class OroGen::Spec::InputPort

Specification for an input port

Attributes

required_connection_type[R]

Public Class Methods

new(*args) click to toggle source

Calls superclass method

# File lib/orogen/spec/input_port.rb, line 7
def initialize(*args)
    super
    @required_connection_type = :data
end

Public Instance Methods

do_not_clean() click to toggle source

In oroGen, input ports are cleared in the startHook()

Calling do_not_clean disables this behaviour for this particular port

# File lib/orogen/spec/input_port.rb, line 70
def do_not_clean
    @do_not_clean = true
end

multiplexes() click to toggle source

Declares that this port accepts multiple active connections

# File lib/orogen/spec/input_port.rb, line 80
def multiplexes
    @multiplexes = true
    self
end

multiplexes?() click to toggle source

If true, this port accepts to have multiple active connections at the same time

# File lib/orogen/spec/input_port.rb, line 75
def multiplexes?
    !!@multiplexes
end

needs_buffered_connection() click to toggle source

True if connections to this port must use a buffered. In general, it means that the task's code check the return value of read(), as in

if (_input.read(value))
{
    // data is available, do something
}

# File lib/orogen/spec/input_port.rb, line 45
def needs_buffered_connection; @required_connection_type = :buffer; self end

needs_data_connection() click to toggle source

True if connections to this port must use a data policy.

This should not be useful in general

# File lib/orogen/spec/input_port.rb, line 50
def needs_data_connection; @required_connection_type = :data; self end

needs_reliable_connection() click to toggle source

Declares that the task context requires a non-lossy policy

This is different from requires_buffered_connection as a data policy could be used if the period of the connection's source is much longer than the period of the connection's end (for instance).

# File lib/orogen/spec/input_port.rb, line 64
def needs_reliable_connection; @needs_reliable_connection = true; self end

needs_reliable_connection?() click to toggle source

Returns true if the task context requires connections to this port to be reliable (i.e. non-lossy).

See needs_reliable_policy for more information

# File lib/orogen/spec/input_port.rb, line 56
def needs_reliable_connection?; @needs_reliable_connection end

task_trigger() click to toggle source

If called, this port will be registered on the task as a trigger port,

i.e. the following

task_context "Name" do
  input_port("port", "int").
    trigger_port
end

is equivalent to

task_context "Name" do
  input_port("port", "int")
  port_driven 'port'
end

The difference with port_driven is that it works on dynamic ports as well

# File lib/orogen/spec/input_port.rb, line 33
def task_trigger
    task.port_driven(name)
end