module Orocos::PortBase

Constants

D_DIFFERENT_HOSTS
D_SAME_HOST
D_SAME_PROCESS
D_UNKNOWN

Attributes

model[R]

The port's model @return [OroGen::Spec::Port,nil] the port model

name[R]

The port name

orocos_type_name[R]

The port's type name as used by the RTT

task[R]

The task this port is part of

type[R]

The port's type as a Typelib::Type object

Public Class Methods

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

Calls superclass method

# File lib/orocos/ports_base.rb, line 17
def initialize(task, name, orocos_type_name, model)
    @task = task
    @name = name
    @orocos_type_name = orocos_type_name
    @model = model

    ensure_type_available(:fallback_to_null_type => true)

    if model
        @max_sizes = model.max_sizes.dup
    else
        @max_sizes = Hash.new
    end
    @max_sizes.merge!(Orocos.max_sizes_for(type))

    super() if defined? super
end

Public Instance Methods

==(other) click to toggle source

True if self and other represent the same port

# File lib/orocos/ports_base.rb, line 59
def ==(other)
    return false if !other.kind_of?(PortBase)
    other.task == self.task && other.name == self.name
end

distance_to(input_port) click to toggle source

How “far” from the given input port this port is

@return one of the D_ constants

# File lib/orocos/ports_base.rb, line 43
def distance_to(input_port)
    if !task.process || !input_port.task.process
        return D_UNKNOWN
    elsif task.process == input_port.task.process
        return D_SAME_PROCESS
    elsif task.process.host_id == input_port.task.process.host_id
        return D_SAME_HOST
    else return D_DIFFERENT_HOSTS
    end
end

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

# File lib/orocos/ports_base.rb, line 64
def ensure_type_available(options = Hash.new)
    if !type || type.null?
        @type = Orocos.find_type_by_orocos_type_name(orocos_type_name, options)
    end
end

full_name() click to toggle source

The port full name. It is task_name.port_name

# File lib/orocos/ports_base.rb, line 8
def full_name; "#{task.name}.#{name}" end

log_metadata() click to toggle source

# File lib/orocos/ports_base.rb, line 76
def log_metadata
    metadata = Hash['rock_task_model' => (task.model.name || ''),
        'rock_task_name' => task.name,
        'rock_task_object_name' => name,
        'rock_stream_type' => 'port',
        'rock_orocos_type_name' => orocos_type_name]

    if Orocos.logger_guess_timestamp_field?
        # see if we can find a time field in the type, which
        # would qualify as being used as the default time stamp
        if @type.respond_to? :each_field
            @type.each_field do |name, type|
                if type.name == "/base/Time"
                    metadata['rock_timestamp_field'] = name
                    break
                end
            end
        else
            # TODO what about if the type is a base::Time itself
        end
    end

    metadata
end

max_marshalling_size() click to toggle source

Returns the maximum marshalled size of a sample from this port, as marshalled by typelib

If the type contains variable-size containers, the result is dependent on the values given to max_sizes. If not enough is known, this method will return nil.

# File lib/orocos/ports_base.rb, line 143
def max_marshalling_size
    OroGen::Spec::OutputPort.compute_max_marshalling_size(type, max_sizes)
end

new_sample() click to toggle source

Returns a new object of this port's type

# File lib/orocos/ports_base.rb, line 71
def new_sample
    ensure_type_available
    @type.new
end

to_s() click to toggle source

# File lib/orocos/ports_base.rb, line 54
def to_s
    "#{full_name}"
end