Some protocols may adjust the policy, or pass additional information into the policy, such as the name of the newly created connection.
| CChannelElement RTT::corba::CDataFlowInterface::buildChannelOutput | ( | in string | input_port, |
| inout CConnPolicy | policy | ||
| ) | |||
| raises | ( | CNoCorbaTransport, | |
| CNoSuchPortException | |||
| ) | |||
Use this to write to an input port with the given policy.
Some protocols may adjust the policy, or pass additional information into the policy, such as the name of the newly created connection.
The returned channel element will not be functional until channelReady() has been called for it
| boolean RTT::corba::CDataFlowInterface::channelReady | ( | in string | input_port, |
| in CChannelElement | channel, | ||
| in CConnPolicy | cp | ||
| ) | |||
| raises | ( | CNoSuchPortException | |
| ) | |||
Checks if the connection channel elements are ready for a given input port.
This is typically called by the createConnection setup logic to see if the input side agrees with the connection and can use it. For example, the input port can use this opportunity to check the
- Exceptions
-
CNoSuchPortException if input_port is not an input port or not present in this interface.
- Returns
- false if the connection could not be used.
| boolean RTT::corba::CDataFlowInterface::createConnection | ( | in string | local_port, |
| in CDataFlowInterface | remote_ports, | ||
| in string | remote_port, | ||
| inout CConnPolicy | policy | ||
| ) | |||
| raises | ( | CNoSuchPortException | |
| ) | |||
Connect the given named port to the given remote port.
Use this method to connect two Orocos data flow ports.
The local port needs to be the output, while the remote port is the input. In case you only want to write a port without using this function, use buildChannelOutput. For only reading a port, use buildChannelInput.
This method combines both buildChannelOutput() and buildChannelInput() and is generally better in setting up and checking a data flow connection between two ports than the separate methods.
This method will call the remote_ports interface back to orchestrate the connection building.
- See also
- removeConnection() to remove this connection again.
| boolean RTT::corba::CDataFlowInterface::createStream | ( | in string | local_port, |
| inout CConnPolicy | policy | ||
| ) | |||
| raises | ( | CNoSuchPortException | |
| ) | |||
Create an out-of-band data stream with a given policy.
You may specify a name_id in the policy object, or if left empty, a name will be chosen for you.
| void RTT::corba::CDataFlowInterface::disconnectPort | ( | in string | port_name | ) | |
| raises | ( | CNoSuchPortException | |||
| ) | |||||
Disconnects this port from all connections it is part of.
- See also
- CChannelElement::disconnect() to disconnect a single Channel.
| string RTT::corba::CDataFlowInterface::getDataType | ( | in string | port_name | ) | |
| raises | ( | CNoSuchPortException | |||
| ) | |||||
Returns the data type for the given port.
| CPortDescriptions RTT::corba::CDataFlowInterface::getPortDescriptions | ( | ) |
Returns the names of the ports of this component.
| CPortNames RTT::corba::CDataFlowInterface::getPorts | ( | ) |
Returns the names of the ports of this component.
| CPortType RTT::corba::CDataFlowInterface::getPortType | ( | in string | port_name | ) | |
| raises | ( | CNoSuchPortException | |||
| ) | |||||
Returns the type of the given port.
| boolean RTT::corba::CDataFlowInterface::isConnected | ( | in string | port_name | ) | |
| raises | ( | CNoSuchPortException | |||
| ) | |||||
Check if the given port is already connected to something.
| boolean RTT::corba::CDataFlowInterface::removeConnection | ( | in string | local_port, |
| in CDataFlowInterface | remote_ports, | ||
| in string | remote_port | ||
| ) | |||
| raises | ( | CNoSuchPortException | |
| ) | |||
Removes the specified connection created with createConnection.
| void RTT::corba::CDataFlowInterface::removeStream | ( | in string | local_port, |
| in string | stream_name | ||
| ) | |||
| raises | ( | CNoSuchPortException | |
| ) | |||
Removes a stream added with createStream.
- Parameters
-
local_port The port to remove the stream from. stream_name The name_id returned in the CConnPolicy object after the call to createStream.
The documentation for this interface was generated from the following file:
- rtt/transports/corba/DataFlow.idl
