Changes between Initial Version and Version 1 of TutorialAddingInputsOutputs

Timestamp:

Nov 21, 2013, 5:56:56 PM (11 years ago)

Author:

Marek Kurdej

Comment:

Created

TutorialAddingInputsOutputs

@@ +1 @@
+= Adding inputs/outputs =
+
+To send data between components, Pacpus uses input/output system based on signals/slots.
+
+We will try to add to our component called ```MyComponent```:
+1. an output named ```"scan"``` of type ```LidarScan```,
+2. an input named ```"pose"``` of type ```GeoPose2D``` .
+
+So, add virtual methods overriden from ```ComponentBase```: ```addInputs()``` and ```addOutputs()``` to the component:
+
+{{{#!c++
+// MyComponent.h
+
+class My Component // ...
+{
+// ...
+protected:
+    virtual void addInputs() /* override */;
+    virtual void addOutputs() /* override */;
+};
+}}}
+
+{{{#!c++
+// MyComponent.cpp
+
+void MyComponent::addInputs()
+{
+    // inputs go here
+}
+
+void MyComponent::addOutputs()
+{
+    // outputs go here
+}
+
+}}}
+
+== Adding an output ==
+
+To add an output, you have to use template method ```ComponentBase::addOutput<class OutputType, class ComponentType>(const char* outputName)```:
+
+{{{#!c++
+// MyComponent.cpp
+
+void MyComponent::addOutputs()
+{
+    // outputs go here
+    addOutput<LidarScan, MyComponent>("scan");
+}
+}}}
+
+== Adding an input ==
+
+To add an input, you have to have a method in your class that will process it.
+It should take as the only argument, a constant reference to the type of the input.
+In our example, we suppose to have a function declared as follows:
+
+{{{#!c++
+void processPose(GeoPose2D const& pose);
+}}}
+
+You have to use template method ```ComponentBase::addInput<class OutputType, class ComponentType, typename ProcessingFunction>(const char* outputName, ProcessingFunction inputProcessingFunction)```:
+
+{{{#!c++
+// MyComponent.cpp
+
+void MyComponent::addInputs()
+{
+    // inputs go here
+    addInput<GeoPose2D, MyComponent>("pose", &MyComponent::processPose);
+}
+}}}
+
+The second argument is the address (```&```) of our processing method.
+You can also use a free function or a functor object, as well as any other callable object, e.g. ```std::function```, ```boost::function```, etc.
+