Orocos Real-Time Toolkit
2.9.0
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This is a channel element that represents the output endpoint of a connection, i.e. More...
#include <rtt/internal/ConnOutputEndPoint.hpp>
Public Types | |
typedef base::MultipleInputsChannelElement< T > | Base |
typedef boost::intrusive_ptr< ConnOutputEndpoint< T > > | shared_ptr |
typedef ChannelElement< T >::value_t | value_t |
typedef ChannelElement< T >::param_t | param_t |
typedef ChannelElement< T >::reference_t | reference_t |
typedef std::list< ChannelElementBase::shared_ptr > | Inputs |
Public Member Functions | |
ConnOutputEndpoint (InputPort< T > *port) | |
Creates the connection end that represents the output and attach it to the input. More... | |
~ConnOutputEndpoint () | |
bool | channelReady (base::ChannelElementBase::shared_ptr const &channel, ConnPolicy const &policy, ConnID *conn_id) |
Call this to indicate that a connection leading to this port is ready to use. More... | |
virtual WriteStatus | write (typename Base::param_t sample) |
Writes a new sample on this connection This should only be called if this endpoint has a buffer output, in which case the base class's write implementation will return true and the port is signalled. More... | |
virtual bool | disconnect (const base::ChannelElementBase::shared_ptr &channel, bool forward=true) |
Overridden implementation of ChannelElementBase::disconnect(forward, channel). 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 base::PortInterface * | getPort () const |
Gets the port this channel element is connected to. More... | |
virtual base::ChannelElementBase::shared_ptr | getOutputEndPoint () |
Returns the last output channel element of this connection. More... | |
virtual base::ChannelElement< T >::shared_ptr | getSharedBuffer () |
base::ChannelElement< T >::shared_ptr | getReadEndpoint () |
std::string | getElementName () const |
Returns the class name of this element. More... | |
virtual value_t | data_sample () |
Overridden implementation of MultipleInputsChannelElementBase::data_sample() that gets a sample from the currently selected input. More... | |
virtual WriteStatus | data_sample (param_t sample, bool reset=true) |
Provides a data sample to initialize this connection. More... | |
virtual FlowStatus | read (reference_t sample, bool copy_old_data=true) |
Reads a sample from the connection. More... | |
virtual bool | connected () |
Returns true, if this channel element has at least one input, independent of whether is has an output connection or not. More... | |
virtual bool | inputReady (ChannelElementBase::shared_ptr const &caller) |
Overridden implementation of ChannelElementBase::inputReady(). More... | |
virtual void | clear () |
Overridden implementation of ChannelElementBase::clear(). More... | |
virtual void | disconnect (bool forward) |
Performs a disconnection of this channel's endpoints. More... | |
bool | signalFrom (ChannelElementBase *caller) |
Overridden implementation of ChannelElementBase::signalFrom(caller) which remembers the caller who last signalled this channel element. More... | |
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... | |
shared_ptr | getInput () |
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... | |
shared_ptr | getOutput () |
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 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... | |
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 | |
virtual void | removeInput (ChannelElementBase::shared_ptr const &input) |
Remove an input from the inputs list. More... | |
virtual bool | addInput (ChannelElementBase::shared_ptr const &input) |
Sets the new input channel element of this element or adds a channel to the inputs list. More... | |
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... | |
Protected Attributes | |
Inputs | inputs |
RTT::os::SharedMutex | inputs_lock |
shared_ptr | input |
shared_ptr | output |
RTT::os::SharedMutex | input_lock |
RTT::os::SharedMutex | output_lock |
This is a channel element that represents the output endpoint of a connection, i.e.
the part that is connected to the InputPort. In the RTT, connections are always created from input towards output. So this class is typically first created of the channel element chain and attached to the input port. Then we build further towards the outputport. Imagine a spider attaching a thread at one wall and moving along to the other side of the wall.
Definition at line 57 of file ConnOutputEndPoint.hpp.
typedef base::MultipleInputsChannelElement<T> RTT::internal::ConnOutputEndpoint< T >::Base |
Definition at line 63 of file ConnOutputEndPoint.hpp.
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inherited |
Definition at line 335 of file ChannelElementBase.hpp.
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inherited |
Definition at line 136 of file ChannelElement.hpp.
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inherited |
Definition at line 137 of file ChannelElement.hpp.
typedef boost::intrusive_ptr<ConnOutputEndpoint<T> > RTT::internal::ConnOutputEndpoint< T >::shared_ptr |
Definition at line 64 of file ConnOutputEndPoint.hpp.
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inherited |
Definition at line 135 of file ChannelElement.hpp.
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inline |
Creates the connection end that represents the output and attach it to the input.
port | The start point. |
output_id | Each connection must be identified by an ID that represents the other end. This id is passed to the input port port. |
Definition at line 74 of file ConnOutputEndPoint.hpp.
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inline |
Definition at line 79 of file ConnOutputEndPoint.hpp.
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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 from RTT::base::ChannelElementBase.
Definition at line 234 of file ChannelInterface.cpp.
References RTT::base::ChannelElementBase::input.
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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().
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inlinevirtual |
Call this to indicate that a connection leading to this port is ready to use.
The input port will check its channel elements by sending an inputReady() message. If this succeeds, this function returns true and the input port is ready to use (this->connected() == true). If sending inputReady() returns failure, this method returns false and the connection is aborted (this->connected() == false).
Reimplemented from RTT::base::ChannelElementBase.
Definition at line 91 of file ConnOutputEndPoint.hpp.
References RTT::base::InputPortInterface::addConnection().
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virtualinherited |
Overridden implementation of ChannelElementBase::clear().
Forwards the clear() call to all inputs.
Reimplemented from RTT::base::ChannelElementBase.
Reimplemented in RTT::internal::SharedConnection< T >.
Definition at line 264 of file ChannelInterface.cpp.
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virtualinherited |
Returns true, if this channel element has at least one input, independent of whether is has an output connection or not.
Reimplemented from RTT::base::ChannelElementBase.
Reimplemented in RTT::base::MultipleInputsMultipleOutputsChannelElementBase.
Definition at line 249 of file ChannelInterface.cpp.
Referenced by RTT::internal::ConnFactory::buildChannelOutput(), RTT::base::MultipleInputsMultipleOutputsChannelElementBase::connected(), and RTT::internal::ConnOutputEndpoint< T >::disconnect().
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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().
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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().
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inlinevirtualinherited |
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 in RTT::base::MultipleOutputsChannelElement< T >, RTT::internal::SharedConnection< T >, RTT::internal::ChannelBufferElement< T >, and RTT::internal::ChannelDataElement< T >.
Definition at line 84 of file ChannelElement.hpp.
References RTT::base::ChannelElement< T >::data_sample(), RTT::base::ChannelElement< T >::getOutput(), RTT::base::ChannelElementBase::output, and RTT::WriteSuccess.
Referenced by RTT::base::ChannelElement< T >::data_sample(), RTT::base::MultipleInputsChannelElement< T >::data_sample(), RTT::internal::SharedConnection< T >::data_sample(), RTT::base::MultipleOutputsChannelElement< T >::data_sample(), and RTT::mqueue::MQChannelElement< T >::inputReady().
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inlinevirtualinherited |
Overridden implementation of MultipleInputsChannelElementBase::data_sample() that gets a sample from the currently selected input.
Reimplemented from RTT::base::ChannelElement< T >.
Reimplemented in RTT::internal::SharedConnection< T >.
Definition at line 146 of file ChannelElement.hpp.
References RTT::base::ChannelElement< T >::data_sample(), and RTT::base::ChannelElementBase::input.
Referenced by RTT::internal::SharedConnection< T >::data_sample().
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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().
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inlinevirtual |
Overridden implementation of ChannelElementBase::disconnect(forward, channel).
Reimplemented from RTT::base::MultipleInputsChannelElementBase.
Definition at line 129 of file ConnOutputEndPoint.hpp.
References RTT::base::MultipleInputsChannelElementBase::connected(), RTT::base::MultipleInputsChannelElementBase::disconnect(), and RTT::base::PortInterface::getManager().
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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().
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virtualinherited |
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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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 188 of file ConnOutputEndPoint.hpp.
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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().
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inherited |
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 RTT::base::ChannelElementBase::input, and RTT::base::ChannelElementBase::input_lock.
Referenced by RTT::base::ChannelElementBase::channelReady(), RTT::base::ChannelElementBase::clear(), RTT::base::ChannelElementBase::disconnect(), RTT::base::ChannelElement< T >::getInput(), RTT::base::ChannelElementBase::getInputEndPoint(), RTT::mqueue::MQChannelElement< T >::getLocalURI(), and RTT::corba::RemoteChannelElement< T >::getLocalURI().
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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.
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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().
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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().
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inherited |
Returns the next channel element in the channel's propagation direction.
Definition at line 63 of file ChannelInterface.cpp.
References RTT::base::ChannelElementBase::output, and RTT::base::ChannelElementBase::output_lock.
Referenced by RTT::base::ChannelElementBase::channelReady(), RTT::base::ChannelElementBase::disconnect(), RTT::base::ChannelElement< T >::getOutput(), RTT::base::ChannelElementBase::getOutputEndPoint(), RTT::mqueue::MQChannelElement< T >::getRemoteURI(), RTT::corba::RemoteChannelElement< T >::getRemoteURI(), and RTT::base::ChannelElementBase::signal().
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inlinevirtual |
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 from RTT::base::ChannelElementBase.
Definition at line 168 of file ConnOutputEndPoint.hpp.
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inlinevirtual |
Gets the port this channel element is connected to.
Reimplemented from RTT::base::ChannelElementBase.
Definition at line 164 of file ConnOutputEndPoint.hpp.
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inline |
Definition at line 178 of file ConnOutputEndPoint.hpp.
References RTT::internal::ConnOutputEndpoint< T >::getSharedBuffer().
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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().
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inlinevirtual |
Definition at line 173 of file ConnOutputEndPoint.hpp.
References RTT::base::ChannelElement< T >::getOutput().
Referenced by RTT::internal::ConnOutputEndpoint< T >::getReadEndpoint().
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virtualinherited |
Overridden implementation of ChannelElementBase::inputReady().
Forwards the inputReady() call to all inputs and only returns true if all inputs returned true.
Reimplemented from RTT::base::ChannelElementBase.
Definition at line 255 of file ChannelInterface.cpp.
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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.
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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().
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inlineinherited |
Return a pointer to the typed variant of this ChannelElementBase.
Definition at line 109 of file ChannelElementBase.hpp.
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inlinevirtualinherited |
Reads a sample from the connection.
sample is a reference which will get updated if a sample is available. The method returns true if a sample was available, and false otherwise. If false is returned, then sample is not modified by the method
Reimplemented from RTT::base::ChannelElement< T >.
Reimplemented in RTT::internal::SharedConnection< T >.
Definition at line 161 of file ChannelElement.hpp.
References RTT::base::ChannelElementBase::input, RTT::base::ChannelElementBase::narrow(), RTT::NewData, RTT::NoData, and RTT::base::ChannelElement< T >::read().
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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().
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inlineprotectedvirtualinherited |
Remove an input from the inputs list.
input | the element to be removed |
Reimplemented from RTT::base::MultipleInputsChannelElementBase.
Definition at line 240 of file ChannelElement.hpp.
References RTT::base::MultipleInputsChannelElementBase::removeInput().
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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().
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inlineinherited |
Definition at line 244 of file ChannelElementBase.hpp.
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inlineinherited |
Definition at line 238 of file ChannelElementBase.hpp.
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inlinevirtual |
Signals that there is new data available on this channel By default, the channel element forwards the call to its output.
Reimplemented from RTT::base::ChannelElementBase.
Definition at line 151 of file ConnOutputEndPoint.hpp.
References RTT::base::InputPortInterface::signal().
Referenced by RTT::internal::ConnOutputEndpoint< T >::write().
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virtualinherited |
Overridden implementation of ChannelElementBase::signalFrom(caller) which remembers the caller who last signalled this channel element.
Reimplemented from RTT::base::ChannelElementBase.
Definition at line 316 of file ChannelInterface.cpp.
References RTT::base::ChannelElementBase::signal().
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inlinevirtual |
Writes a new sample on this connection This should only be called if this endpoint has a buffer output, in which case the base class's write implementation will return true and the port is signalled.
Otherwise, return false, as other type of connections are supposed to have a data storage element.
Reimplemented from RTT::base::ChannelElement< T >.
Definition at line 110 of file ConnOutputEndPoint.hpp.
References RTT::base::MultipleInputsChannelElementBase::disconnect(), RTT::NotConnected, RTT::internal::ConnOutputEndpoint< T >::signal(), RTT::base::ChannelElement< T >::write(), RTT::WriteFailure, and RTT::WriteSuccess.
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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().
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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().
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protectedinherited |
Definition at line 338 of file ChannelElementBase.hpp.
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mutableprotectedinherited |
Definition at line 339 of file ChannelElementBase.hpp.
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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().
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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().