module Orocos::OutputPortBase

Generic functionality for all output objects

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

It also implements the fallback calls for the connection / disconnection protocol. Any 'output port' class must call this generic implementation when it does not know how to connect to / disconnect from the argument it has been given. The 'input port' classes that can handle specialized connection schemes must then implement resolve_connection_from and resolve_disconnection_from to implement them. These methods are called by the default implementation of connect_to and disconnect_from.

Public Instance Methods

connect_to(sink, policy = Hash.new) click to toggle source

Generic implementation of connect_to

It calls resolve_connection_from, as a fallback for out.connect_to(in) calls where 'out' does not know how to handle 'in'

# File lib/orocos/ports_base.rb, line 253
def connect_to(sink, policy = Hash.new)
    sink.resolve_connection_from(self, policy)
end

disconnect_from(sink) click to toggle source

Generic implementation of disconnect_from

It calls resolve_connection_from, as a fallback for out.connect_to(in) calls where 'out' does not know how to handle 'in'

# File lib/orocos/ports_base.rb, line 261
def disconnect_from(sink)
    sink.resolve_disconnection_from(self)
end

reader(distance: PortBase::D_UNKNOWN, **policy) click to toggle source

Returns an OutputReader object that is connected to that port

The policy dictates how data should flow between the port and the reader object. See prepare_policy

# File lib/orocos/ports_base.rb, line 234
def reader(distance: PortBase::D_UNKNOWN, **policy)
    ensure_type_available
    reader = Orocos.ruby_task_access do
        Orocos.ruby_task.create_input_port(
            self.class.transient_local_port_name(full_name),
            orocos_type_name,
            permanent: false,
            class: self.class.reader_class)
    end
    reader.port = self
    reader.policy = policy
    connect_to(reader, distance: distance, **policy)
    reader
end