Class: Orocos::ROS::InputTopic

Inherits:
Topic
  • Object
show all
Includes:
InputPortBase
Defined in:
lib/orocos/ros/topic.rb

Constant Summary

Constants included from PortBase

PortBase::D_DIFFERENT_HOSTS, PortBase::D_SAME_HOST, PortBase::D_SAME_PROCESS, PortBase::D_UNKNOWN

Instance Attribute Summary collapse

Attributes inherited from Topic

#doc, #ros_message_type, #topic_name

Attributes included from PortBase

#model, #name, #orocos_type_name, #task, #type

Class Method Summary collapse

Instance Method Summary collapse

Methods included from InputPortBase

#connect_to, #write, #writer

Methods inherited from Topic

#==, default_port_name, #doc?, #initialize, #pretty_print, transient_local_port_name

Methods included from PortBase

#==, #distance_to, #ensure_type_available, #full_name, #initialize, #log_metadata, #max_marshalling_size, #max_sizes, #new_sample, #to_s

Constructor Details

This class inherits a constructor from Orocos::ROS::Topic

Instance Attribute Details

#topic_name=(value) ⇒ Object (writeonly)

The scheme we use for topic connection is to normalize the output topic names as /node/name and then remap the input topics.

This allows to overide the topic name on the input topics



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# File 'lib/orocos/ros/topic.rb', line 120

def topic_name=(value)
  @topic_name = value
end

Class Method Details

.writer_class ⇒ Object

Used by InputPortWriteAccess to determine which class should be used to create the writer



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# File 'lib/orocos/ros/topic.rb', line 124

def self.writer_class
    InputWriter
end

Instance Method Details

#resolve_connection_from(port, options = 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:

  • port (#publish_on_ros) —

    the port that should be published on ROS

Raises:

  • (ArgumentError) —

    if the given object cannot be published on this ROS topic



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# File 'lib/orocos/ros/topic.rb', line 149

def resolve_connection_from(port, options = Hash.new)
    # Note that we are sure that +port+ is an output. We now 'just'
    # have to check what kind of output, and act accordingly
    if port.respond_to?(:publish_on_ros)
        port.publish_on_ros(topic_name, options)
    else
        raise ArgumentError, "I don't know how to connect #{port} to #{self}"
    end
end

#resolve_disconnection_from(port, options = 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_disconnection_from on its target

Parameters:

  • port (#unpublish_from_ros) —

    the port that should be published on ROS

Raises:

  • (ArgumentError) —

    if the given object cannot be unpublished from this ROS topic



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# File 'lib/orocos/ros/topic.rb', line 169

def resolve_disconnection_from(port, options = Hash.new)
    # Note that we are sure that +port+ is an output. We now 'just'
    # have to check what kind of output, and act accordingly
    if port.respond_to?(:unpublish_from_ros)
        port.unpublish_from_ros(topic_name)
    else
        raise ArgumentError, "I don't know how to disconnect #{port} from #{self}"
    end
end

#to_async(options = Hash.new) ⇒ Object 



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# File 'lib/orocos/ros/topic.rb', line 128

def to_async(options = Hash.new)
    if use = options.delete(:use)
        Orocos::Async::CORBA::InputPort.new(use,self)
    else to_async(:use => task.to_async(options))
    end
end

#to_proxy(options = Hash.new) ⇒ Object 



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# File 'lib/orocos/ros/topic.rb', line 135

def to_proxy(options = Hash.new)
    task.to_proxy(options).port(name,:type => type)
end