[Rock-dev] Access port type name of a service port

[Sylvain Joyeux]

On 08/14/2013 12:42 PM, Christian Rauch wrote:
> In the method "dynamic_connect" I want to get the type of the port on 
> both cases: when port is a port given by the task, and when port is a 
> port given by a service.
> 'orocos_type_name' just works for the concrete task, whereas 'type.name' 
> also works with the service but gives me the wrapper type: 
> "/wrappers/VectorX</double>" when I expect '/base/VectorXd'.
>
> How do I get the type name '/base/VectorXd' from the port 'prediction'? 
> (type_to_vector seems just to work with "/base/VectorXd" and not with 
> "/wrappers/VectorX</double>" as is the same case with 
> "/base/samples/IMUSensors_m" and "/base/samples/IMUSensors")
The best way is to convert the syskit port into an orocos port. This can
be done, in every case, by calling #to_orocos_port:

  dynamic_connect(gyro_base_child.calibrated_sensors.to_orocos_port, [...])
  dynamic_connect(gyro_prediction_child.prediction_port.to_orocos_port,
[...])

You also have to keep in mind that, when you are in a 'on' block like
this, there is no such thing as a service. If your task's port name was
different than the service port name, the code you wrote would not work.

To get the service interface here, you need to use #as
  gyro_prediction_child.as(PredictorSrv).prediction_port.to_orocos_port

-- 
Sylvain Joyeux (Dr.Ing.)
Senior Researcher

Space & Security Robotics
Underwater Robotics

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