Class: Orocos::Async::CORBA::OutputReader

Inherits:
ObjectBase
  • Object
show all
Extended by:
ObjectBase::Periodic::ClassMethods, Utilrb::EventLoop::Forwardable
Includes:
ObjectBase::Periodic
Defined in:
lib/orocos/async/ports.rb

Instance Attribute Summary collapse

Attributes included from ObjectBase::Periodic::ClassMethods

#default_period

Attributes inherited from ObjectBase

#emitting, #event_loop, #name, #options, #pending_adds

Instance Method Summary collapse

Methods included from ObjectBase::Periodic

#default_period

Methods inherited from ObjectBase

#add_listener, define_event, define_events, #disable_emitting, #event, event_names, #event_names, #invalidate_delegator!, #listener?, #listeners, #number_of_listeners, #on_event, #proxy_event, #remove_all_listeners, #remove_proxy_event, #valid_delegator?, valid_event?, #valid_event?, validate_event, #validate_event, #wait

Constructor Details

#initialize(port, reader, period: default_period) ⇒ OutputReader

Returns a new instance of OutputReader

Parameters:

  • port (Async::OutputPort) —

    The Asyn::OutputPort

  • reader (Orocos::OutputReader) —

    The designated reader



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# File 'lib/orocos/async/ports.rb', line 20

def initialize(port, reader, period: default_period)
    super(port.name,port.event_loop)
    @port = port
    @raw_last_sample = nil
    @policy = reader.policy
    @period = period

    timeout =
        if reader.policy[:type] == :buffer
            period
        else 0
        end

    poll_timer = @event_loop.async_every(
        method(:thread_read),
        Hash[period: period,
             start: false,
             known_errors: Orocos::Async::KNOWN_ERRORS],
        timeout, &method(:thread_read_callback))
    poll_timer.doc = port.full_name
    @poll_timer = poll_timer

    # otherwise event reachable will be queued and all 
    # listeners will be called twice (one for registering and one because
    # of the queued event)
    disable_emitting do
        reachable! reader
    end
    proxy_event @port,:unreachable
rescue Orocos::NotFound => e
    emit_error e
end

Instance Attribute Details

#period ⇒ Object

Returns the value of attribute period



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# File 'lib/orocos/async/ports.rb', line 11

def period
  @period
end

#policy ⇒ Object (readonly)

Returns the value of attribute policy



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# File 'lib/orocos/async/ports.rb', line 8

def policy
  @policy
end

#poll_timer ⇒ Object (readonly)

The event loop timer that is polling the connection



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# File 'lib/orocos/async/ports.rb', line 14

def poll_timer
  @poll_timer
end

#raw_last_sample ⇒ Object (readonly)

Returns the value of attribute raw_last_sample



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# File 'lib/orocos/async/ports.rb', line 9

def raw_last_sample
  @raw_last_sample
end

Instance Method Details

#last_sample ⇒ Object 



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# File 'lib/orocos/async/ports.rb', line 53

def last_sample
    if @raw_last_sample
        Typelib.to_ruby(@raw_last_sample)
    end
end

#reachable!(reader, options = Hash.new) ⇒ Object 



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# File 'lib/orocos/async/ports.rb', line 85

def reachable!(reader,options = Hash.new)
    super
    if number_of_listeners(:data) != 0
        poll_timer.start period unless poll_timer.running?
    end
end

#reachable? ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/orocos/async/ports.rb', line 81

def reachable?
    super && @port.reachable?
end

#really_add_listener(listener) ⇒ Object 



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# File 'lib/orocos/async/ports.rb', line 97

def really_add_listener(listener)
    if listener.event == :data
        poll_timer.start(period) unless poll_timer.running?
        listener.call Typelib.to_ruby(@raw_last_sample) if @raw_last_sample && listener.use_last_value?
    elsif listener.event == :raw_data
        poll_timer.start(period) unless poll_timer.running?
        listener.call @raw_last_sample if @raw_last_sample && listener.use_last_value?
    end
    super
end

#remove_listener(listener) ⇒ Object 



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# File 'lib/orocos/async/ports.rb', line 108

def remove_listener(listener)
    super
    if number_of_listeners(:data) == 0 && number_of_listeners(:raw_data) == 0
        poll_timer.cancel
    end
end

#unreachable!(options = Hash.new) ⇒ Object

TODO keep timer and remote connection in mind



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# File 'lib/orocos/async/ports.rb', line 60

def unreachable!(options = Hash.new)
    poll_timer.cancel
    @raw_last_sample = nil

    # ensure that this is always called from the
    # event loop thread
    @event_loop.call do
        old = begin
                  @delegator_obj.disconnect if valid_delegator?
              rescue Orocos::ComError,Orocos::NotFound => e
              ensure
                  if valid_delegator?
                      event :unreachable
                      @delegator_obj
                  end
              end
        super
        old
    end
end