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

A connection element that stores a single data sample. More...

#include <rtt/internal/ChannelDataElement.hpp>

Inheritance diagram for RTT::internal::ChannelDataElement< T >:
RTT::base::ChannelElement< T > RTT::base::ChannelElementBase

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

 ChannelDataElement (typename base::DataObjectInterface< T >::shared_ptr sample, const ConnPolicy &policy=ConnPolicy())
 
virtual WriteStatus write (param_t sample)
 Update the data sample stored in this element. More...
 
virtual FlowStatus read (reference_t sample, bool copy_old_data)
 Reads the last sample given to write() More...
 
virtual void clear ()
 Resets the stored sample. 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 ConnPolicygetConnPolicy () const
 Returns a pointer to the ConnPolicy that has been used to construct the underlying data object. 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 PortInterfacegetPort () 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
 

Detailed Description

template<typename T>
class RTT::internal::ChannelDataElement< T >

A connection element that stores a single data sample.

Definition at line 51 of file ChannelDataElement.hpp.

Member Typedef Documentation

Definition at line 58 of file ChannelDataElement.hpp.

Definition at line 59 of file ChannelDataElement.hpp.

template<typename T>
typedef boost::intrusive_ptr< ChannelElement<T> > RTT::base::ChannelElement< T >::shared_ptr
inherited

Definition at line 61 of file ChannelElement.hpp.

Definition at line 57 of file ChannelDataElement.hpp.

Constructor & Destructor Documentation

template<typename T>
RTT::internal::ChannelDataElement< T >::ChannelDataElement ( typename base::DataObjectInterface< T >::shared_ptr  sample,
const ConnPolicy policy = ConnPolicy() 
)
inline

Definition at line 61 of file ChannelDataElement.hpp.

Member Function Documentation

bool ChannelElementBase::addInput ( shared_ptr const &  input)
protectedvirtualinherited

Sets the new input channel element of this element or adds a channel to the inputs list.

Parameters
inputthe previous element in chain.
Returns
true if the input was set or false if this element does not support multiple inputs and the input is already set.

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().

bool ChannelElementBase::addOutput ( shared_ptr const &  output,
bool  mandatory = true 
)
protectedvirtualinherited

Sets the new output channel element of this element or adds a channel to the outputs list.

Parameters
outputthe next element in chain.
mandatorywhether the added output is mandatory for a write to succeed
Returns
true if the output was set or false if this element does not support multiple outputs and the output is already set.

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().

bool ChannelElementBase::channelReady ( ChannelElementBase::shared_ptr const &  caller,
ConnPolicy const &  policy,
internal::ConnID conn_id = 0 
)
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.

Returns
false if a fatal connection failure was encountered and the channel needs to be destroyed.

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().

template<typename T>
virtual void RTT::internal::ChannelDataElement< T >::clear ( )
inlinevirtual

Resets the stored sample.

After clear() has been called, read() returns false

Reimplemented from RTT::base::ChannelElementBase.

Definition at line 84 of file ChannelDataElement.hpp.

References RTT::base::DataObjectInterface< T >::clear(), and RTT::base::ChannelElementBase::clear().

bool ChannelElementBase::connected ( )
virtualinherited
bool ChannelElementBase::connectFrom ( ChannelElementBase::shared_ptr const &  input)
virtualinherited

Connects a new input to this element.

Parameters
inputthe previous element in chain.

Definition at line 96 of file ChannelInterface.cpp.

References RTT::base::ChannelElementBase::addInput(), and RTT::base::ChannelElementBase::removeInput().

bool ChannelElementBase::connectTo ( ChannelElementBase::shared_ptr const &  output,
bool  mandatory = true 
)
virtualinherited

Connects a new output to this element.

Parameters
outputthe next element in chain.
mandatorywhether 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().

template<typename T>
virtual WriteStatus RTT::internal::ChannelDataElement< T >::data_sample ( param_t  sample,
bool  reset = true 
)
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.

Returns
false if an error occured that requires the channel to be invalidated.

Reimplemented from RTT::base::ChannelElement< T >.

Definition at line 90 of file ChannelDataElement.hpp.

References RTT::base::ChannelElement< T >::data_sample(), RTT::base::DataObjectInterface< T >::data_sample(), and RTT::WriteFailure.

template<typename T>
virtual value_t RTT::internal::ChannelDataElement< T >::data_sample ( )
inlinevirtual
void ChannelElementBase::deref ( )
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().

void ChannelElementBase::disconnect ( bool  forward)
virtualinherited
virtual bool RTT::base::ChannelElementBase::disconnect ( ChannelElementBase::shared_ptr const &  channel,
bool  forward 
)
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 >.

template<typename T>
virtual const ConnPolicy* RTT::internal::ChannelDataElement< T >::getConnPolicy ( ) const
inlinevirtual

Returns a pointer to the ConnPolicy that has been used to construct the underlying data object.

Reimplemented from RTT::base::ChannelElementBase.

Definition at line 103 of file ChannelDataElement.hpp.

template<typename T>
virtual std::string RTT::internal::ChannelDataElement< T >::getElementName ( ) const
inlinevirtual

Returns the class name of this element.

This is primary useful for special case handling in the connection tracking.

Returns
The name of the class of the ChannelElement

Reimplemented from RTT::base::ChannelElementBase.

Definition at line 108 of file ChannelDataElement.hpp.

template<typename T>
shared_ptr RTT::base::ChannelElement< T >::getInput ( )
inlineinherited
ChannelElementBase::shared_ptr ChannelElementBase::getInputEndPoint ( )
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.

Returns
getInput() ? getInput()->getInputEndPoint() : this

Reimplemented in RTT::internal::ConnInputEndpoint< T >.

Definition at line 157 of file ChannelInterface.cpp.

References RTT::base::ChannelElementBase::getInput(), and RTT::base::ChannelElementBase::input.

std::string ChannelElementBase::getLocalURI ( ) const
virtualinherited

This function return the URI of this element.

The URI must be unique.

Returns
URI of this element.

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().

template<typename T>
shared_ptr RTT::base::ChannelElement< T >::getOutput ( )
inlineinherited
ChannelElementBase::shared_ptr ChannelElementBase::getOutputEndPoint ( )
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.

Returns
getOutput() ? getOutput()->getOutputEndPoint() : this

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().

PortInterface * ChannelElementBase::getPort ( ) const
virtualinherited

Gets the port this channel element is connected to.

Returns
null if no port is connected to this element, the port (or a proxy representing the port) otherwise.

Reimplemented in RTT::internal::ConnOutputEndpoint< T >, and RTT::internal::ConnInputEndpoint< T >.

Definition at line 203 of file ChannelInterface.cpp.

std::string ChannelElementBase::getRemoteURI ( ) const
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.

Returns
URI of the next 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().

virtual bool RTT::base::ChannelElementBase::inputReady ( ChannelElementBase::shared_ptr const &  caller)
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.

Returns
false if a fatal connection failure was encountered and the channel needs to be destroyed.

Reimplemented in RTT::corba::RemoteChannelElement< T >, RTT::base::MultipleInputsChannelElementBase, RTT::mqueue::MQChannelElement< T >, and RTT::internal::ConnInputEndpoint< T >.

Referenced by RTT::base::ChannelElementBase::channelReady().

bool ChannelElementBase::isRemoteElement ( ) const
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.

Returns
true if a network transport is used.

Reimplemented in RTT::corba::RemoteChannelElement< T >, and RTT::mqueue::MQChannelElement< T >.

Definition at line 211 of file ChannelInterface.cpp.

template<typename T >
static ChannelElement<T>* RTT::base::ChannelElementBase::narrow ( ChannelElementBase e)
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().

template<typename T >
ChannelElement<T>* RTT::base::ChannelElementBase::narrow ( )
inlineinherited

Return a pointer to the typed variant of this ChannelElementBase.

Definition at line 109 of file ChannelElementBase.hpp.

template<typename T>
virtual FlowStatus RTT::internal::ChannelDataElement< T >::read ( reference_t  sample,
bool  copy_old_data 
)
inlinevirtual

Reads the last sample given to write()

Returns
false if no sample has ever been written, true otherwise

Reimplemented from RTT::base::ChannelElement< T >.

Definition at line 76 of file ChannelDataElement.hpp.

References RTT::base::DataObjectInterface< T >::Get().

void ChannelElementBase::ref ( )
protectedinherited
void ChannelElementBase::removeInput ( shared_ptr const &  input)
protectedvirtualinherited

Remove an input from the inputs list.

Parameters
inputthe 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().

void ChannelElementBase::removeOutput ( shared_ptr const &  output)
protectedvirtualinherited

Remove an output from the outputs list.

Parameters
outputthe 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().

RTT_DEPRECATED void RTT::base::ChannelElementBase::setInput ( const ChannelElementBase::shared_ptr input)
inlineinherited

Definition at line 244 of file ChannelElementBase.hpp.

RTT_DEPRECATED void RTT::base::ChannelElementBase::setOutput ( const ChannelElementBase::shared_ptr output)
inlineinherited

Definition at line 238 of file ChannelElementBase.hpp.

bool ChannelElementBase::signal ( )
virtualinherited

Signals that there is new data available on this channel By default, the channel element forwards the call to its output.

Returns
false if an error occured that requires the channel to be invalidated. In no ways it indicates that the sample has been received by the other side of the channel.

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().

virtual bool RTT::base::ChannelElementBase::signalFrom ( ChannelElementBase )
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.

template<typename T>
virtual WriteStatus RTT::internal::ChannelDataElement< T >::write ( param_t  sample)
inlinevirtual

Update the data sample stored in this element.

It always returns true.

Reimplemented from RTT::base::ChannelElement< T >.

Definition at line 66 of file ChannelDataElement.hpp.

References RTT::NotConnected, RTT::base::DataObjectInterface< T >::Set(), RTT::base::ChannelElementBase::signal(), RTT::WriteFailure, and RTT::WriteSuccess.

Member Data Documentation

shared_ptr RTT::base::ChannelElementBase::input
protectedinherited
RTT::os::SharedMutex RTT::base::ChannelElementBase::input_lock
mutableprotectedinherited
shared_ptr RTT::base::ChannelElementBase::output
protectedinherited
RTT::os::SharedMutex RTT::base::ChannelElementBase::output_lock
mutableprotectedinherited

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