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);
}
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);
}
}
RTT::InputPort<T> &getReader(RTT::ConnPolicy const& policy)
{
if(!reader)
{
reader = dynamic_cast<RTT::InputPort<T> *>(port->antiClone());
RTT::TaskContext *clientTask = getClientTask();
clientTask->addPort(*reader);
reader->connectTo(port, policy);
}
return *reader;
};
~OutputProxyPort()
{
deleteReader();
port->disconnect();
}
bool connectTo(InputProxyPort<T> &inputPort)
{
return port->connectTo(inputPort.port);
};
RTT::base::ChannelElementBase::shared_ptr RemoteInputPort::buildRemoteChannelOutput(
RTT::base::OutputPortInterface& output_port,
RTT::types::TypeInfo const* type,
RTT::base::InputPortInterface& reader_,
RTT::ConnPolicy const& policy)
{
// This is called by the createConnection()->createRemoteConnection() code of the ConnFactory.
Logger::In in("RemoteInputPort::buildRemoteChannelOutput");
// First we delegate this call to the remote side, which will create a corba channel element,
// buffers and channel output and attach this to the real input port.
CRemoteChannelElement_var remote;
RTT::base::ChannelElementBase::shared_ptr buf;
try {
CConnPolicy cpolicy = toCORBA(policy);
CChannelElement_var ret = dataflow->buildChannelOutput(getName().c_str(), cpolicy);
if ( CORBA::is_nil(ret) ) {
return 0;
}
remote = CRemoteChannelElement::_narrow( ret.in() );
policy.name_id = toRTT(cpolicy).name_id;
}
catch(CORBA::Exception& e)
{
log(Error) << "Caught CORBA exception while creating a remote channel output:" << endlog();
log(Error) << CORBA_EXCEPTION_INFO( e ) <<endlog();
return NULL;
}
// Input side is now ok and waiting for us to complete. We build our corba channel element too
// and connect it to the remote side and vice versa.
CRemoteChannelElement_i* local =
static_cast<CorbaTypeTransporter*>(type->getProtocol(ORO_CORBA_PROTOCOL_ID))
->createChannelElement_i(output_port.getInterface(), mpoa, policy.pull);
CRemoteChannelElement_var proxy = local->_this();
local->setRemoteSide(remote);
remote->setRemoteSide(proxy.in());
local->_remove_ref();
RTT::base::ChannelElementBase::shared_ptr corba_ceb = dynamic_cast<RTT::base::ChannelElementBase*>(local);
// Note: this probably needs to factored out, see also DataFlowI.cpp:buildChannelOutput() for the counterpart of this code.
// If the user specified OOB, we prepend the prefered transport.
// This inserts a channel element before our corba channel element.
// The remote input side will have done this too in the above step.
if ( policy.transport != 0 && policy.transport != ORO_CORBA_PROTOCOL_ID ) {
// create alternative path / out of band transport.
string name = policy.name_id ;
if ( type->getProtocol(policy.transport) == 0 ) {
log(Error) << "Could not create out-of-band transport for port "<< name << " with transport id " << policy.transport <<endlog();
log(Error) << "No such transport registered. Check your policy.transport settings or add the transport for type "<< type->getTypeName() <<endlog();
}
RTT::base::ChannelElementBase* ceb = type->getProtocol(policy.transport)->createStream(this, policy, true);
if (ceb) {
// insertion before corba.
ceb->setOutput( corba_ceb );
corba_ceb = ceb;
log(Info) <<"Redirecting data for port "<<name << " to out-of-band protocol "<< policy.transport << endlog();
} else {
log(Error) << "The type transporter for type "<<type->getTypeName()<< " failed to create a dual channel for port " << name<<endlog();
}
} else {
// if no oob present, create a buffer at output port to guarantee RT delivery of data. (is always present in push&pull).
buf = type->buildDataStorage(policy);
assert(buf);
buf->setOutput( corba_ceb );
corba_ceb = buf;
}
// store the object reference in a map, for future lookup in channelReady().
// this is coupled with the use of channelReady(). We assume the caller will always pass
// chan->getOutputEndPoint() in that function.
channel_map[ corba_ceb->getOutputEndPoint().get() ] = CChannelElement::_duplicate( remote );
// The ChannelElementBase object that represents reader_half on this side
return corba_ceb;
}
