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;
};
// 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);
}