/**
* Create accessor Object for this Port, for addition to a
* TaskContext Object interface.
*/
virtual Service* createPortObject()
{
Service* object = base::InputPortInterface::createPortObject();
// Force resolution on the overloaded write method
typedef FlowStatus (InputPort<T>::*ReadSample)(typename base::ChannelElement<T>::reference_t);
ReadSample read_m = &InputPort<T>::read;
object->addSynchronousOperation("read", read_m, this).doc("Reads a sample from the port.").arg("sample", "");
object->addSynchronousOperation("clear", &InputPortInterface::clear, this).doc("Clears any remaining data in this port. After a clear, a read() will return NoData if no writes happened in between.");
return object;
}
/**
* Create accessor Object for this Port, for addition to a
* TaskContext Object interface.
*/
virtual Service* createPortObject()
{
Service* object = base::OutputPortInterface::createPortObject();
// Force resolution on the overloaded write method
typedef void (OutputPort<T>::*WriteSample)(T const&);
WriteSample write_m = &OutputPort::write;
typedef T (OutputPort<T>::*LastSample)() const;
LastSample last_m = &OutputPort::getLastWrittenValue;
object->addSynchronousOperation("write", write_m, this).doc("Writes a sample on the port.").arg("sample", "");
object->addSynchronousOperation("last", last_m, this).doc("Returns last written value to this port.");
return object;
}
Service* PortInterface::createPortObject()
{
#ifndef ORO_EMBEDDED
Service* to = new Service( this->getName(), iface->getOwner() );
to->addSynchronousOperation( "name",&PortInterface::getName, this).doc(
"Returns the port name.");
to->addSynchronousOperation("connected", &PortInterface::connected, this).doc("Check if this port is connected and ready for use.");
typedef void (PortInterface::*disconnect_all)();
to->addSynchronousOperation("disconnect", static_cast<disconnect_all>(&PortInterface::disconnect), this).doc("Disconnects this port from any connection it is part of.");
return to;
#else
return 0;
#endif
}
