class Orocos::InputPort

This class represents output ports on remote task contexts.

They are obtained from Orocos::TaskContext#port or Orocos::TaskContextBase#each_port

Public Class Methods

new(task, name, orocos_type_name, model) click to toggle source

Calls superclass method Orocos::PortBase.new

# File lib/orocos/input_port.rb, line 14
def initialize(task, name, orocos_type_name, model)
    super
    @blocking_read = false
end

writer_class() click to toggle source

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

# File lib/orocos/input_port.rb, line 21
def self.writer_class
    InputWriter
end

Public Instance Methods

subscribe_to_ros(topic_name = default_ros_topic_name, policy = Hash.new) click to toggle source

Subscribes this port on a ROS topic

# File lib/orocos/ros/ports.rb, line 25
def subscribe_to_ros(topic_name = default_ros_topic_name, policy = Hash.new)
    if topic_name.kind_of?(Hash)
        topic_name, policy = default_ros_topic_name, topic_name
    end
    create_stream(Orocos::TRANSPORT_ROS, topic_name, policy)
end

to_async(options = Hash.new) click to toggle source

# File lib/orocos/async/orocos.rb, line 53
def to_async(options = Hash.new)
    if use = options.delete(:use)
        Orocos::Async::CORBA::InputPort.new(use,self,options)
    else to_async(Hash[:use => task.to_async].merge(options))
    end
end

to_proxy(options = Hash.new) click to toggle source

# File lib/orocos/async/orocos.rb, line 60
def to_proxy(options = Hash.new)
    task.to_proxy(options).port(name,:type => type)
end

unsubscribe_from_ros(topic_name = " click to toggle source

Subscribes this port from a ROS topic

# File lib/orocos/ros/ports.rb, line 33
def unsubscribe_from_ros(topic_name = "#{task.name}/#{self.name}")
    remove_stream(topic_name)
end