bool DataPool::Connection::addPort(RTT::base::PortInterface *port) {
RTT::base::InputPortInterface *inputPort = dynamic_cast<RTT::base::InputPortInterface *>(port);
RTT::base::OutputPortInterface *outputPort = dynamic_cast<RTT::base::OutputPortInterface *>(port);
if (inputPort) {
if (readers.count(inputPort)) {
RTT::log(RTT::Error) << "InputPort " << inputPort->getName() << " is already a member of this connection" << RTT::endlog();
return false;
}
readers.insert(inputPort);
this->internalOutputPort->connectTo(inputPort);
for(std::set<RTT::base::OutputPortInterface *>::iterator it = writers.begin(); it != writers.end(); ++it) (*it)->connectTo(inputPort);
return true;
}
if (outputPort) {
if (writers.count(outputPort)) {
RTT::log(RTT::Error) << "OutputPort " << outputPort->getName() << " is already a member of this connection" << RTT::endlog();
return false;
}
writers.insert(outputPort);
outputPort->connectTo(this->internalInputPort);
for(std::set<RTT::base::InputPortInterface *>::iterator it = readers.begin(); it != readers.end(); ++it) outputPort->connectTo(*it);
return true;
}
return false;
}
// report a specific connection.
bool Logger::reportPort(const std::string& component, const std::string& port ) {
TaskContext* comp = this->getPeer(component);
if ( !comp )
{
log(Error) << "no such component " << component << endlog();
return false;
}
RTT::base::OutputPortInterface* writer = dynamic_cast<RTT::base::OutputPortInterface*>(comp->ports()->getPort(port));
if ( !writer )
{
log(Error) << "component " << component << " does not have a port named " << port << ", or it is a read port" << endlog();
return false;
}
std::string portname(component + "." + port);
RTT::base::PortInterface *pi = ports()->getPort(portname);
if(pi) // we are already reporting this port
{
log(Info) << "port " << port << " of component " << component << " is already logged" << endlog();
return true;
}
// Create the corresponding read port
RTT::base::InputPortInterface* reader = static_cast<RTT::base::InputPortInterface*>(writer->antiClone());
reader->setName(portname);
writer->createBufferConnection(*reader, 25);
return addLoggingPort(reader, portname);
}
bool RemoteOutputPort::createConnection( RTT::base::InputPortInterface& sink, RTT::ConnPolicy const& policy )
{
try {
CConnPolicy cpolicy = toCORBA(policy);
// first check if we're connecting to another remote:
RemoteInputPort* rip = dynamic_cast<RemoteInputPort*>(&sink);
if ( rip ){
CDataFlowInterface_var cdfi = rip->getDataFlowInterface();
if ( dataflow->createConnection( this->getName().c_str(), cdfi.in() , sink.getName().c_str(), cpolicy ) ) {
policy.name_id = cpolicy.name_id;
return true;
} else
return false;
}
// !!! only if sink is local:
// this dynamic CDataFlowInterface lookup is tricky, we re/ab-use the DataFlowInterface pointer of sink !
CDataFlowInterface_ptr cdfi = CDataFlowInterface_i::getRemoteInterface( sink.getInterface(), mpoa.in() );
if ( dataflow->createConnection( this->getName().c_str(), cdfi , sink.getName().c_str(), cpolicy ) ) {
policy.name_id = cpolicy.name_id;
return true;
}
}
catch(CORBA::Exception& e)
{
log(Error) <<"Remote call to "<< getName() <<".createConnection() failed with a CORBA exception: aborting connection."<<endlog();
log(Error) << CORBA_EXCEPTION_INFO( e ) <<endlog();
return false;
}
return false;
}
RTT::OutputPort<T> &getWriter(RTT::ConnPolicy const& policy)
{
if(!writer)
{
writer = dynamic_cast<RTT::OutputPort<T> * >(port->antiClone());
RTT::TaskContext *clientTask = getClientTask();
clientTask->addPort(*writer);
port->connectTo(writer, policy);
}
return *writer;
};
void DataPool::Connection::removePort(RTT::base::PortInterface *port) {
RTT::base::InputPortInterface *inputPort = dynamic_cast<RTT::base::InputPortInterface *>(port);
RTT::base::OutputPortInterface *outputPort = dynamic_cast<RTT::base::OutputPortInterface *>(port);
if (inputPort) {
this->internalOutputPort->disconnect(inputPort);
inputPort->disconnect();
readers.erase(inputPort);
}
if (outputPort) {
this->internalInputPort->disconnect(outputPort);
outputPort->disconnect();
writers.erase(outputPort);
}
}
~InputProxyPort()
{
removeWriter();
port->disconnect();
}
RTT::OutputPort<T> &getWriter()
{
return getWriter(port->getDefaultPolicy());
}
