Module: Orocos::InputPortBase

Included in:
InputPort, ROS::InputTopic
Defined in:
lib/orocos/ports_base.rb

Overview

Generic implementation of some methods for all input-port-like objects

For #reader to work, the mixed-in class must provide a writer_class singleton method, and must be able to connect to an input port

Instance Method Summary collapse

Instance Method Details

#connect_to(other, policy = Hash.new) ⇒ Object

For convenience, automatically reverts the connection direction



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# File 'lib/orocos/ports_base.rb', line 155

def connect_to(other, policy = Hash.new)
    if other.respond_to?(:writer) # This is also an input port !
        raise ArgumentError, "cannot connect #{self} with #{other}, as they are both inputs"
    end
    other.connect_to(self, policy)
end

#resolve_connection_from(source, policy = Hash.new) ⇒ Object

This method is part of the connection protocol

Whenever an output is connected to an input, if the receiver object cannot resolve the connection, it calls #resolve_connection_from on its target

Parameters:

  • source —

    the source object in the connection that is being created

Raises:

  • (ArgumentError) —

    if the connection cannot be created



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# File 'lib/orocos/ports_base.rb', line 199

def resolve_connection_from(source, policy = Hash.new)
    raise ArgumentError, "I don't know how to connect #{source} to #{self}"
end

#resolve_disconnection_from(source) ⇒ Object

This method is part of the connection protocol

Whenever an output is disconnected from an input, if the receiver object cannot resolve the connection, it calls #resolve_disconnection_from on its target

Parameters:

  • source —

    the source object in the connection that is being destroyed

Raises:

  • (ArgumentError) —

    if the connection cannot be undone (or if it could not exist in the first place)



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# File 'lib/orocos/ports_base.rb', line 213

def resolve_disconnection_from(source)
    raise ArgumentError, "I don't know how to disconnect #{source} to #{self}"
end

#write(sample) ⇒ Object

Writes one sample with a default policy.

While convenient, this is quite ressource consuming, as each time one will need to create a new connection between the ruby interpreter and the remote component.

Use #writer if you need to write on the same port repeatedly.



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# File 'lib/orocos/ports_base.rb', line 186

def write(sample)
    writer.write(sample)
end

#writer(distance: PortBase::D_UNKNOWN, **policy) ⇒ Object

Returns a InputWriter object that allows you to write data to the remote input port.



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# File 'lib/orocos/ports_base.rb', line 164

def writer(distance: PortBase::D_UNKNOWN, **policy)
    ensure_type_available
    writer = Orocos.ruby_task_access do
        Orocos.ruby_task.create_output_port(
            self.class.transient_local_port_name(full_name),
            orocos_type_name,
            permanent: false,
            class: self.class.writer_class) 
    end
    writer.port = self
    writer.policy = policy
    writer.connect_to(self, distance: distance, **policy)
    writer
end