class Orocos::RubyTasks::LocalOutputPort

connected?() click to toggle source

Whether the port seem to be connected to something

Calls superclass method

# File lib/orocos/ruby_tasks/ports.rb, line 197
def connected?
    Orocos.allow_blocking_calls do
        super
    end
end

do_write(p1, p2) click to toggle source

static VALUE local_output_port_write(VALUE _local_port, VALUE type_name, VALUE rb_typelib_value)
{
    RTT::base::OutputPortInterface& local_port = get_wrapped<RTT::base::OutputPortInterface>(_local_port);
    Typelib::Value value = typelib_get(rb_typelib_value);

    orogen_transports::TypelibMarshallerBase* transport = 0;
    RTT::types::TypeInfo* ti = get_type_info(StringValuePtr(type_name));
    if (ti && ti->hasProtocol(orogen_transports::TYPELIB_MARSHALLER_ID))
    {
        transport =
            dynamic_cast<orogen_transports::TypelibMarshallerBase*>(ti->getProtocol(orogen_transports::TYPELIB_MARSHALLER_ID));
    }

    if (!transport)
    {
        RTT::base::DataSourceBase::shared_ptr ds =
            ti->buildReference(value.getData());
        local_port.write(ds);
    }
    else
    {
        orogen_transports::TypelibMarshallerBase::Handle* handle =
            transport->createHandle();

        transport->setTypelibSample(handle, static_cast<uint8_t*>(value.getData()));
        RTT::base::DataSourceBase::shared_ptr ds =
            transport->getDataSource(handle);
        local_port.write(ds);
        transport->deleteHandle(handle);
    }
    return local_port.connected() ? Qtrue : Qfalse;
}

remove() click to toggle source

Remove this port from the underlying task context

# File lib/orocos/ruby_tasks/ports.rb, line 173
def remove
    task.remove_port(self)
end

write(data) click to toggle source

Write a sample on this output port

If the data type is a struct, the sample can be provided either as a Typelib instance object or as a hash.

In the first case, one can do:

value = port.new_sample # Get a new sample from the port
value.field = 10
value.other_field = "a_string"
input_writer.write(value)

In the second case,

input_writer.write(:field => 10, :other_field => "a_string")

# File lib/orocos/ruby_tasks/ports.rb, line 191
def write(data)
    data = Typelib.from_ruby(data, type)
    do_write(orocos_type_name, data)
end