A component's data input port. More...

#include <rtt/InputPort.hpp>

Inheritance diagram for RTT::InputPort< T >:

Public Member Functions
	InputPort (std::string const &name="unnamed", ConnPolicy const &default_policy=ConnPolicy())

virtual	~InputPort ()

FlowStatus	read (base::DataSourceBase::shared_ptr source)

FlowStatus	read (base::DataSourceBase::shared_ptr source, bool copy_old_data)
	Reads the port and updates the value hold by the given data source. More...

FlowStatus	readNewest (base::DataSourceBase::shared_ptr source, bool copy_old_data=true)
	Read all new samples that are available on this port, and returns the last one. More...

FlowStatus	read (typename base::ChannelElement< T >::reference_t sample)

FlowStatus	read (typename base::ChannelElement< T >::reference_t sample, bool copy_old_data)
	Reads a sample from the connection. More...

FlowStatus	readNewest (typename base::ChannelElement< T >::reference_t sample, bool copy_old_data=true)
	Read all new samples that are available on this port, and returns the last one. More...

void	getDataSample (T &sample)
	Get a sample of the data on this port, without actually reading the port's data. More...

virtual const types::TypeInfo *	getTypeInfo () const
	Returns the types::TypeInfo object for the port's type. More...

virtual base::PortInterface *	clone () const
	Create a clone of this port with the same name. More...

virtual base::PortInterface *	antiClone () const
	Create the anti-clone (inverse port) of this port with the same name A port for reading will return a new port for writing and vice versa. More...

base::DataSourceBase *	getDataSource ()
	Returns a base::DataSourceBase interface to read this port. More...

virtual bool	createStream (ConnPolicy const &policy)
	Creates a data stream from or to this port using connection-less transports. More...

virtual Service *	createPortObject ()
	Create accessor Object for this Port, for addition to a TaskContext Object interface. More...

void	clear ()
	Clears the connection. More...

ConnPolicy	getDefaultPolicy () const

virtual bool	addConnection (internal::ConnID *port_id, ChannelElementBase::shared_ptr channel_input, ConnPolicy const &policy)
	Adds a user created connection to this port. More...

virtual bool	removeConnection (internal::ConnID *cid)
	Removes the input channel. More...

virtual void	disconnect ()
	Removes any connection that either go to or come from this port and removes all callbacks and cleans up the NewDataOnPortEvent. More...

virtual bool	disconnect (PortInterface *port)
	Removes the channel that connects this port to `port`. More...

virtual bool	connected () const
	Returns true if this port is connected. More...

virtual bool	channelReady (base::ChannelElementBase::shared_ptr channel, ConnPolicy const &policy)
	Call this to indicate that the connection leading to this port is ready to use. More...

void	signalInterface (bool true_false)
	When called with true, will signal the DataFlowInterface when new data is available. 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 const internal::ConnectionManager *	getManager () const
	Returns the connection manager of this port (if any). More...

virtual base::ChannelElementBase::shared_ptr	buildRemoteChannelOutput (base::OutputPortInterface &output_port, types::TypeInfo const *type_info, base::InputPortInterface &input, const ConnPolicy &policy)
	This method is analoguous to the static ConnFactory::buildChannelOutput. 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	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...

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...

Protected Member Functions
void	signal ()
	The ConnOutputEndpoint signals that new data is available. More...

Protected Attributes
internal::ConnectionManager	cmanager

ConnPolicy	default_policy

bool	msignal_interface

DataFlowInterface *	iface

Friends
class	internal::ConnOutputEndpoint< T >

Detailed Description

template<typename T>
class RTT::InputPort< T >

A component's data input port.

An Orocos input port is used to receive data samples from a distant publisher. The InputPort is read() and returns true if a sample is available.

Ideally, your algorithm should not assume a certain connection policy being used from output to input. So it should work on data connections and buffer connections.

Definition at line 63 of file InputPort.hpp.

Constructor & Destructor Documentation

template<typename T>

RTT::InputPort< T >::InputPort	(	std::string const &	name = `"unnamed"`,
		ConnPolicy const &	default_policy = `ConnPolicy()`
	)

inline

Definition at line 96 of file InputPort.hpp.

template<typename T>

virtual RTT::InputPort< T >::~InputPort ( )

inlinevirtual

Definition at line 100 of file InputPort.hpp.

References RTT::base::InputPortInterface::disconnect().

Member Function Documentation

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

virtualinherited

Adds a user created connection to this port.

This is an advanced method, prefer to use connectTo and createStream.

Implements RTT::base::PortInterface.

Reimplemented in RTT::corba::RemoteInputPort, and RTT::corba::RemotePort< base::InputPortInterface >.

Definition at line 100 of file InputPortInterface.cpp.

template<typename T>

virtual base::PortInterface* RTT::InputPort< T >::antiClone ( ) const

inlinevirtual

Create the anti-clone (inverse port) of this port with the same name A port for reading will return a new port for writing and vice versa.

Implements RTT::base::PortInterface.

Definition at line 207 of file InputPort.hpp.

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

base::ChannelElementBase::shared_ptr InputPortInterface::buildRemoteChannelOutput	(	base::OutputPortInterface &	output_port,
		types::TypeInfo const *	type_info,
		base::InputPortInterface &	input,
		const ConnPolicy &	policy
	)

virtualinherited

This method is analoguous to the static ConnFactory::buildChannelOutput.

It is provided for remote connection building: for these connections, no template can be used and therefore the connection setup should be done based on the types::TypeInfo object

Reimplemented in RTT::corba::RemoteInputPort.

Definition at line 170 of file InputPortInterface.cpp.

bool InputPortInterface::channelReady	(	base::ChannelElementBase::shared_ptr	channel,
		RTT::ConnPolicy const &	policy
	)

virtualinherited

Call this to indicate that the 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 in RTT::corba::RemoteInputPort.

Definition at line 107 of file InputPortInterface.cpp.

References RTT::Error.

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

void InputPortInterface::clear ( )

inherited

Clears the connection.

After call to read() will return false after clear() has been called

Definition at line 155 of file InputPortInterface.cpp.

Referenced by RTT::InputPort< T >::createPortObject(), and RTT::internal::InputPortSource< T >::reset().

template<typename T>

virtual base::PortInterface* RTT::InputPort< T >::clone ( ) const

inlinevirtual

Create a clone of this port with the same name.

Implements RTT::base::PortInterface.

Definition at line 199 of file InputPort.hpp.

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

bool InputPortInterface::connected ( ) const

virtualinherited

Returns true if this port is connected.

Implements RTT::base::PortInterface.

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

Definition at line 152 of file InputPortInterface.cpp.

bool InputPortInterface::connectTo	(	PortInterface *	other,
		ConnPolicy const &	policy
	)

virtualinherited

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 85 of file InputPortInterface.cpp.

References RTT::base::OutputPortInterface::createConnection(), RTT::Error, and RTT::base::PortInterface::getName().

bool InputPortInterface::connectTo ( PortInterface * other )

virtualinherited

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 95 of file InputPortInterface.cpp.

template<typename T>

virtual Service* RTT::InputPort< T >::createPortObject ( )

inlinevirtual

Create accessor Object for this Port, for addition to a TaskContext Object interface.

Reimplemented from RTT::base::PortInterface.

Definition at line 228 of file InputPort.hpp.

References RTT::base::InputPortInterface::clear(), RTT::base::PortInterface::createPortObject(), and RTT::base::PortInterface::doc().

template<typename T>

virtual bool RTT::InputPort< T >::createStream ( ConnPolicy const & policy )

inlinevirtual

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.

Implements RTT::base::PortInterface.

Definition at line 218 of file InputPort.hpp.

References RTT::internal::ConnFactory::createStream().

void InputPortInterface::disconnect ( )

virtualinherited

Removes any connection that either go to or come from this port and removes all callbacks and cleans up the NewDataOnPortEvent.

Implements RTT::base::PortInterface.

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

Definition at line 160 of file InputPortInterface.cpp.

Referenced by RTT::InputPort< T >::~InputPort().

bool InputPortInterface::disconnect ( PortInterface * port )

virtualinherited

Removes the channel that connects this port to port.

All other ports or callbacks remain unaffected.

Implements RTT::base::PortInterface.

Reimplemented in RTT::corba::RemoteInputPort.

Definition at line 165 of file InputPortInterface.cpp.

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().

template<typename T>

void RTT::InputPort< T >::getDataSample ( T & sample )

inline

Get a sample of the data on this port, without actually reading the port's data.

It's the complement of OutputPort::setDataSample() and serves to retrieve the size of a variable sized data type T. Returns default T if !connected() or if the OutputPort did not use setDataSample(). Returns an example T otherwise. In case multiple inputs are connected to this port a sample from the currently read connection will be returned.

Definition at line 184 of file InputPort.hpp.

References RTT::base::InputPortInterface::cmanager, RTT::base::ChannelElement< T >::data_sample(), and RTT::internal::ConnectionManager::getCurrentChannel().

Referenced by RTT::internal::InputPortSource< T >::InputPortSource().

template<typename T>

base::DataSourceBase* RTT::InputPort< T >::getDataSource ( )

inlinevirtual

Returns a base::DataSourceBase interface to read this port.

The returned data source is always a new object.

Implements RTT::base::InputPortInterface.

Definition at line 213 of file InputPort.hpp.

ConnPolicy InputPortInterface::getDefaultPolicy ( ) const

inherited

Definition at line 74 of file InputPortInterface.cpp.

Referenced by RTT::base::OutputPortInterface::createBufferConnection().

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

inlineinherited

Get the documentation of this port.

Returns: A description.

Definition at line 91 of file PortInterface.hpp.

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 95 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 const internal::ConnectionManager* RTT::base::InputPortInterface::getManager ( ) const

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.

Implements RTT::base::PortInterface.

Definition at line 159 of file InputPortInterface.hpp.

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

inlineinherited

Get the name of this Port.

Definition at line 77 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::corba::CorbaFallBackProtocol::buildChannelOutput(), RTT::corba::RemoteInputPort::buildRemoteChannelOutput(), RTT::corba::RemoteInputPort::channelReady(), 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::createAndCheckOutOfBandConnection(), RTT::internal::ConnFactory::createAndCheckStream(), RTT::corba::RemoteOutputPort::createConnection(), RTT::internal::ConnFactory::createConnection(), RTT::base::PortInterface::createPortObject(), RTT::internal::ConnFactory::createRemoteConnection(), RTT::corba::CorbaFallBackProtocol::createStream(), RTT::corba::CDataFlowInterface_i::deregisterChannel(), RTT::corba::RemoteOutputPort::disconnect(), and RTT::mqueue::MQSendRecv::setupStream().

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 72 of file PortInterface.cpp.

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

template<typename T>

virtual const types::TypeInfo* RTT::InputPort< T >::getTypeInfo ( ) const

inlinevirtual

Returns the types::TypeInfo object for the port's type.

Implements RTT::base::PortInterface.

Definition at line 193 of file InputPort.hpp.

References RTT::internal::DataSourceTypeInfo< T >::getTypeInfo().

bool PortInterface::isLocal ( ) const

virtualinherited

Returns true if this port is located on this process, and false otherwise.

Definition at line 67 of file PortInterface.cpp.

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

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

template<typename T>

FlowStatus RTT::InputPort< T >::read ( base::DataSourceBase::shared_ptr source )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 103 of file InputPort.hpp.

Referenced by RTT::internal::InputPortSource< T >::evaluate(), RTT::InputPort< T >::read(), and RTT::InputPort< T >::readNewest().

template<typename T>

FlowStatus RTT::InputPort< T >::read	(	base::DataSourceBase::shared_ptr	source,
		bool	copy_old_data
	)

inlinevirtual

Reads the port and updates the value hold by the given data source.

This is only valid for local ports.

source has to be an assignable data source

Reimplemented from RTT::base::InputPortInterface.

Definition at line 106 of file InputPort.hpp.

References RTT::Error, RTT::NoData, RTT::InputPort< T >::read(), and RTT::internal::AssignableDataSource< T >::set().

template<typename T>

FlowStatus RTT::InputPort< T >::read ( typename base::ChannelElement< T >::reference_t sample )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 137 of file InputPort.hpp.

References RTT::InputPort< T >::read().

template<typename T>

FlowStatus RTT::InputPort< T >::read	(	typename base::ChannelElement< T >::reference_t	sample,
		bool	copy_old_data
	)

inline

Reads a sample from the connection.

sample is a reference which will get updated if a new sample is available.

The method returns an enum FlowStatus, which describes what type of sample (old or new data) or if a sample was returned (no data)

With the argument

copy_old_data one can specify, if sample should be updated in the case that the return type is equal to RTT::OldData. In case
copy_old_data is false and an old sample is available, the method will still return RTT::OldData but the sample will not be updated

Definition at line 151 of file InputPort.hpp.

References RTT::base::InputPortInterface::cmanager, RTT::NoData, and RTT::internal::ConnectionManager::select_reader_channel().

template<typename T>