Class: Orocos::RubyTasks::LocalOutputPort

Inherits:
OutputPort show all
Defined in:
lib/orocos/ruby_tasks/ports.rb,
ext/rorocos/ruby_task_context.cc

Direct Known Subclasses

InputWriter

Constant Summary

Constants inherited from Port

Port::CONNECTION_POLICY_OPTIONS, Port::DEFAULT_CONNECTION_POLICY, Port::MQ_RTT_DEFAULT_QUEUE_LENGTH

Constants included from PortBase

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

Instance Attribute Summary

Attributes included from PortBase

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

Instance Method Summary collapse

Methods inherited from OutputPort

#connect_to, #disconnect_from, #do_connect_to, #pretty_print, #publish_on_ros, reader_class, #to_async, #to_proxy, #unpublish_from_ros

Methods included from OutputPortBase

#connect_to, #disconnect_from, #reader

Methods inherited from Port

#create_stream, #default_ros_topic_name, #disconnect_all, #do_create_stream, #do_disconnect_all, #do_disconnect_from, #do_remove_stream, #doc, #doc?, #handle_mq_transport, prepare_policy, #pretty_print, #refine_exceptions, #remove_stream, #to_orocos_port, transient_local_port_name, transport_name, #type_name, validate_policy

Methods included from PortBase

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

Instance Method Details

#connected? ⇒ Boolean

Whether the port seem to be connected to something

Returns:

  • (Boolean) 


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# File 'lib/orocos/ruby_tasks/ports.rb', line 197

def connected?
    Orocos.allow_blocking_calls do
        super
    end
end

#do_write(type_name, rb_typelib_value) ⇒ Object 



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# File 'ext/rorocos/ruby_task_context.cc', line 396

static VALUE local_output_port_write(VALUE _local_port, VALUE type_name, VALUE rb_typelib_value)
{
    RTT::base::OutputPortInterface& local_port = get_wrapped<RTT::base::OutputPortInterface>(_local_port);
    Typelib::Value value = typelib_get(rb_typelib_value);

    orogen_transports::TypelibMarshallerBase* transport = 0;
    RTT::types::TypeInfo* ti = get_type_info(StringValuePtr(type_name));
    if (ti && ti->hasProtocol(orogen_transports::TYPELIB_MARSHALLER_ID))
    {
        transport =
            dynamic_cast<orogen_transports::TypelibMarshallerBase*>(ti->getProtocol(orogen_transports::TYPELIB_MARSHALLER_ID));
    }

    if (!transport)
    {
        RTT::base::DataSourceBase::shared_ptr ds =
            ti->buildReference(value.getData());
        local_port.write(ds);
    }
    else
    {
        orogen_transports::TypelibMarshallerBase::Handle* handle =
            transport->createHandle();

        transport->setTypelibSample(handle, static_cast<uint8_t*>(value.getData()));
        RTT::base::DataSourceBase::shared_ptr ds =
            transport->getDataSource(handle);
        local_port.write(ds);
        transport->deleteHandle(handle);
    }
    return local_port.connected() ? Qtrue : Qfalse;
}

#remove ⇒ Object

Remove this port from the underlying task context



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# File 'lib/orocos/ruby_tasks/ports.rb', line 173

def remove
    task.remove_port(self)
end

#write(data) ⇒ Object

Write a sample on this output port

If the data type is a struct, the sample can be provided either as a Typelib instance object or as a hash.

In the first case, one can do:

value = port.new_sample # Get a new sample from the port
value.field = 10
value.other_field = "a_string"
input_writer.write(value)

In the second case,

input_writer.write(:field => 10, :other_field => "a_string")



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# File 'lib/orocos/ruby_tasks/ports.rb', line 191

def write(data)
    data = Typelib.from_ruby(data, type)
    do_write(orocos_type_name, data)
end