dataflowi.cpp

机器人开源项目orocos的源代码

// -*- C++ -*-
//
// $Id$

// ****  Code generated by the The ACE ORB (TAO) IDL Compiler ****
// TAO and the TAO IDL Compiler have been developed by:
//       Center for Distributed Object Computing
//       Washington University
//       St. Louis, MO
//       USA
//       http://www.cs.wustl.edu/~schmidt/doc-center.html
// and
//       Distributed Object Computing Laboratory
//       University of California at Irvine
//       Irvine, CA
//       USA
//       http://doc.ece.uci.edu/
// and
//       Institute for Software Integrated Systems
//       Vanderbilt University
//       Nashville, TN
//       USA
//       http://www.isis.vanderbilt.edu/
//
// Information about TAO is available at:
//     http://www.cs.wustl.edu/~schmidt/TAO.html

// TAO_IDL - Generated from 
// be/be_codegen.cpp:910

#include "DataFlowI.h"
#include "PortInterface.hpp"
#include "ConnectionInterface.hpp"
#include "Logger.hpp"

using namespace RTT;


// Implementation skeleton constructor
RTT_Corba_DataFlowInterface_i::RTT_Corba_DataFlowInterface_i (::RTT::DataFlowInterface* dfi)
    : mdf(dfi)
{
}

// Implementation skeleton destructor
RTT_Corba_DataFlowInterface_i::~RTT_Corba_DataFlowInterface_i (void)
{
}

::RTT::Corba::DataFlowInterface::PortNames * RTT_Corba_DataFlowInterface_i::getPorts (
    
  )
  ACE_THROW_SPEC ((
    CORBA::SystemException
  ))
{
  // Add your implementation here
    ::RTT::DataFlowInterface::PortNames ports = mdf->getPortNames();

    RTT::Corba::DataFlowInterface::PortNames_var pn = new RTT::Corba::DataFlowInterface::PortNames();
    pn->length( ports.size() );

    for (unsigned int i=0; i != ports.size(); ++i )
        pn[i] = CORBA::string_dup( ports[i].c_str() );
    
    return pn._retn();
}

::RTT::Corba::AssignableExpression_ptr RTT_Corba_DataFlowInterface_i::createDataChannel (
    const char * port_name
  )
  ACE_THROW_SPEC ((
    CORBA::SystemException
  ))
{
    RTT::Logger::In in("createDataChannel");
  // Add your implementation here
    PortInterface* p = mdf->getPort(port_name);
    if ( p == 0) {
        RTT::log() << "No such Port: "<< port_name <<endlog(Error);
        return 0;
    }
    ConnectionInterface::shared_ptr ci;
    if ( p->connected() == false) {
        ci = p->createConnection();
        // A newly created connection starts unconnected.
        ci->connect();
    } else {
        ci = p->connection();
    }

    if ( !ci ) {
        RTT::log() << "Failed to create Data Connection for Port: "<< port_name <<endlog(Error);
        return 0;
    }

    CORBA::Object_var ret = ci->toChannel();
    if ( CORBA::is_nil( ret ) ) {
        RTT::log() << "Could not create DataChannel for Port: "<< port_name <<endlog(Error);
        return 0;
    }
    ::RTT::Corba::AssignableExpression_var ec = ::RTT::Corba::AssignableExpression::_narrow( ret.in() );

    if ( ec.in() )
        return ec._retn();

    RTT::log() << "Could not create DataChannel for Port (try BufferChannel ?): "<< port_name <<endlog(Error);
    return 0;
}

::RTT::Corba::BufferChannel_ptr RTT_Corba_DataFlowInterface_i::createBufferChannel (
    const char * port_name
  )
  ACE_THROW_SPEC ((
    CORBA::SystemException
  ))
{
    PortInterface* p = mdf->getPort(port_name);
    if ( p == 0)
        return 0;
    ConnectionInterface::shared_ptr ci;
    if ( p->connected() == false) {
        ci = p->createConnection();
        // A newly created connection starts unconnected.
        ci->connect();
    } else {
        ci = p->connection();
    }

    if ( !ci ) {
        RTT::log() << "Failed to create Buffer Connection for Port: "<< port_name <<endlog(Error);
        return 0;
    }
    
    CORBA::Object_var ret = ci->toChannel();
    if ( CORBA::is_nil( ret ) ) {
        RTT::log() << "Could not create BufferChannel for Port: "<< port_name <<endlog(Error);
        return 0;
    }
    ::RTT::Corba::BufferChannel_var ec = ::RTT::Corba::BufferChannel::_narrow( ret.in() );

    if ( ec.in() )
        return ec._retn();
    RTT::log() << "Could not create BufferChannel for Port (try DataChannel?): "<< port_name <<endlog(Error);
    return 0;
}

::RTT::Corba::Expression_ptr RTT_Corba_DataFlowInterface_i::createDataObject (
    const char * port_name
  )
  ACE_THROW_SPEC ((
    CORBA::SystemException
  ))
{
    RTT::Logger::In in("createDataObject");
  // Add your implementation here
    PortInterface* p = mdf->getPort(port_name);
    if ( p == 0) {
        RTT::log() << "No such Port: "<< port_name <<endlog(Error);
        return 0;
    }
    ConnectionInterface::shared_ptr ci;
    if ( p->connected() == false) {
        RTT::log() << "Can not create DataObject for unconnected Port: "<< port_name <<endlog(Error);
        return 0;
    } else {
        ci = p->connection();
    }

    ::RTT::Corba::Expression_var ret = ci->getDataSource()->server(0);
    if ( CORBA::is_nil( ret ) ) {
        RTT::log() << "Could not create DataObject for connected Port: "<< port_name <<endlog(Error);
        return 0;
    }
    return ret._retn();
}


::RTT::Corba::DataFlowInterface::PortType RTT_Corba_DataFlowInterface_i::getPortType (
    const char * port_name
  )
  ACE_THROW_SPEC ((
    CORBA::SystemException
  ))
{
  // Add your implementation here
    PortInterface* p = mdf->getPort(port_name);
    if ( p == 0)
        return ::RTT::Corba::DataFlowInterface::PortType();
    return ::RTT::Corba::DataFlowInterface::PortType( int(p->getPortType()) );
}

CORBA::Boolean RTT_Corba_DataFlowInterface_i::isConnected (
    const char * port_name
  )
  ACE_THROW_SPEC ((
    CORBA::SystemException
  ))
{
  // Add your implementation here
  // Add your implementation here
    PortInterface* p = mdf->getPort(port_name);
    if ( p == 0)
        return 0;
    return p->connected();
}