Class: Orocos::ROS::OutputTopic

Inherits:
Topic
  • Object
show all
Includes:
OutputPortBase
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

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 OutputPortBase

#reader

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

Class Method Details

.reader_class ⇒ Object

Used by OutputPortReadAccess to determine which output reader class should be used



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# File 'lib/orocos/ros/topic.rb', line 62

def self.reader_class; OutputReader end

Instance Method Details

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

Subscribes an input to this topic

Parameters:

  • sink (#to_orocos_port) —

    the sink port



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# File 'lib/orocos/ros/topic.rb', line 67

def connect_to(sink, policy = Hash.new)
    ROS.debug "connect output topic #{self} to #{sink} with policy: #{policy}"
    if sink.respond_to?(:to_topic)
        sink = sink.to_topic
        if self.task.running? || sink.task.running?
            raise ArgumentError, "cannot use #connect_to on topics from running nodes"
        end

        sink.topic_name = self.topic_name
    elsif sink.respond_to?(:to_orocos_port)
        sink.to_orocos_port.subscribe_to_ros(topic_name, policy)
    else
        return super
    end
end

#disconnect_from(sink) ⇒ Object

Unsubscribes an input to this topic

Parameters:

  • sink (#to_orocos_port) —

    the sink port



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# File 'lib/orocos/ros/topic.rb', line 86

def disconnect_from(sink)
    if sink.respond_to?(:to_topic)
        sink = sink.to_topic
        if self.task.running? || sink.task.running?
            raise ArgumentError, "cannot use #disconnect_from topics from running nodes"
        end

        sink.topic_name = "#{sink.task.name}/#{sink.name}"
    elsif sink.respond_to?(:to_orocos_port)
        sink.to_orocos_port.unsubscribe_from_ros(topic_name)
    else
        return super
    end
end

#to_async(options = Hash.new) ⇒ Object 



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# File 'lib/orocos/ros/topic.rb', line 101

def to_async(options = Hash.new)
    if use = options.delete(:use)
        Orocos::Async::CORBA::OutputPort.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 108

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