The base class of each OutputPort. More...

#include <rtt/base/OutputPortInterface.hpp>

Inheritance diagram for RTT::base::OutputPortInterface:

Public Member Functions
virtual bool	addConnection (internal::ConnID *port_id, ChannelElementBase::shared_ptr channel_input, ConnPolicy const &policy)
	Adds a new connection to this output port and initializes the connection if required by policy. More...

	OutputPortInterface (std::string const &name)

virtual	~OutputPortInterface ()

virtual bool	keepsLastWrittenValue () const =0
	Returns true if this port records the last written value. More...

virtual void	keepLastWrittenValue (bool new_flag)=0
	Change the setting for keeping the last written value. More...

virtual DataSourceBase::shared_ptr	getDataSource () const =0
	Returns a Data source that stores the last written value, or a null pointer if this port does not keep its last written value. More...

virtual void	disconnect ()
	Removes any connection that either go to or come from this port. More...

virtual bool	connected () const
	Returns true if there is at least one channel registered in this port's list of outputs. More...

virtual WriteStatus	write (DataSourceBase::shared_ptr source)
	Write this port using the value stored in source. More...

bool	createDataConnection (InputPortInterface &sink, int lock_policy=ConnPolicy::LOCK_FREE)
	Connects this write port to the given read port, using a single-data policy with the given locking mechanism. More...

bool	createBufferConnection (InputPortInterface &sink, int size, int lock_policy=ConnPolicy::LOCK_FREE)
	Connects this write port to the given read port, using a buffered policy, with the buffer of the given size and the given locking mechanism. More...

bool	createConnection (InputPortInterface &sink)
	Connects this write port to the given read port, using as policy the default policy of the sink port. More...

virtual bool	createConnection (InputPortInterface &sink, ConnPolicy const &policy)=0
	Connects this write port to the given read port, using the given connection policy. More...

virtual bool	createConnection (internal::SharedConnectionBase::shared_ptr shared_connection, ConnPolicy const &policy=ConnPolicy())
	Connects the port to an existing shared connection instance. More...

virtual bool	disconnect (PortInterface *port)
	Removes the channel that connects this port to `port`. 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 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 bool	connectedTo (PortInterface *port)
	Returns true if this port is connected to the given 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...

virtual bool	removeConnection (internal::ConnID *cid)
	Removes a user created connection from this port. 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...

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

virtual ChannelElementBase *	getEndpoint () const =0
	Returns the input or output endpoint of this port (if any). More...

virtual internal::SharedConnectionBase::shared_ptr	getSharedConnection () const
	Returns a pointer to the shared connection element this port may be connected to. More...

Protected Member Functions
virtual bool	connectionAdded (ChannelElementBase::shared_ptr channel_input, ConnPolicy const &policy)=0
	Upcall to OutputPort. More...

	OutputPortInterface (OutputPortInterface const &orig)

Protected Attributes
DataFlowInterface *	iface

internal::ConnectionManager	cmanager

Detailed Description

The base class of each OutputPort.

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

Definition at line 52 of file OutputPortInterface.hpp.

Constructor & Destructor Documentation

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

protected

OutputPortInterface::OutputPortInterface ( std::string const & name )

Definition at line 51 of file OutputPortInterface.cpp.

OutputPortInterface::~OutputPortInterface ( )

virtual

Definition at line 54 of file OutputPortInterface.cpp.

References RTT::base::PortInterface::cmanager, and RTT::internal::ConnectionManager::disconnect().

Member Function Documentation

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

virtual

Adds a new connection to this output port and initializes the connection if required by policy.

Use with care. Allows you to add any arbitrary connection to this output port. It is your responsibility to do any further bookkeeping, such as informing the input that a new output has been added.

Implements RTT::base::PortInterface.

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

Definition at line 73 of file OutputPortInterface.cpp.

References RTT::internal::ConnectionManager::addConnection(), RTT::base::PortInterface::cmanager, and connectionAdded().

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

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.

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 OutputPortInterface::connected ( ) const

virtual

Returns true if there is at least one channel registered in this port's list of outputs.

Returns true if this port is connected.

Implements RTT::base::PortInterface.

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

Definition at line 60 of file OutputPortInterface.cpp.

References RTT::base::PortInterface::cmanager, and RTT::internal::ConnectionManager::connected().

Referenced by RTT::OutputPort< T >::setDataSample(), and RTT::OutputPort< T >::write().

bool PortInterface::connectedTo ( PortInterface * port )

virtualinherited

Returns true if this port is connected to the given port.

Definition at line 67 of file PortInterface.cpp.

References RTT::base::PortInterface::cmanager, and RTT::internal::ConnectionManager::connectedTo().

Referenced by RTT::internal::ConnFactory::createConnection().

virtual bool RTT::base::OutputPortInterface::connectionAdded	(	ChannelElementBase::shared_ptr	channel_input,
		ConnPolicy const &	policy
	)

protectedpure virtual

Upcall to OutputPort.

Implemented in RTT::corba::RemotePort< base::OutputPortInterface >.

Referenced by addConnection().

bool OutputPortInterface::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 98 of file OutputPortInterface.cpp.

References createConnection().

bool OutputPortInterface::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 106 of file OutputPortInterface.cpp.

References createConnection().

bool OutputPortInterface::createBufferConnection	(	InputPortInterface &	sink,
		int	size,
		int	lock_policy = `ConnPolicy::LOCK_FREE`
	)

Connects this write port to the given read port, using a buffered policy, with the buffer of the given size and the given locking mechanism.

Definition at line 87 of file OutputPortInterface.cpp.

References RTT::ConnPolicy::buffer(), RTT::internal::ConnFactory::createAndCheckSharedConnection(), createConnection(), and RTT::base::InputPortInterface::getDefaultPolicy().

bool RTT::base::OutputPortInterface::createConnection ( InputPortInterface & sink )

Connects this write port to the given read port, using as policy the default policy of the sink port.

Referenced by RTT::OutputPort< T >::antiClone(), RTT::base::InputPortInterface::connectTo(), connectTo(), createBufferConnection(), createDataConnection(), and RTT::corba::CDataFlowInterface_i::deregisterChannel().

virtual bool RTT::base::OutputPortInterface::createConnection	(	InputPortInterface &	sink,
		ConnPolicy const &	policy
	)

pure virtual

Connects this write port to the given read port, using the given connection policy.

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

virtual bool RTT::base::OutputPortInterface::createConnection	(	internal::SharedConnectionBase::shared_ptr	shared_connection,
		ConnPolicy const &	policy = `ConnPolicy()`
	)

virtual

Connects the port to an existing shared connection instance.

Implements RTT::base::PortInterface.

bool OutputPortInterface::createDataConnection	(	InputPortInterface &	sink,
		int	lock_policy = `ConnPolicy::LOCK_FREE`
	)

Connects this write port to the given read port, using a single-data policy with the given locking mechanism.

Definition at line 84 of file OutputPortInterface.cpp.

References createConnection(), and RTT::ConnPolicy::data().

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 79 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 OutputPortInterface::disconnect ( )

virtual

Removes any connection that either go to or come from this port.

Implements RTT::base::PortInterface.

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

Definition at line 68 of file OutputPortInterface.cpp.

References RTT::base::PortInterface::cmanager, and RTT::internal::ConnectionManager::disconnect().

Referenced by RTT::internal::ConnFactory::createAndCheckConnection(), and RTT::OutputPort< T >::~OutputPort().

bool OutputPortInterface::disconnect ( PortInterface * port )

virtual

Removes the channel that connects this port to port.

Implements RTT::base::PortInterface.

Reimplemented in RTT::corba::RemoteOutputPort.

Definition at line 63 of file OutputPortInterface.cpp.

References RTT::base::PortInterface::cmanager, and RTT::internal::ConnectionManager::disconnect().

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(), and RTT::corba::TaskContextProxy::synchronizePorts().

virtual DataSourceBase::shared_ptr RTT::base::OutputPortInterface::getDataSource ( ) const

pure virtual

Returns a Data source that stores the last written value, or a null pointer if this port does not keep its last written value.

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

Referenced by RTT::internal::ConnFactory::createAndCheckStream().

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

inlineinherited

Get the documentation of this port.

Returns: A description.

Definition at line 93 of file PortInterface.hpp.

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

virtual ChannelElementBase* RTT::base::PortInterface::getEndpoint ( ) const

pure virtualinherited

Returns the input or output endpoint of this port (if any).

This method provides access to the internals of this port in order to access connected channel objects directly.

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

Referenced by RTT::internal::ConnFactory::createAndCheckConnection(), RTT::internal::ConnFactory::createAndCheckSharedConnection(), and RTT::internal::ConnectionManager::eraseConnection().

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 104 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 internal::ConnectionManager* RTT::base::PortInterface::getManager ( )

inlinevirtualinherited

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.

Definition at line 222 of file PortInterface.hpp.

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

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

inlineinherited

Get the name of this Port.

Definition at line 79 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::internal::ConnFactory::buildChannelInput(), RTT::corba::CorbaFallBackProtocol::buildChannelOutput(), RTT::internal::ConnFactory::buildChannelOutput(), RTT::corba::RemoteInputPort::buildRemoteChannelOutput(), RTT::internal::ConnFactory::buildRemoteChannelOutput(), RTT::internal::ConnFactory::buildSharedConnection(), RTT::corba::RemoteOutputPort::clone(), RTT::corba::RemoteInputPort::clone(), RTT::InputPort< T >::clone(), RTT::OutputPort< T >::clone(), RTT::TaskContext::connectPorts(), RTT::base::InputPortInterface::connectTo(), RTT::internal::ConnFactory::createAndCheckConnection(), RTT::internal::ConnFactory::createAndCheckSharedConnection(), RTT::internal::ConnFactory::createAndCheckStream(), RTT::corba::RemoteOutputPort::createConnection(), RTT::corba::RemoteInputPort::createConnection(), RTT::internal::ConnFactory::createConnection(), RTT::base::PortInterface::createPortObject(), RTT::corba::CorbaFallBackProtocol::createStream(), RTT::corba::CDataFlowInterface_i::deregisterChannel(), RTT::corba::RemoteOutputPort::disconnect(), RTT::internal::ConnectionManager::eraseConnection(), RTT::internal::ConnFactory::findSharedConnection(), RTT::OutputPort< T >::setDataSample(), RTT::mqueue::MQSendRecv::setupStream(), and RTT::OutputPort< T >::write().

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 76 of file PortInterface.cpp.

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

internal::SharedConnectionBase::shared_ptr PortInterface::getSharedConnection ( ) const

virtualinherited

Returns a pointer to the shared connection element this port may be connected to.

Definition at line 109 of file PortInterface.cpp.

References RTT::base::PortInterface::cmanager, and RTT::internal::ConnectionManager::getSharedConnection().

Referenced by RTT::internal::ConnFactory::createAndCheckSharedConnection(), and RTT::internal::ConnFactory::findSharedConnection().

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::buildRemoteChannelOutput(), RTT::internal::ConnFactory::createAndCheckStream(), 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 71 of file PortInterface.cpp.

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

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

virtual void RTT::base::OutputPortInterface::keepLastWrittenValue ( bool new_flag )

pure virtual

Change the setting for keeping the last written value.

Setting this to false will clear up any unneeded storage. If set, this port can initialize new connections with a data sample and allows real-time data transport of dynamically sized objects over its newly created connections.