Orocos Real-Time Toolkit  2.6.0
Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
RTT::DataFlowInterface Class Reference

The Interface of a TaskContext which exposes its data-flow ports. More...

#include <rtt/DataFlowInterface.hpp>

Inheritance diagram for RTT::DataFlowInterface:
RTT::Service RTT::internal::GlobalService RTT::marsh::MarshallingService RTT::scripting::ProgramService RTT::scripting::ScriptingService RTT::scripting::StateMachineService

List of all members.

Public Types

typedef std::vector
< base::PortInterface * > 
Ports
 A sequence of pointers to ports.
typedef std::vector< std::string > PortNames
 A sequence of names of ports.
typedef boost::function< void(base::PortInterface *) SlotFunction )

Public Member Functions

 DataFlowInterface (Service *parent=0)
 Construct the DataFlow interface of a Service.
base::PortInterfaceaddPort (const std::string &name, base::PortInterface &port)
 Name and add a Port to the interface of this task and add a Service with the same name of the port.
base::PortInterfaceaddPort (base::PortInterface &port)
 Add a Port to the interface of this task and add a Service with the same name of the port.
base::InputPortInterfaceaddEventPort (const std::string &name, base::InputPortInterface &port, SlotFunction callback=SlotFunction())
 Name and add an Event triggering Port to the interface of this task and add a Service with the same name of the port.
base::InputPortInterfaceaddEventPort (base::InputPortInterface &port, SlotFunction callback=SlotFunction())
 Add an Event triggering Port to the interface of this task and add a Service with the same name of the port.
void removePort (const std::string &name)
 Remove a Port from this interface.
Ports getPorts () const
 Get all ports of this interface.
PortNames getPortNames () const
 Get all port names of this interface.
base::PortInterfacegetPort (const std::string &name) const
 Get an added port.
std::string getPortDescription (const std::string &name) const
 Get the description of an added Port.
bool setPortDescription (const std::string &name, const std::string description)
 Sets the description for the service of an added port.
TaskContextgetOwner () const
 Returns the component this interface belongs to.
ServicegetService () const
 Returns the service this interface belongs to.
base::PortInterfaceaddLocalPort (base::PortInterface &port)
 Add a Port to this task without registering a service for it.
base::InputPortInterfaceaddLocalEventPort (base::InputPortInterface &port, SlotFunction callback=SlotFunction())
 Add an Event triggering Port to this task without registering a service for it.
template<class Type >
Type * getPortType (const std::string &name)
 Get a port of a specific type.
void clear ()
 Remove all added ports from this interface and all associated TaskObjects.
void dataOnPort (base::PortInterface *port)
 Used by the input ports to notify this class of new data.

Protected Member Functions

ServicecreatePortObject (const std::string &name)
 Create a Service through which one can access a Port.
bool chkPtr (const std::string &where, const std::string &name, const void *ptr)

Protected Attributes

Ports mports
 All our ports.
Servicemservice
 The parent Service.

Detailed Description

The Interface of a TaskContext which exposes its data-flow ports.

Definition at line 59 of file DataFlowInterface.hpp.


Constructor & Destructor Documentation

Construct the DataFlow interface of a Service.

Parameters:
parentIf not null, a Service will be added to parent for each port added to this interface.

Definition at line 48 of file DataFlowInterface.cpp.


Member Function Documentation

base::InputPortInterface& RTT::DataFlowInterface::addEventPort ( const std::string &  name,
base::InputPortInterface port,
SlotFunction  callback = SlotFunction() 
) [inline]

Name and add an Event triggering Port to the interface of this task and add a Service with the same name of the port.

Parameters:
nameThe name to give to the port.
portThe port to add.
callback(Optional) provide a function which will be called asynchronously when new data arrives on this port. You can add more functions by using the port directly using base::PortInterface::getNewDataOnPort().

Definition at line 114 of file DataFlowInterface.hpp.

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

InputPortInterface & RTT::DataFlowInterface::addEventPort ( base::InputPortInterface port,
SlotFunction  callback = SlotFunction() 
)

Add an Event triggering Port to the interface of this task and add a Service with the same name of the port.

When data arrives on this port your TaskContext will be woken up and updateHook will be executed.

Parameters:
portThe port to add.
callback(Optional) provide a function which will be called when new data arrives on this port. The callback function will be called in sequence with updateHook(), so asynchronously with regard to the arrival of data on the port.
Returns:
port

Definition at line 93 of file DataFlowInterface.cpp.

References addLocalEventPort(), RTT::Service::addService(), createPortObject(), RTT::base::PortInterface::getName(), RTT::Service::hasService(), mservice, and RTT::Service::removeService().

InputPortInterface & RTT::DataFlowInterface::addLocalEventPort ( base::InputPortInterface port,
SlotFunction  callback = SlotFunction() 
)

Add an Event triggering Port to this task without registering a service for it.

When data arrives on this port your TaskContext will be woken up and updateHook will be executed.

Parameters:
portThe port to add.
callback(Optional) provide a function which will be called when new data arrives on this port. The callback function will be called in sequence with updateHook(), so asynchronously with regard to the arrival of data on the port.
Returns:
port

Definition at line 127 of file DataFlowInterface.cpp.

References addLocalPort(), RTT::base::PortInterface::getName(), RTT::Service::getName(), RTT::Service::getOwner(), mservice, and RTT::base::InputPortInterface::signalInterface().

Referenced by addEventPort().

Add a Port to this task without registering a service for it.

If a port with the same name already exists, addPort will replace it with port and log a warning.

Returns:
port

Definition at line 78 of file DataFlowInterface.cpp.

References RTT::base::PortInterface::getName(), mports, removePort(), and RTT::base::PortInterface::setInterface().

Referenced by addLocalEventPort(), and addPort().

base::PortInterface& RTT::DataFlowInterface::addPort ( const std::string &  name,
base::PortInterface port 
) [inline]

Name and add a Port to the interface of this task and add a Service with the same name of the port.

Parameters:
nameThe name to give to the port.
portThe port to add.

Definition at line 89 of file DataFlowInterface.hpp.

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

Add a Port to the interface of this task and add a Service with the same name of the port.

If a port or service with the name already exists, addPort will replace them with port and log a warning.

Parameters:
portThe port to add.
Returns:
port

Definition at line 59 of file DataFlowInterface.cpp.

References addLocalPort(), RTT::Service::addService(), createPortObject(), RTT::base::PortInterface::getName(), RTT::Service::hasService(), mservice, and RTT::Service::removeService().

Service * RTT::DataFlowInterface::createPortObject ( const std::string &  name) [protected]

Create a Service through which one can access a Port.

Parameters:
nameThe port name

Definition at line 211 of file DataFlowInterface.cpp.

References RTT::base::PortInterface::createPortObject(), RTT::Service::doc(), getPort(), and getPortDescription().

Referenced by addEventPort(), and addPort().

PortInterface * RTT::DataFlowInterface::getPort ( const std::string &  name) const

Get an added port.

Parameters:
nameThe port name
Returns:
a pointer to a port or null if it does not exist.

Definition at line 184 of file DataFlowInterface.cpp.

References mports.

Referenced by RTT::TaskContext::connectPorts(), and createPortObject().

std::string RTT::DataFlowInterface::getPortDescription ( const std::string &  name) const

Get the description of an added Port.

Parameters:
nameThe port name
Returns:
The description or "" if it does not exist.

Definition at line 193 of file DataFlowInterface.cpp.

References mports.

Referenced by createPortObject().

Get all port names of this interface.

Returns:
A sequence of strings containing the port names.
Deprecated:
by getNames()

Definition at line 175 of file DataFlowInterface.cpp.

References mports.

Get all ports of this interface.

Returns:
A sequence of pointers to ports.

Definition at line 171 of file DataFlowInterface.cpp.

References mports.

Referenced by RTT::TaskContext::connectPorts(), and RTT::TaskContext::disconnect().

Returns the service this interface belongs to.

The returned service is a service living in the component returned by getOwner() or in one of its sub-services.

Definition at line 193 of file DataFlowInterface.hpp.

void RTT::DataFlowInterface::removePort ( const std::string &  name)

Remove a Port from this interface.

This will remove all connections and callbacks assosiated with this port.

Parameters:
portThe port to remove.

Definition at line 155 of file DataFlowInterface.cpp.

References RTT::Service::getOwner(), mports, mservice, and RTT::Service::removeService().

Referenced by addLocalPort().

bool RTT::DataFlowInterface::setPortDescription ( const std::string &  name,
const std::string  description 
)

Sets the description for the service of an added port.

It's prefered to use getPort(name)->doc(description) instead of this method, since this function only updates the documentation of the service representing this port, and not the documentation stored in the port.

Parameters:
nameThe port name
descriptionThe new description for this port's service
Returns:
true if the port was found and the description was set, false otherwise.

Definition at line 202 of file DataFlowInterface.cpp.

References RTT::Service::getService(), and mservice.

Referenced by RTT::base::PortInterface::doc().


Member Data Documentation

The parent Service.

May be null in exceptional cases.

Definition at line 262 of file DataFlowInterface.hpp.

Referenced by addEventPort(), addLocalEventPort(), addPort(), clear(), dataOnPort(), getOwner(), removePort(), RTT::Service::Service(), and setPortDescription().


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