YarpDataFeedOutputPort.cpp

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/*
Copyright 2007, 2008, 2009, 2010, 2011 Instituto de Sistemas e Robotica, Instituto Superior Tecnico

This file is part of MeRMaID.

MeRMaID is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

MeRMaID is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License
along with MeRMaID.  If not, see <http://www.gnu.org/licenses/>.
*/



/**
 * @Filename YarpDataFeedOutputPort.cpp
 * @Description YarpDataFeedOutputPort implementation
 * @Status Work in Progress
 * @Version $Id: YarpDataFeedOutputPort.cpp 1 2011-03-04 18:13:18Z jreis $
 * @Maintainer
 */

#include "config.h"

#include "YarpDataFeedOutputPort.hpp"

#include <PortNamingConvention.hpp>

#include <Exception.hpp>

#include <yarp/os/all.h>

using namespace mermaid::support::communication;

using mermaid::support::errorhandling::Exception;
using yarp::os::Network;

YarpDataFeedOutputPort::YarpDataFeedOutputPort (std::string entityName, std::string serviceName, std::string datafeedName)
{
  entityName_ = entityName;
  serviceName_ = serviceName;
  datafeedName_ = datafeedName;
  
  std::string portName = PortNamingConvention::getDataFeedOutputPortName (entityName, serviceName, datafeedName);
  
  //open port
  if (!open (portName.c_str())) {
    throw Exception ("YarpDataFeedOutputPort::YarpDataFeedOutputPort : could not open YARP port with name: " + portName);
  }
  
  //set strict output
  this->setStrict (true);
  
}; // YarpDataFeedOutputPort();

std::string YarpDataFeedOutputPort::getEntityName()
{
  return entityName_;
}; // getEntityName()

std::string YarpDataFeedOutputPort::getServiceInstanceName()
{
  return serviceName_;
}; // getServiceInstanceName()

std::string YarpDataFeedOutputPort::getDataFeedName()
{
  return datafeedName_;
}; // getDataFeedName()