Orocos Real-Time Toolkit
2.9.0
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In the data flow implementation, a channel is created by chaining ChannelElementBase objects. More...
#include <rtt/base/ChannelElementBase.hpp>
Public Types | |
typedef boost::intrusive_ptr< ChannelElementBase > | shared_ptr |
Public Member Functions | |
ChannelElementBase () | |
A default constructed ChannelElementBase has no input nor output configured. More... | |
virtual | ~ChannelElementBase () |
template<typename T > | |
ChannelElement< T > * | narrow () |
Return a pointer to the typed variant of this ChannelElementBase. More... | |
shared_ptr | getInput () |
Returns the current input channel element. More... | |
virtual shared_ptr | getInputEndPoint () |
Returns the first input channel element of this connection. More... | |
shared_ptr | getOutput () |
Returns the next channel element in the channel's propagation direction. More... | |
virtual shared_ptr | getOutputEndPoint () |
Returns the last output channel element of this connection. More... | |
virtual bool | connectTo (ChannelElementBase::shared_ptr const &output, bool mandatory=true) |
Connects a new output to this element. More... | |
virtual bool | connectFrom (ChannelElementBase::shared_ptr const &input) |
Connects a new input to this element. More... | |
virtual bool | connected () |
Returns true, if this channel element is connected on the input or output side. More... | |
virtual bool | signal () |
Signals that there is new data available on this channel By default, the channel element forwards the call to its output. More... | |
virtual bool | signalFrom (ChannelElementBase *) |
Signals that there is new data available on this channel Forwards to signal() unless overwritten in a derived class. More... | |
virtual bool | channelReady (ChannelElementBase::shared_ptr const &caller, ConnPolicy const &policy, internal::ConnID *conn_id=0) |
This is called on the output half of a new connection by the connection factory in order to notify the output side of the new connection and check if it is ready to receive data. More... | |
virtual bool | inputReady (ChannelElementBase::shared_ptr const &caller) |
This is called by an input port when it is ready to receive data. More... | |
virtual void | clear () |
Clears any data stored by the channel. More... | |
virtual void | disconnect (bool forward) |
Performs a disconnection of this channel's endpoints. More... | |
virtual bool | disconnect (ChannelElementBase::shared_ptr const &channel, bool forward) |
Performs a disconnection of a single input or output endpoint. More... | |
virtual PortInterface * | getPort () const |
Gets the port this channel element is connected to. More... | |
virtual const ConnPolicy * | getConnPolicy () const |
Get a pointer to the connection policy used to build this channel element, if available. More... | |
RTT_DEPRECATED void | setOutput (const ChannelElementBase::shared_ptr &output) |
RTT_DEPRECATED void | setInput (const ChannelElementBase::shared_ptr &input) |
virtual bool | isRemoteElement () const |
This function may be used to identify, if the current element uses a network transport, to send the data to the next Element in the logical chain. More... | |
virtual std::string | getRemoteURI () const |
This function returns the URI of the next channel element in the logical chain. More... | |
virtual std::string | getLocalURI () const |
This function return the URI of this element. More... | |
virtual std::string | getElementName () const |
Returns the class name of this element. More... | |
Static Public Member Functions | |
template<typename T > | |
static ChannelElement< T > * | narrow (ChannelElementBase *e) |
Return a pointer to the typed instance of a ChannelElementBase. More... | |
Protected Member Functions | |
void | ref () |
Increases the reference count. More... | |
void | deref () |
Decreases the reference count, and deletes the object if it is zero. More... | |
virtual bool | addOutput (shared_ptr const &output, bool mandatory=true) |
Sets the new output channel element of this element or adds a channel to the outputs list. More... | |
virtual void | removeOutput (shared_ptr const &output) |
Remove an output from the outputs list. More... | |
virtual bool | addInput (shared_ptr const &input) |
Sets the new input channel element of this element or adds a channel to the inputs list. More... | |
virtual void | removeInput (shared_ptr const &input) |
Remove an input from the inputs list. More... | |
Protected Attributes | |
shared_ptr | input |
shared_ptr | output |
RTT::os::SharedMutex | input_lock |
RTT::os::SharedMutex | output_lock |
Friends | |
class | MultipleInputsChannelElementBase |
class | MultipleOutputsChannelElementBase |
void RTT_API | intrusive_ptr_add_ref (ChannelElementBase *e) |
void RTT_API | intrusive_ptr_release (ChannelElementBase *e) |
In the data flow implementation, a channel is created by chaining ChannelElementBase objects.
ChannelElementBase objects are refcounted. In the chain, an element maintains the refcount for its successor, and holds a simple pointer to its predecessor.
Definition at line 65 of file ChannelElementBase.hpp.
typedef boost::intrusive_ptr<ChannelElementBase> RTT::base::ChannelElementBase::shared_ptr |
Definition at line 68 of file ChannelElementBase.hpp.
ChannelElementBase::ChannelElementBase | ( | ) |
A default constructed ChannelElementBase has no input nor output configured.
The only way to set an input or output is to use connectTo() or connectFrom().
Definition at line 47 of file ChannelInterface.cpp.
References ORO_ATOMIC_SETUP().
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virtual |
Definition at line 52 of file ChannelInterface.cpp.
References ORO_ATOMIC_CLEANUP().
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Sets the new input channel element of this element or adds a channel to the inputs list.
input | the previous element in chain. |
Reimplemented in RTT::base::MultipleInputsChannelElementBase.
Definition at line 106 of file ChannelInterface.cpp.
References input, and input_lock.
Referenced by connectFrom().
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protectedvirtual |
Sets the new output channel element of this element or adds a channel to the outputs list.
output | the next element in chain. |
mandatory | whether the added output is mandatory for a write to succeed |
Reimplemented in RTT::base::MultipleOutputsChannelElementBase.
Definition at line 79 of file ChannelInterface.cpp.
References output, and output_lock.
Referenced by connectTo().
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This is called on the output half of a new connection by the connection factory in order to notify the output side of the new connection and check if it is ready to receive data.
Each channel element has the responsibility to pass this notification on to the next, in the direction of the input. The ConnOutputEndPoint then calls back the inputReady() method in reverse direction to notify the output that the connection was successfully established.
Reimplemented in RTT::corba::RemoteChannelElement< T >, RTT::base::MultipleOutputsChannelElementBase, and RTT::internal::ConnOutputEndpoint< T >.
Definition at line 169 of file ChannelInterface.cpp.
References getInput(), getOutput(), input, inputReady(), and output.
Referenced by RTT::corba::RemoteChannelElement< T >::channelReady().
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Clears any data stored by the channel.
It means that ChannelElement::read() will return false afterwards (provided that no new data has been written on the meantime of course)
By default, the channel element forwards the calls to its input
Reimplemented in RTT::base::MultipleInputsChannelElementBase, RTT::internal::SharedConnection< T >, RTT::internal::ChannelBufferElement< T >, and RTT::internal::ChannelDataElement< T >.
Definition at line 188 of file ChannelInterface.cpp.
References getInput(), and input.
Referenced by RTT::internal::ChannelDataElement< T >::clear(), RTT::internal::ChannelBufferElement< T >::clear(), and RTT::internal::SharedConnection< T >::clear().
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Returns true, if this channel element is connected on the input or output side.
Reimplemented in RTT::base::MultipleInputsMultipleOutputsChannelElementBase, RTT::base::MultipleOutputsChannelElementBase, and RTT::base::MultipleInputsChannelElementBase.
Definition at line 123 of file ChannelInterface.cpp.
References input, input_lock, output, and output_lock.
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Connects a new input to this element.
input | the previous element in chain. |
Definition at line 96 of file ChannelInterface.cpp.
References addInput(), and removeInput().
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Connects a new output to this element.
output | the next element in chain. |
mandatory | whether the added output is mandatory for a write operation to succeed |
Definition at line 69 of file ChannelInterface.cpp.
References addOutput(), and removeOutput().
Referenced by RTT::internal::ConnFactory::buildChannelInput(), RTT::internal::ConnFactory::buildChannelOutput(), RTT::internal::ConnFactory::buildSharedConnection(), and RTT::internal::ConnFactory::createAndCheckSharedConnection().
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Decreases the reference count, and deletes the object if it is zero.
Definition at line 467 of file ChannelInterface.cpp.
References oro_atomic_dec_and_test().
Referenced by RTT::corba::RemoteChannelElement< T >::_remove_ref().
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Performs a disconnection of this channel's endpoints.
If forward is true, then the disconnection is initiated by the input endpoint. Otherwise, it has been initiated by the output endpoint.
Definition at line 130 of file ChannelInterface.cpp.
References getInput(), getOutput(), input, output, removeInput(), and removeOutput().
Referenced by RTT::corba::RemoteChannelElement< T >::disconnect(), RTT::base::MultipleInputsChannelElementBase::disconnect(), RTT::base::MultipleOutputsChannelElementBase::disconnect(), RTT::internal::ConnectionManager::eraseConnection(), and RTT::corba::RemoteChannelElement< T >::remoteDisconnect().
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Performs a disconnection of a single input or output endpoint.
If forward is true, then the disconnection is initiated by the input endpoint and channel must be a connected input. Otherwise, it has been initiated by the output endpoint and channel must be a connected output. The disconnect call is only forwarded to the opposite side of the channel element after the last input/output element on either side has been removed.
The ChannelElementBase implementation ignores the given channel and disconnects unconditinally.
Reimplemented in RTT::base::MultipleInputsMultipleOutputsChannelElementBase, RTT::base::MultipleOutputsChannelElementBase, RTT::base::MultipleInputsChannelElementBase, RTT::corba::RemoteChannelElement< T >, RTT::internal::ConnOutputEndpoint< T >, and RTT::internal::ConnInputEndpoint< T >.
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Get a pointer to the connection policy used to build this channel element, if available.
This method will be overwritten for data and buffer elements.
Reimplemented in RTT::internal::ChannelBufferElement< T >, RTT::internal::ChannelDataElement< T >, and RTT::internal::SharedConnectionBase.
Definition at line 207 of file ChannelInterface.cpp.
Referenced by RTT::internal::ConnFactory::buildChannelInput(), and RTT::internal::ConnFactory::buildChannelOutput().
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Returns the class name of this element.
This is primary useful for special case handling in the connection tracking.
Reimplemented in RTT::corba::RemoteChannelElement< T >, RTT::mqueue::MQChannelElement< T >, RTT::internal::ConnOutputEndpoint< T >, RTT::internal::ChannelBufferElement< T >, RTT::internal::ConnInputEndpoint< T >, and RTT::internal::ChannelDataElement< T >.
Definition at line 227 of file ChannelInterface.cpp.
ChannelElementBase::shared_ptr ChannelElementBase::getInput | ( | ) |
Returns the current input channel element.
This will only return a valid channel element if another element has received this object as an argument to connectTo().
Definition at line 57 of file ChannelInterface.cpp.
References input, and input_lock.
Referenced by channelReady(), clear(), disconnect(), RTT::base::ChannelElement< T >::getInput(), getInputEndPoint(), RTT::mqueue::MQChannelElement< T >::getLocalURI(), and RTT::corba::RemoteChannelElement< T >::getLocalURI().
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Returns the first input channel element of this connection.
Will return the channel element the furthest away from the input port, or this if none.
Reimplemented in RTT::internal::ConnInputEndpoint< T >.
Definition at line 157 of file ChannelInterface.cpp.
References getInput(), and input.
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This function return the URI of this element.
The URI must be unique.
Reimplemented in RTT::corba::RemoteChannelElement< T >, and RTT::mqueue::MQChannelElement< T >.
Definition at line 223 of file ChannelInterface.cpp.
Referenced by RTT::mqueue::MQChannelElement< T >::getLocalURI(), and RTT::corba::RemoteChannelElement< T >::getLocalURI().
ChannelElementBase::shared_ptr ChannelElementBase::getOutput | ( | ) |
Returns the next channel element in the channel's propagation direction.
Definition at line 63 of file ChannelInterface.cpp.
References output, and output_lock.
Referenced by channelReady(), disconnect(), RTT::base::ChannelElement< T >::getOutput(), getOutputEndPoint(), RTT::mqueue::MQChannelElement< T >::getRemoteURI(), RTT::corba::RemoteChannelElement< T >::getRemoteURI(), and signal().
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Returns the last output channel element of this connection.
Will return the channel element the furthest away from the output port, or this if none.
Reimplemented in RTT::internal::ConnOutputEndpoint< T >.
Definition at line 163 of file ChannelInterface.cpp.
References getOutput(), and output.
Referenced by RTT::corba::CDataFlowInterface_i::deregisterChannel().
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Gets the port this channel element is connected to.
Reimplemented in RTT::internal::ConnOutputEndpoint< T >, and RTT::internal::ConnInputEndpoint< T >.
Definition at line 203 of file ChannelInterface.cpp.
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This function returns the URI of the next channel element in the logical chain.
The URI must be unique. E.g: In the local case output->getLocalURI() In the remote case the URI of the remote channel element.
Reimplemented in RTT::corba::RemoteChannelElement< T >, and RTT::mqueue::MQChannelElement< T >.
Definition at line 215 of file ChannelInterface.cpp.
References output.
Referenced by RTT::mqueue::MQChannelElement< T >::getRemoteURI(), and RTT::corba::RemoteChannelElement< T >::getRemoteURI().
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This is called by an input port when it is ready to receive data.
Each channel element has the responsibility to pass this notification on to the next, in the direction of the output.
Reimplemented in RTT::corba::RemoteChannelElement< T >, RTT::base::MultipleInputsChannelElementBase, RTT::mqueue::MQChannelElement< T >, and RTT::internal::ConnInputEndpoint< T >.
Referenced by channelReady().
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This function may be used to identify, if the current element uses a network transport, to send the data to the next Element in the logical chain.
Reimplemented in RTT::corba::RemoteChannelElement< T >, and RTT::mqueue::MQChannelElement< T >.
Definition at line 211 of file ChannelInterface.cpp.
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inlinestatic |
Return a pointer to the typed instance of a ChannelElementBase.
Definition at line 101 of file ChannelElementBase.hpp.
Referenced by RTT::base::MultipleInputsChannelElement< T >::read().
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Return a pointer to the typed variant of this ChannelElementBase.
Definition at line 109 of file ChannelElementBase.hpp.
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Increases the reference count.
Definition at line 462 of file ChannelInterface.cpp.
References oro_atomic_inc().
Referenced by RTT::corba::RemoteChannelElement< T >::_add_ref(), and RTT::corba::RemoteChannelElement< T >::RemoteChannelElement().
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Remove an input from the inputs list.
input | the element to be removed, or null to remove unconditionally |
Reimplemented in RTT::base::MultipleInputsChannelElementBase, and RTT::base::MultipleInputsChannelElement< T >.
Definition at line 115 of file ChannelInterface.cpp.
References input_lock.
Referenced by connectFrom(), disconnect(), and RTT::base::MultipleInputsChannelElementBase::disconnect().
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Remove an output from the outputs list.
output | the element to be removed, or null to remove unconditionally |
Reimplemented in RTT::base::MultipleOutputsChannelElementBase.
Definition at line 88 of file ChannelInterface.cpp.
References output_lock.
Referenced by connectTo(), and disconnect().
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Definition at line 244 of file ChannelElementBase.hpp.
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Definition at line 238 of file ChannelElementBase.hpp.
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Signals that there is new data available on this channel By default, the channel element forwards the call to its output.
Reimplemented in RTT::base::MultipleOutputsChannelElementBase, RTT::internal::ConnOutputEndpoint< T >, RTT::mqueue::MQChannelElement< T >, and RTT::corba::RemoteChannelElement< T >.
Definition at line 195 of file ChannelInterface.cpp.
References getOutput(), and output.
Referenced by RTT::corba::RemoteChannelElement< T >::remoteSignal(), RTT::corba::RemoteChannelElement< T >::signal(), RTT::base::MultipleOutputsChannelElementBase::signal(), RTT::base::MultipleInputsChannelElementBase::signalFrom(), and RTT::internal::ChannelDataElement< T >::write().
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Signals that there is new data available on this channel Forwards to signal() unless overwritten in a derived class.
Reimplemented in RTT::base::MultipleInputsChannelElementBase.
Definition at line 173 of file ChannelElementBase.hpp.
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Definition at line 289 of file ChannelElementBase.hpp.
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Definition at line 290 of file ChannelElementBase.hpp.
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Definition at line 76 of file ChannelElementBase.hpp.
Referenced by addInput(), RTT::base::MultipleInputsChannelElementBase::addInput(), channelReady(), clear(), connected(), RTT::base::ChannelElement< T >::data_sample(), RTT::base::MultipleInputsChannelElement< T >::data_sample(), disconnect(), RTT::base::MultipleInputsChannelElementBase::disconnect(), getInput(), getInputEndPoint(), RTT::corba::RemoteChannelElement< T >::inputReady(), RTT::base::ChannelElement< T >::read(), RTT::base::MultipleInputsChannelElement< T >::read(), and RTT::mqueue::MQChannelElement< T >::signal().
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Definition at line 79 of file ChannelElementBase.hpp.
Referenced by addInput(), connected(), getInput(), and removeInput().
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Definition at line 77 of file ChannelElementBase.hpp.
Referenced by addOutput(), RTT::base::MultipleOutputsChannelElementBase::addOutput(), channelReady(), connected(), RTT::base::ChannelElement< T >::data_sample(), RTT::base::MultipleOutputsChannelElement< T >::data_sample(), disconnect(), RTT::base::MultipleOutputsChannelElementBase::disconnect(), getOutput(), getOutputEndPoint(), getRemoteURI(), RTT::mqueue::MQChannelElement< T >::inputReady(), RTT::base::MultipleOutputsChannelElementBase::removeDisconnectedOutputs(), RTT::mqueue::MQChannelElement< T >::signal(), signal(), RTT::base::MultipleOutputsChannelElementBase::signal(), RTT::base::ChannelElement< T >::write(), and RTT::base::MultipleOutputsChannelElement< T >::write().
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mutableprotected |
Definition at line 80 of file ChannelElementBase.hpp.
Referenced by addOutput(), connected(), getOutput(), and removeOutput().