Orocos Real-Time Toolkit  2.9.0
Public Member Functions | Protected Member Functions | Protected Attributes | Friends | List of all members
RTT::InputPort< T > Class Template Reference

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

#include <rtt/InputPort.hpp>

Inheritance diagram for RTT::InputPort< T >:
RTT::base::InputPortInterface RTT::base::PortInterface

Public Member Functions

 InputPort (std::string const &name="unnamed", ConnPolicy const &default_policy=ConnPolicy())
 
virtual ~InputPort ()
 
void clear ()
 Clears the input buffer (or all input buffers), so that read() will return NoData before a new sample has been written. More...
 
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::TypeInfogetTypeInfo () const
 Returns the types::TypeInfo object for the port's type. More...
 
virtual base::PortInterfaceclone () const
 Create a clone of this port with the same name. More...
 
virtual base::PortInterfaceantiClone () 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::DataSourceBasegetDataSource ()
 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 ServicecreatePortObject ()
 Create accessor Object for this Port, for addition to a TaskContext Object interface. More...
 
virtual internal::ConnOutputEndpoint< T > * getEndpoint () const
 Returns the input or output endpoint of this port (if any). More...
 
virtual base::ChannelElement< T >::shared_ptr getSharedBuffer () const
 
ConnPolicy getDefaultPolicy () const
 
virtual bool addConnection (internal::ConnID *port_id, ChannelElementBase::shared_ptr channel, ConnPolicy const &policy)
 Adds a user created connection to this port. 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...
 
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 bool createConnection (internal::SharedConnectionBase::shared_ptr shared_connection, ConnPolicy const &policy=ConnPolicy())
 Connects the port to an existing shared connection instance. 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::ConnIDgetPortID () 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...
 
PortInterfacedoc (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 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 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...
 
DataFlowInterfacegetInterface () const
 Returns the DataFlowInterface this port belongs to or null if it was not added to such an interface. More...
 
virtual internal::ConnectionManagergetManager ()
 Returns the connection manager 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

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

Protected Attributes

ConnPolicy default_policy
 
bool msignal_interface
 
DataFlowInterfaceiface
 
internal::ConnectionManager cmanager
 

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 81 of file InputPort.hpp.

template<typename T>
virtual RTT::InputPort< T >::~InputPort ( )
inlinevirtual

Definition at line 86 of file InputPort.hpp.

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

Member Function Documentation

bool InputPortInterface::addConnection ( internal::ConnID cid,
ChannelElementBase::shared_ptr  channel,
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.

Referenced by RTT::internal::ConnOutputEndpoint< T >::channelReady(), and RTT::internal::ConnFactory::createAndCheckSharedConnection().

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 194 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 138 of file InputPortInterface.cpp.

template<typename T>
void RTT::InputPort< T >::clear ( )
inlinevirtual

Clears the input buffer (or all input buffers), so that read() will return NoData before a new sample has been written.

Implements RTT::base::InputPortInterface.

Definition at line 91 of file InputPort.hpp.

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

Referenced by 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 186 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 120 of file InputPortInterface.cpp.

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().

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.

bool InputPortInterface::createConnection ( internal::SharedConnectionBase::shared_ptr  shared_connection,
ConnPolicy const &  policy = ConnPolicy() 
)
virtualinherited
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 215 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
policyThe connection policy describing how the stream must be set up.

Implements RTT::base::PortInterface.

Definition at line 205 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 123 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 128 of file InputPortInterface.cpp.

PortInterface & PortInterface::doc ( const std::string &  desc)
inherited

Set the documentation of this port.

Parameters
descThe 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().

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 174 of file InputPort.hpp.

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

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 200 of file InputPort.hpp.

ConnPolicy InputPortInterface::getDefaultPolicy ( ) const
inherited
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().

template<typename T>
virtual internal::ConnOutputEndpoint<T>* RTT::InputPort< T >::getEndpoint ( ) const
inlinevirtual

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.

Implements RTT::base::PortInterface.

Definition at line 227 of file InputPort.hpp.

Referenced by RTT::internal::ConnFactory::buildChannelOutput(), RTT::InputPort< T >::clear(), RTT::InputPort< T >::getDataSample(), RTT::InputPort< T >::getSharedBuffer(), and RTT::InputPort< T >::read().

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
template<typename T>
virtual base::ChannelElement<T>::shared_ptr RTT::InputPort< T >::getSharedBuffer ( ) const
inlinevirtual
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().

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 180 of file InputPort.hpp.

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

bool PortInterface::isLocal ( ) const
virtualinherited
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 97 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 100 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 131 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 145 of file InputPort.hpp.

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

template<typename T>
FlowStatus RTT::InputPort< T >::readNewest ( base::DataSourceBase::shared_ptr  source,
bool  copy_old_data = true 
)
inline

Read all new samples that are available on this port, and returns the last one.

Returns RTT::NewData if at least one new sample was available, and either RTT::OldData or RTT::NoData otherwise.

Definition at line 118 of file InputPort.hpp.

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

template<typename T>
FlowStatus RTT::InputPort< T >::readNewest ( typename base::ChannelElement< T >::reference_t  sample,
bool  copy_old_data = true 
)
inline

Read all new samples that are available on this port, and returns the last one.

Returns RTT::NewData if at least one new sample was available, and either RTT::OldData or RTT::NoData otherwise.

Definition at line 156 of file InputPort.hpp.

References RTT::NewData, and RTT::InputPort< T >::read().

bool PortInterface::removeConnection ( internal::ConnID cid)
virtualinherited

Removes a user created connection from this port.

This is an advanced method, prefer to use disconnect() or a method from a subclass of PortInterface.

Definition at line 95 of file PortInterface.cpp.

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

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

int PortInterface::serverProtocol ( ) const
virtualinherited
void PortInterface::setInterface ( DataFlowInterface iface)
inherited

Once a port is added to a DataFlowInterface, it gets a pointer to that interface.

This allows advanced ports to track back to which component they belong.

Definition at line 100 of file PortInterface.cpp.

References RTT::base::PortInterface::iface.

Referenced by RTT::DataFlowInterface::addLocalPort(), and RTT::corba::CDataFlowInterface_i::deregisterChannel().

bool PortInterface::setName ( const std::string &  name)
inherited

Change the name of this unconnected Port.

One can only change the name when it is not yet connected.

Return values
trueif !this->connected(), the name has changed.
falseif this->connected(), the name has not been changed.

Definition at line 51 of file PortInterface.cpp.

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

Referenced by RTT::DataFlowInterface::addEventPort(), RTT::TaskContext::addEventPort(), RTT::DataFlowInterface::addPort(), and RTT::TaskContext::addPort().

void InputPortInterface::signal ( )
protectedinherited

The ConnOutputEndpoint signals that new data is available.

Definition at line 107 of file InputPortInterface.cpp.

Referenced by RTT::internal::ConnOutputEndpoint< T >::signal().

void InputPortInterface::signalInterface ( bool  true_false)
inherited

When called with true, will signal the DataFlowInterface when new data is available.

Definition at line 112 of file InputPortInterface.cpp.

Referenced by RTT::DataFlowInterface::addLocalEventPort().

Friends And Related Function Documentation

template<typename T>
friend class internal::ConnOutputEndpoint< T >
friend

Definition at line 66 of file InputPort.hpp.

Member Data Documentation

internal::ConnectionManager RTT::base::PortInterface::cmanager
protectedinherited
ConnPolicy RTT::base::InputPortInterface::default_policy
protectedinherited

Definition at line 69 of file InputPortInterface.hpp.

DataFlowInterface* RTT::base::PortInterface::iface
protectedinherited
bool RTT::base::InputPortInterface::msignal_interface
protectedinherited

Definition at line 73 of file InputPortInterface.hpp.


The documentation for this class was generated from the following file: