RTT::base::InputPortInterface* Task::createInputPort(::std::string const & port_name, ::std::string const & type_name){
RTT::base::PortInterface *pi = getPort(port_name);
if(pi){
// Port exists. Returns success.
log(Info) << "Port " << port_name << " is already registered." << endlog();
return 0;
}
RTT::types::TypeInfo* type = getType(type_name);
if (!type){
return NULL;
}
/* Create input port */
RTT::base::InputPortInterface *in_port = type->inputPort(port_name);
if (!in_port)
{
log(Error) << "An error occurred during input port generation." << endlog();
return NULL;
}
ports()->addEventPort(in_port->getName(), *(in_port) );
return in_port;
}
orogen_transports::TypelibMarshallerBase* orogen_transports::getMarshallerFor(std::string const& type)
{
RTT::types::TypeInfoRepository::shared_ptr type_registry =
RTT::types::TypeInfoRepository::Instance();
RTT::types::TypeInfo* ti = type_registry->type(type);
if (!ti)
{
// Try harder. Some base types don't have a
// typelib-normalized name, so we should look
// for the type without the leading slash
ti = type_registry->type(type.substr(1));
if (!ti)
throw std::runtime_error("type " + type + " is not registered in the RTT type system");
}
if (!ti->hasProtocol(orogen_transports::TYPELIB_MARSHALLER_ID))
throw std::runtime_error("type " + type + " is registered in the RTT type system, but does not have a typelib transport");
orogen_transports::TypelibMarshallerBase* typelib_marshaller =
dynamic_cast<orogen_transports::TypelibMarshallerBase*>(ti->getProtocol(orogen_transports::TYPELIB_MARSHALLER_ID));
if (!typelib_marshaller)
throw std::runtime_error("the transport object registered as typelib transport for type " + type + " is not a TypelibMarshallerBase");
return typelib_marshaller;
}
void loadTorquesType() {
const std::string NAME("rstrt.dynamics.Torques");
RTT::types::TypeInfoRepository::shared_ptr repository = RTT::types::Types();
repository->addType(new RTT::types::StructTypeInfo<rstrt::dynamics::Torques,
true>
(NAME));
RTT::types::TypeInfo* typeInfo = repository->type(NAME);
typeInfo->addConstructor(RTT::types::newConstructor(&createTorques_Values));
repository->addType(
new RTT::types::SequenceTypeInfo<std::vector<rstrt::dynamics::Torques> >
(NAME + "[]"));
}
void loadTwistType() {
const std::string NAME("rstrt.kinematics.Twist");
RTT::types::TypeInfoRepository::shared_ptr repository = RTT::types::Types();
repository->addType(
new RTT::types::StructTypeInfo<rstrt::kinematics::Twist, true>(
NAME));
RTT::types::TypeInfo* typeInfo = repository->type(NAME);
typeInfo->addConstructor(RTT::types::newConstructor(&createTwist_Values));
typeInfo->addConstructor(
RTT::types::newConstructor(&createTwist_NestedTypes));
repository->addType(
new RTT::types::SequenceTypeInfo<
std::vector<rstrt::kinematics::Twist> >(NAME + "[]"));
}
bool Logger::createLoggingPort(const std::string& portname, const std::string& typestr, std::vector<logger::StreamMetadata> const& metadata)
{
RTT::types::TypeInfoRepository::shared_ptr ti = RTT::types::TypeInfoRepository::Instance();
RTT::types::TypeInfo* type = ti->type(typestr);
if (! type)
{
cerr << "cannot find " << typestr << " in the type info repository" << endl;
return false;
}
RTT::base::PortInterface *pi = ports()->getPort(portname);
if(pi) {
cerr << "port with name " << portname << " already exists" << endl;
return false;
}
RTT::base::InputPortInterface *ip= type->inputPort(portname);
return addLoggingPort(ip, portname, metadata);
}