module Orocos::InputPortBase

Generic implementation of some methods for all input-port-like objects

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

Public Instance Methods

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

For convenience, automatically reverts the connection direction

# File lib/orocos/ports_base.rb, line 154
def connect_to(other, policy = Hash.new)
    if other.respond_to?(:writer) # This is also an input port !
        raise ArgumentError, "cannot connect #{self} with #{other}, as they are both inputs"
    end
    other.connect_to(self, policy)
end

resolve_connection_from(source, policy = 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 source the source object in the connection that is being

created

@raise [ArgumentError] if the connection cannot be created

# File lib/orocos/ports_base.rb, line 198
def resolve_connection_from(source, policy = Hash.new)
    raise ArgumentError, "I don't know how to connect #{source} to #{self}"
end

resolve_disconnection_from(source) click to toggle source

This method is part of the connection protocol

Whenever an output is disconnected from an input, if the receiver object cannot resolve the connection, it calls resolve_disconnection_from on its target

@param source the source object in the connection that is being

destroyed

@raise [ArgumentError] if the connection cannot be undone (or if it

could not exist in the first place)

# File lib/orocos/ports_base.rb, line 212
def resolve_disconnection_from(source)
    raise ArgumentError, "I don't know how to disconnect #{source} to #{self}"
end

write(sample) click to toggle source

Writes one sample with a default policy.

While convenient, this is quite ressource consuming, as each time one will need to create a new connection between the ruby interpreter and the remote component.

Use writer if you need to write on the same port repeatedly.

# File lib/orocos/ports_base.rb, line 185
def write(sample)
    writer.write(sample)
end

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

Returns a InputWriter object that allows you to write data to the remote input port.

# File lib/orocos/ports_base.rb, line 163
def writer(distance: PortBase::D_UNKNOWN, **policy)
    ensure_type_available
    writer = Orocos.ruby_task_access do
        Orocos.ruby_task.create_output_port(
            self.class.transient_local_port_name(full_name),
            orocos_type_name,
            permanent: false,
            class: self.class.writer_class) 
    end
    writer.port = self
    writer.policy = policy
    writer.connect_to(self, distance: distance, **policy)
    writer
end