Orocos Real-Time Toolkit
2.9.0
|
A connection element that can store a fixed number of data samples. More...
#include <rtt/internal/ChannelBufferElement.hpp>
Public Types | |
typedef base::ChannelElement< T >::value_t | value_t |
typedef base::ChannelElement< T >::param_t | param_t |
typedef base::ChannelElement< T >::reference_t | reference_t |
typedef boost::intrusive_ptr< ChannelElement< T > > | shared_ptr |
Public Member Functions | |
ChannelBufferElement (typename base::BufferInterface< T >::shared_ptr buffer, const ConnPolicy &policy=ConnPolicy()) | |
virtual | ~ChannelBufferElement () |
virtual size_t | getBufferSize () const |
virtual size_t | getBufferFillSize () const |
virtual size_t | getNumDroppedSamples () const |
virtual WriteStatus | write (param_t sample) |
Appends a sample at the end of the FIFO. More... | |
virtual FlowStatus | read (reference_t sample, bool copy_old_data) |
Pops and returns the first element of the FIFO. More... | |
virtual void | clear () |
Removes all elements in the FIFO. More... | |
virtual WriteStatus | data_sample (param_t sample, bool reset=true) |
Provides a data sample to initialize this connection. More... | |
virtual value_t | data_sample () |
virtual const ConnPolicy * | getConnPolicy () const |
Returns a pointer to the ConnPolicy that has been used to construct the underlying buffer. More... | |
virtual std::string | getElementName () const |
Returns the class name of this element. More... | |
shared_ptr | getOutput () |
shared_ptr | getInput () |
template<typename T > | |
ChannelElement< T > * | narrow () |
Return a pointer to the typed variant of this ChannelElementBase. More... | |
virtual shared_ptr | getInputEndPoint () |
Returns the first input channel element of this connection. 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 | 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... | |
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... | |
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 |
A connection element that can store a fixed number of data samples.
Definition at line 60 of file ChannelBufferElement.hpp.
typedef base::ChannelElement<T>::param_t RTT::internal::ChannelBufferElement< T >::param_t |
Definition at line 68 of file ChannelBufferElement.hpp.
typedef base::ChannelElement<T>::reference_t RTT::internal::ChannelBufferElement< T >::reference_t |
Definition at line 69 of file ChannelBufferElement.hpp.
|
inherited |
Definition at line 61 of file ChannelElement.hpp.
typedef base::ChannelElement<T>::value_t RTT::internal::ChannelBufferElement< T >::value_t |
Definition at line 67 of file ChannelBufferElement.hpp.
|
inline |
Definition at line 71 of file ChannelBufferElement.hpp.
|
inlinevirtual |
Definition at line 74 of file ChannelBufferElement.hpp.
References RTT::base::BufferInterface< T >::Release().
|
protectedvirtualinherited |
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 RTT::base::ChannelElementBase::input, and RTT::base::ChannelElementBase::input_lock.
Referenced by RTT::base::ChannelElementBase::connectFrom().
|
protectedvirtualinherited |
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 RTT::base::ChannelElementBase::output, and RTT::base::ChannelElementBase::output_lock.
Referenced by RTT::base::ChannelElementBase::connectTo().
|
virtualinherited |
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 RTT::base::ChannelElementBase::getInput(), RTT::base::ChannelElementBase::getOutput(), RTT::base::ChannelElementBase::input, RTT::base::ChannelElementBase::inputReady(), and RTT::base::ChannelElementBase::output.
Referenced by RTT::corba::RemoteChannelElement< T >::channelReady().
|
inlinevirtual |
Removes all elements in the FIFO.
After a call to clear(), read() will always return false (provided write() has not been called in the meantime).
Reimplemented from RTT::base::ChannelElementBase.
Definition at line 140 of file ChannelBufferElement.hpp.
References RTT::base::BufferBase::clear(), RTT::base::ChannelElementBase::clear(), and RTT::base::BufferInterface< T >::Release().
|
virtualinherited |
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 RTT::base::ChannelElementBase::input, RTT::base::ChannelElementBase::input_lock, RTT::base::ChannelElementBase::output, and RTT::base::ChannelElementBase::output_lock.
|
virtualinherited |
Connects a new input to this element.
input | the previous element in chain. |
Definition at line 96 of file ChannelInterface.cpp.
References RTT::base::ChannelElementBase::addInput(), and RTT::base::ChannelElementBase::removeInput().
|
virtualinherited |
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 RTT::base::ChannelElementBase::addOutput(), and RTT::base::ChannelElementBase::removeOutput().
Referenced by RTT::internal::ConnFactory::buildChannelInput(), RTT::internal::ConnFactory::buildChannelOutput(), RTT::internal::ConnFactory::buildSharedConnection(), and RTT::internal::ConnFactory::createAndCheckSharedConnection().
|
inlinevirtual |
Provides a data sample to initialize this connection.
This is used before the first write() in order to inform this connection of the size of the data. As such enough storage space can be allocated before the actual writing begins.
Reimplemented from RTT::base::ChannelElement< T >.
Definition at line 149 of file ChannelBufferElement.hpp.
References RTT::base::ChannelElement< T >::data_sample(), RTT::base::BufferInterface< T >::data_sample(), and RTT::WriteFailure.
|
inlinevirtual |
Reimplemented from RTT::base::ChannelElement< T >.
Definition at line 155 of file ChannelBufferElement.hpp.
References RTT::base::BufferInterface< T >::data_sample().
|
protectedinherited |
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().
|
virtualinherited |
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 RTT::base::ChannelElementBase::getInput(), RTT::base::ChannelElementBase::getOutput(), RTT::base::ChannelElementBase::input, RTT::base::ChannelElementBase::output, RTT::base::ChannelElementBase::removeInput(), and RTT::base::ChannelElementBase::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().
|
virtualinherited |
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 >.
|
inlinevirtual |
Implements RTT::internal::ChannelBufferElementBase.
Definition at line 85 of file ChannelBufferElement.hpp.
References RTT::base::BufferBase::size().
|
inlinevirtual |
Implements RTT::internal::ChannelBufferElementBase.
Definition at line 80 of file ChannelBufferElement.hpp.
References RTT::base::BufferBase::capacity().
|
inlinevirtual |
Returns a pointer to the ConnPolicy that has been used to construct the underlying buffer.
Reimplemented from RTT::base::ChannelElementBase.
Definition at line 162 of file ChannelBufferElement.hpp.
|
inlinevirtual |
Returns the class name of this element.
This is primary useful for special case handling in the connection tracking.
Reimplemented from RTT::base::ChannelElementBase.
Definition at line 167 of file ChannelBufferElement.hpp.
|
inlineinherited |
Definition at line 71 of file ChannelElement.hpp.
References RTT::base::ChannelElementBase::getInput().
Referenced by RTT::base::ChannelElement< T >::data_sample(), RTT::internal::ConnInputEndpoint< T >::getSharedBuffer(), RTT::corba::RemoteChannelElement< T >::inputReady(), RTT::base::ChannelElement< T >::read(), and RTT::mqueue::MQChannelElement< T >::signal().
|
virtualinherited |
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 RTT::base::ChannelElementBase::getInput(), and RTT::base::ChannelElementBase::input.
|
virtualinherited |
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().
|
inlinevirtual |
Implements RTT::internal::ChannelBufferElementBase.
Definition at line 90 of file ChannelBufferElement.hpp.
References RTT::base::BufferBase::dropped().
|
inlineinherited |
Definition at line 66 of file ChannelElement.hpp.
References RTT::base::ChannelElementBase::getOutput().
Referenced by RTT::base::ChannelElement< T >::data_sample(), RTT::internal::ConnOutputEndpoint< T >::getSharedBuffer(), RTT::mqueue::MQChannelElement< T >::signal(), and RTT::base::ChannelElement< T >::write().
|
virtualinherited |
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 RTT::base::ChannelElementBase::getOutput(), and RTT::base::ChannelElementBase::output.
Referenced by RTT::corba::CDataFlowInterface_i::deregisterChannel().
|
virtualinherited |
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.
|
virtualinherited |
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 RTT::base::ChannelElementBase::output.
Referenced by RTT::mqueue::MQChannelElement< T >::getRemoteURI(), and RTT::corba::RemoteChannelElement< T >::getRemoteURI().
|
virtualinherited |
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 RTT::base::ChannelElementBase::channelReady().
|
virtualinherited |
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.
|
inlinestaticinherited |
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().
|
inlineinherited |
Return a pointer to the typed variant of this ChannelElementBase.
Definition at line 109 of file ChannelElementBase.hpp.
|
inlinevirtual |
Pops and returns the first element of the FIFO.
Reimplemented from RTT::base::ChannelElement< T >.
Definition at line 109 of file ChannelBufferElement.hpp.
References RTT::ConnPolicy::buffer_policy, RTT::NewData, RTT::NoData, RTT::OldData, RTT::PerOutputPort, RTT::base::BufferInterface< T >::PopWithoutRelease(), RTT::base::BufferInterface< T >::Release(), and RTT::Shared.
|
protectedinherited |
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().
|
protectedvirtualinherited |
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 RTT::base::ChannelElementBase::input_lock.
Referenced by RTT::base::ChannelElementBase::connectFrom(), RTT::base::ChannelElementBase::disconnect(), and RTT::base::MultipleInputsChannelElementBase::disconnect().
|
protectedvirtualinherited |
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 RTT::base::ChannelElementBase::output_lock.
Referenced by RTT::base::ChannelElementBase::connectTo(), and RTT::base::ChannelElementBase::disconnect().
|
inlineinherited |
Definition at line 244 of file ChannelElementBase.hpp.
|
inlineinherited |
Definition at line 238 of file ChannelElementBase.hpp.
|
virtualinherited |
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 RTT::base::ChannelElementBase::getOutput(), and RTT::base::ChannelElementBase::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().
|
inlinevirtualinherited |
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.
|
inlinevirtual |
Appends a sample at the end of the FIFO.
Reimplemented from RTT::base::ChannelElement< T >.
Definition at line 99 of file ChannelBufferElement.hpp.
References RTT::NotConnected, RTT::base::BufferInterface< T >::Push(), RTT::WriteFailure, and RTT::WriteSuccess.
|
protectedinherited |
Definition at line 76 of file ChannelElementBase.hpp.
Referenced by RTT::base::ChannelElementBase::addInput(), RTT::base::MultipleInputsChannelElementBase::addInput(), RTT::base::ChannelElementBase::channelReady(), RTT::base::ChannelElementBase::clear(), RTT::base::ChannelElementBase::connected(), RTT::base::ChannelElement< T >::data_sample(), RTT::base::MultipleInputsChannelElement< T >::data_sample(), RTT::base::ChannelElementBase::disconnect(), RTT::base::MultipleInputsChannelElementBase::disconnect(), RTT::base::ChannelElementBase::getInput(), RTT::base::ChannelElementBase::getInputEndPoint(), RTT::corba::RemoteChannelElement< T >::inputReady(), RTT::base::ChannelElement< T >::read(), RTT::base::MultipleInputsChannelElement< T >::read(), and RTT::mqueue::MQChannelElement< T >::signal().
|
mutableprotectedinherited |
Definition at line 79 of file ChannelElementBase.hpp.
Referenced by RTT::base::ChannelElementBase::addInput(), RTT::base::ChannelElementBase::connected(), RTT::base::ChannelElementBase::getInput(), and RTT::base::ChannelElementBase::removeInput().
|
protectedinherited |
Definition at line 77 of file ChannelElementBase.hpp.
Referenced by RTT::base::ChannelElementBase::addOutput(), RTT::base::MultipleOutputsChannelElementBase::addOutput(), RTT::base::ChannelElementBase::channelReady(), RTT::base::ChannelElementBase::connected(), RTT::base::ChannelElement< T >::data_sample(), RTT::base::MultipleOutputsChannelElement< T >::data_sample(), RTT::base::ChannelElementBase::disconnect(), RTT::base::MultipleOutputsChannelElementBase::disconnect(), RTT::base::ChannelElementBase::getOutput(), RTT::base::ChannelElementBase::getOutputEndPoint(), RTT::base::ChannelElementBase::getRemoteURI(), RTT::mqueue::MQChannelElement< T >::inputReady(), RTT::base::MultipleOutputsChannelElementBase::removeDisconnectedOutputs(), RTT::mqueue::MQChannelElement< T >::signal(), RTT::base::ChannelElementBase::signal(), RTT::base::MultipleOutputsChannelElementBase::signal(), RTT::base::ChannelElement< T >::write(), and RTT::base::MultipleOutputsChannelElement< T >::write().
|
mutableprotectedinherited |
Definition at line 80 of file ChannelElementBase.hpp.
Referenced by RTT::base::ChannelElementBase::addOutput(), RTT::base::ChannelElementBase::connected(), RTT::base::ChannelElementBase::getOutput(), and RTT::base::ChannelElementBase::removeOutput().