class Orocos::ROS::InputTopic

Attributes

topic_name[W]

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

Public Class Methods

writer_class() click to toggle source

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

# File lib/orocos/ros/topic.rb, line 124
def self.writer_class
    InputWriter
end

Public Instance Methods

resolve_connection_from(port, options = Hash.new) click to toggle source

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

@param [#publish_on_ros] port the port that should be

published on ROS

@raise [ArgumentError] if the given object cannot be published on

this ROS topic

# 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) click to toggle source

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

@param [#unpublish_from_ros] port the port that should be

published on ROS

@raise [ArgumentError] if the given object cannot be unpublished from

this ROS topic

# 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) click to toggle source

# 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) click to toggle source

# File lib/orocos/ros/topic.rb, line 135
def to_proxy(options = Hash.new)
    task.to_proxy(options).port(name,:type => type)
end