The Interface of a TaskContext which exposes its data-flow ports. More...

#include <rtt/DataFlowInterface.hpp>

Inheritance diagram for RTT::DataFlowInterface:

Public Types
typedef std::vector< base::PortInterface * >	Ports
	A sequence of pointers to ports. More...

typedef std::vector< std::string >	PortNames
	A sequence of names of ports. More...

typedef boost::function< void(base::PortInterface *)>	SlotFunction

Public Member Functions
	DataFlowInterface (Service *parent=0)
	Construct the DataFlow interface of a Service. More...

	~DataFlowInterface ()

base::PortInterface &	addPort (const std::string &name, base::PortInterface &port)
	Name and add a Port to the interface of this task and add a Service with the same name of the port. More...

base::PortInterface &	addPort (base::PortInterface &port)
	Add a Port to the interface of this task and add a Service with the same name of the port. More...

base::InputPortInterface &	addEventPort (const std::string &name, base::InputPortInterface &port, SlotFunction callback=SlotFunction())
	Name and add an Event triggering Port to the interface of this task and add a Service with the same name of the port. More...

base::InputPortInterface &	addEventPort (base::InputPortInterface &port, SlotFunction callback=SlotFunction())
	Add an Event triggering Port to the interface of this task and add a Service with the same name of the port. More...

void	removePort (const std::string &name)
	Remove a Port from this interface. More...

Ports	getPorts () const
	Get all ports of this interface. More...

PortNames	getPortNames () const
	Get all port names of this interface. More...

base::PortInterface *	getPort (const std::string &name) const
	Get an added port. More...

std::string	getPortDescription (const std::string &name) const
	Get the description of an added Port. More...

bool	setPortDescription (const std::string &name, const std::string description)
	Sets the description for the service of an added port. More...

TaskContext *	getOwner () const
	Returns the component this interface belongs to. More...

Service *	getService () const
	Returns the service this interface belongs to. More...

base::PortInterface &	addLocalPort (base::PortInterface &port)
	Add a Port to this task without registering a service for it. More...

base::InputPortInterface &	addLocalEventPort (base::InputPortInterface &port, SlotFunction callback=SlotFunction())
	Add an Event triggering Port to this task without registering a service for it. More...

void	removeLocalPort (const std::string &name)
	Remove a locally added Port from this interface. More...

template<class Type >
Type *	getPortType (const std::string &name)
	Get a port of a specific type. More...

void	clear ()
	Remove all added ports from this interface and all associated TaskObjects. More...

void	dataOnPort (base::PortInterface *port)
	Used by the input ports to notify this class of new data. More...

Protected Member Functions
Service *	createPortObject (const std::string &name)
	Create a Service through which one can access a Port. More...

bool	chkPtr (const std::string &where, const std::string &name, const void *ptr)

Protected Attributes
Ports	mports
	All our ports. More...

Service *	mservice
	The parent Service. More...

Detailed Description

The Interface of a TaskContext which exposes its data-flow ports.

Definition at line 59 of file DataFlowInterface.hpp.

Member Typedef Documentation

typedef std::vector<std::string> RTT::DataFlowInterface::PortNames

A sequence of names of ports.

Definition at line 70 of file DataFlowInterface.hpp.

typedef std::vector<base::PortInterface*> RTT::DataFlowInterface::Ports

A sequence of pointers to ports.

Definition at line 65 of file DataFlowInterface.hpp.

typedef boost::function<void(base::PortInterface*)> RTT::DataFlowInterface::SlotFunction

Definition at line 72 of file DataFlowInterface.hpp.

Constructor & Destructor Documentation

RTT::DataFlowInterface::DataFlowInterface ( Service * parent = 0 )

Construct the DataFlow interface of a Service.

Parameters

parent If not null, a Service will be added to parent for each port added to this interface.

Definition at line 48 of file DataFlowInterface.cpp.

RTT::DataFlowInterface::~DataFlowInterface ( )

Definition at line 52 of file DataFlowInterface.cpp.

Member Function Documentation

base::InputPortInterface& RTT::DataFlowInterface::addEventPort	(	const std::string &	name,
		base::InputPortInterface &	port,
		SlotFunction	callback = `SlotFunction()`
	)

inline

Name and add an Event triggering Port to the interface of this task and add a Service with the same name of the port.

Parameters

name	The name to give to the port.
port	The port to add.
callback	(Optional) provide a function which will be called when new data arrives on this port. The callback function will be called instead of updateHook(). Use this->trigger() in your callback function in order to schedule an updateHook() nevertheless in the same cycle. If callback is not provided, updateHook() will be executed by default.

Definition at line 117 of file DataFlowInterface.hpp.

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

InputPortInterface & RTT::DataFlowInterface::addEventPort	(	base::InputPortInterface &	port,
		SlotFunction	callback = `SlotFunction()`
	)

Add an Event triggering Port to the interface of this task and add a Service with the same name of the port.

When data arrives on this port your TaskContext will be woken up and updateHook() will be executed by default.

Parameters

port	The port to add.
callback	(Optional) provide a function which will be called when new data arrives on this port. The callback function will be called instead of updateHook(). Use this->trigger() in your callback function in order to schedule an updateHook() nevertheless in the same cycle. If callback is not provided, updateHook() will be executed by default.

Returns: port

Definition at line 97 of file DataFlowInterface.cpp.

References addLocalEventPort(), RTT::Service::addService(), chkPtr(), RTT::Handle::connect(), createPortObject(), RTT::Handle::disconnect(), RTT::base::PortInterface::getName(), RTT::Service::hasService(), mservice, RTT::Service::provides(), RTT::Service::removeService(), and RTT::Warning.

InputPortInterface & RTT::DataFlowInterface::addLocalEventPort	(	base::InputPortInterface &	port,
		SlotFunction	callback = `SlotFunction()`
	)

Add an Event triggering Port to this task without registering a service for it.

When data arrives on this port your TaskContext will be woken up and updateHook will be executed.

Parameters

port	The port to add.
callback	(Optional) provide a function which will be called when new data arrives on this port. The callback function will be called in sequence with updateHook(), so asynchronously with regard to the arrival of data on the port.

Returns: port

Definition at line 135 of file DataFlowInterface.cpp.

References addLocalPort(), RTT::Error, RTT::base::PortInterface::getName(), RTT::Service::getName(), RTT::Service::getOwner(), RTT::Info, mservice, RTT::base::InputPortInterface::signalInterface(), and RTT::base::TaskCore::trigger().

Referenced by addEventPort().

PortInterface & RTT::DataFlowInterface::addLocalPort ( base::PortInterface & port )

Add a Port to this task without registering a service for it.

If a port with the same name already exists, addPort will replace it with port and log a warning.

Returns: port

Definition at line 82 of file DataFlowInterface.cpp.

References RTT::base::PortInterface::getName(), mports, removeLocalPort(), RTT::base::PortInterface::setInterface(), and RTT::Warning.

Referenced by addLocalEventPort(), and addPort().

base::PortInterface& RTT::DataFlowInterface::addPort	(	const std::string &	name,
		base::PortInterface &	port
	)

inline

Name and add a Port to the interface of this task and add a Service with the same name of the port.

Parameters

name	The name to give to the port.
port	The port to add.

Definition at line 89 of file DataFlowInterface.hpp.

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

PortInterface & RTT::DataFlowInterface::addPort ( base::PortInterface & port )

Add a Port to the interface of this task and add a Service with the same name of the port.

If a port or service with the name already exists, addPort will replace them with port and log a warning.

Parameters

port	The port to add.

Returns: port

Definition at line 59 of file DataFlowInterface.cpp.

References addLocalPort(), RTT::Service::addService(), chkPtr(), createPortObject(), RTT::base::PortInterface::getName(), RTT::Service::hasService(), mservice, RTT::Service::provides(), RTT::Service::removeService(), and RTT::Warning.

bool RTT::DataFlowInterface::chkPtr	(	const std::string &	where,
		const std::string &	name,
		const void *	ptr
	)

protected

Definition at line 265 of file DataFlowInterface.cpp.

References RTT::Error.

Referenced by addEventPort(), and addPort().

void RTT::DataFlowInterface::clear ( )

Remove all added ports from this interface and all associated TaskObjects.

Definition at line 253 of file DataFlowInterface.cpp.

References mports, mservice, and RTT::Service::removeService().

Service * RTT::DataFlowInterface::createPortObject ( const std::string & name )

protected

Create a Service through which one can access a Port.

Parameters

name	The port name

Definition at line 238 of file DataFlowInterface.cpp.

References RTT::base::PortInterface::createPortObject(), RTT::Service::doc(), getPort(), and getPortDescription().

Referenced by addEventPort(), and addPort().

void RTT::DataFlowInterface::dataOnPort ( base::PortInterface * port )

Used by the input ports to notify this class of new data.

Definition at line 128 of file DataFlowInterface.cpp.

References RTT::Service::getOwner(), and mservice.

TaskContext * RTT::DataFlowInterface::getOwner ( ) const

Returns the component this interface belongs to.

Definition at line 55 of file DataFlowInterface.cpp.

References RTT::Service::getOwner(), and mservice.

Referenced by RTT::base::PortInterface::createPortObject(), RTT::corba::CorbaDispatcher::Instance(), and RTT::mqueue::MQSendRecv::setupStream().

PortInterface * RTT::DataFlowInterface::getPort ( const std::string & name ) const

Get an added port.

Parameters

name	The port name

Returns: a pointer to a port or null if it does not exist.

Definition at line 211 of file DataFlowInterface.cpp.

References mports.

Referenced by RTT::corba::CDataFlowInterface_i::_default_POA(), RTT::TaskContext::connectPorts(), createPortObject(), and RTT::corba::CDataFlowInterface_i::deregisterChannel().

std::string RTT::DataFlowInterface::getPortDescription ( const std::string & name ) const

Get the description of an added Port.

Parameters

name	The port name

Returns: The description or "" if it does not exist.

Definition at line 220 of file DataFlowInterface.cpp.

References mports.

Referenced by createPortObject().

DataFlowInterface::PortNames RTT::DataFlowInterface::getPortNames ( ) const

Get all port names of this interface.

Returns: A sequence of strings containing the port names.

Deprecated:: by getNames()

Definition at line 202 of file DataFlowInterface.cpp.

References mports.

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

DataFlowInterface::Ports RTT::DataFlowInterface::getPorts ( ) const

Get all ports of this interface.

Returns: A sequence of pointers to ports.

Definition at line 198 of file DataFlowInterface.cpp.

References mports.

Referenced by RTT::TaskContext::connectPorts(), and RTT::TaskContext::disconnect().

template<class Type >

Type* RTT::DataFlowInterface::getPortType ( const std::string & name )

inline

Get a port of a specific type.

Definition at line 244 of file DataFlowInterface.hpp.

Service* RTT::DataFlowInterface::getService ( ) const

inline

Returns the service this interface belongs to.

The returned service is a service living in the component returned by getOwner() or in one of its sub-services.

Definition at line 203 of file DataFlowInterface.hpp.

Referenced by RTT::Service::provides().

void RTT::DataFlowInterface::removeLocalPort ( const std::string & name )

Remove a locally added Port from this interface.

This will remove all connections and callbacks assosiated with this port.

Parameters

port	The port to remove.

Note: this function will not check if a service with the same name as name exists, and will not remove it. So use removePort() in case you want to get rid of the service as well.

Definition at line 186 of file DataFlowInterface.cpp.

References mports.

Referenced by addLocalPort().

void RTT::DataFlowInterface::removePort ( const std::string & name )

Remove a Port from this interface.

This will remove all services, connections and callbacks assosiated with this port.

Parameters

port	The port to remove.

Note: Since services are refcounted, removePort may effectively delete the this object in case no Service::shared_ptr exists to this DataFlowInterface. In order to prevent such cleanup, create a Service::shared_ptr to this object before calling removePort().

Definition at line 165 of file DataFlowInterface.cpp.

References RTT::Service::getOwner(), RTT::Service::hasService(), mports, mservice, RTT::Service::provides(), and RTT::Service::removeService().

bool RTT::DataFlowInterface::setPortDescription	(	const std::string &	name,
		const std::string	description
	)

Sets the description for the service of an added port.

It's prefered to use getPort(name)->doc(description) instead of this method, since this function only updates the documentation of the service representing this port, and not the documentation stored in the port.

Parameters