Detailed Description

A PortBase is base class for System ports; users will typically use the InputPort<T> or OutputPort<T> types, not this base class.

#include <drake/systems/framework/port_base.h>

Public Member Functions
virtual	~PortBase ()

const std::string &	get_name () const
	Get port name. More...

std::string	GetFullDescription () const
	Returns a verbose human-readable description of port. More...

PortDataType	get_data_type () const
	Returns the port data type. More...

int	size () const
	Returns the fixed size expected for a vector-valued port. More...

const std::optional< std::string > &	get_deprecation () const
	When this port is deprecated, returns non-null with a (possibly empty) deprecation message; when this port is not deprecated, returns null. More...

void	set_deprecation (std::optional< std::string > deprecation)
	Sets whether this port is deprecated (and if so, the message). More...

DependencyTicket	ticket () const
	(Advanced.) Returns the DependencyTicket for this port within the owning System. More...

Does not allow copy, move, or assignment
	PortBase (const PortBase &)=delete

PortBase &	operator= (const PortBase &)=delete

	PortBase (PortBase &&)=delete

PortBase &	operator= (PortBase &&)=delete

Protected Member Functions
	PortBase (const char kind_string, internal::SystemMessageInterface owning_system, internal::SystemId owning_system_id, std::string name, int index, DependencyTicket ticket, PortDataType data_type, int size)
	Provides derived classes the ability to set the base class members at construction. More...

int	get_int_index () const
	Returns the index of this port within the owning System (i.e., an InputPortIndex or OutputPortIndex, but as a bare integer). More...

const internal::SystemMessageInterface &	get_system_interface () const
	Returns a reference to the system that owns this port. More...

internal::SystemMessageInterface &	get_mutable_system_interface ()
	Returns get_system_interface(), but without the const. More...

void	ValidateSystemId (internal::SystemId id) const
	(Internal use only) Checks whether the given id (nominally obtained from a Context passed to this port) was created for the system that owns this port. More...

void	ThrowValidateContextMismatch () const
	(Internal use only) Throws std::exception with a message that the sanity check(s) related to ValidateContext have failed. More...

template<typename ValueType >
const ValueType &	PortEvalCast (const AbstractValue &abstract) const
	Pull a value of a given type from an abstract value or issue a nice message if the type is not correct. More...

template<typename ValueType , typename T >
const ValueType &	PortEvalCast (const BasicVector< T > &basic) const
	Downcast a basic vector to a more specific subclass, or else issue a nice message if the type is not correct. More...

template<typename ValueType >
const ValueType &	ThrowBadCast (const AbstractValue &abstract) const
	Reports that the user provided a bad ValueType argument to Eval. More...

template<typename ValueType , typename T >
const ValueType &	ThrowBadCast (const BasicVector< T > &basic) const
	Reports that the user provided a bad ValueType argument to Eval. More...

void	ThrowBadCast (const std::string &value_typename, const std::string &eval_typename) const
	Reports that the user provided a bad ValueType argument to Eval. More...

Friends
class	internal::PortBaseAttorney

Constructor & Destructor Documentation

◆ PortBase() [1/3]

PortBase ( const PortBase & )

delete

◆ PortBase() [2/3]

PortBase ( PortBase && )

delete

◆ ~PortBase()

virtual ~PortBase ( )

virtual

◆ PortBase() [3/3]

PortBase	(	const char *	kind_string,
		internal::SystemMessageInterface *	owning_system,
		internal::SystemId	owning_system_id,
		std::string	name,
		int	index,
		DependencyTicket	ticket,
		PortDataType	data_type,
		int	size
	)

protected

Provides derived classes the ability to set the base class members at construction.

Parameters

kind_string	Either "Input" or "Output", depending on the kind of subclass.
owning_system	The System that owns this port.
owning_system_id	The ID of owning_system.
name	A name for the port. Port names should be non-empty and unique within a single System.
index	The index to be assigned to this port. Input ports and output ports each have their own pool of indices (InputPortIndex and OutputPortIndex); this is just that TypeSafeIndex passed as a bare int.
ticket	The DependencyTicket to be assigned to this port.
data_type	Whether the port described is vector- or abstract-valued.
size	If the port described is vector-valued, the number of elements. Ignored for abstract-valued ports.

Member Function Documentation

◆ get_data_type()

PortDataType get_data_type ( ) const

Returns the port data type.

◆ get_deprecation()

const std::optional<std::string>& get_deprecation ( ) const

When this port is deprecated, returns non-null with a (possibly empty) deprecation message; when this port is not deprecated, returns null.

◆ get_int_index()

int get_int_index ( ) const

protected

Returns the index of this port within the owning System (i.e., an InputPortIndex or OutputPortIndex, but as a bare integer).

For a Diagram, this will be the index within the Diagram, not the index within the LeafSystem whose output port was forwarded.

◆ get_mutable_system_interface()

internal::SystemMessageInterface& get_mutable_system_interface ( )

protected

Returns get_system_interface(), but without the const.

◆ get_name()

const std::string& get_name ( ) const

Get port name.

◆ get_system_interface()

const internal::SystemMessageInterface& get_system_interface ( ) const

protected

Returns a reference to the system that owns this port.

Note that for a diagram port this will be the diagram, not the leaf system whose port was exported.

◆ GetFullDescription()

std::string GetFullDescription ( ) const

Returns a verbose human-readable description of port.

This is useful for error messages or debugging.

◆ operator=() [1/2]

PortBase& operator= ( PortBase && )

delete

◆ operator=() [2/2]

PortBase& operator= ( const PortBase & )

delete

◆ PortEvalCast() [1/2]

const ValueType & PortEvalCast ( const AbstractValue & abstract ) const

protected

Pull a value of a given type from an abstract value or issue a nice message if the type is not correct.

◆ PortEvalCast() [2/2]

const ValueType & PortEvalCast ( const BasicVector< T > & basic ) const

protected

Downcast a basic vector to a more specific subclass, or else issue a nice message if the type is not correct.

◆ set_deprecation()

void set_deprecation ( std::optional< std::string > deprecation )

Sets whether this port is deprecated (and if so, the message).

◆ size()

int size ( ) const

Returns the fixed size expected for a vector-valued port.

Not meaningful for abstract-valued ports.

◆ ThrowBadCast() [1/3]

const ValueType& ThrowBadCast ( const AbstractValue & abstract ) const

protected

Reports that the user provided a bad ValueType argument to Eval.

◆ ThrowBadCast() [2/3]

const ValueType& ThrowBadCast ( const BasicVector< T > & basic ) const

protected

Reports that the user provided a bad ValueType argument to Eval.

◆ ThrowBadCast() [3/3]

void ThrowBadCast	(	const std::string &	value_typename,
		const std::string &	eval_typename
	)		const

protected

Reports that the user provided a bad ValueType argument to Eval.

The value_typename is the type of the port's current value; the eval_typename is the type the user asked for.

◆ ThrowValidateContextMismatch()

void ThrowValidateContextMismatch ( ) const

protected

(Internal use only) Throws std::exception with a message that the sanity check(s) related to ValidateContext have failed.

◆ ticket()

DependencyTicket ticket ( ) const

(Advanced.) Returns the DependencyTicket for this port within the owning System.

◆ ValidateSystemId()

void ValidateSystemId ( internal::SystemId id ) const

protected

(Internal use only) Checks whether the given id (nominally obtained from a Context passed to this port) was created for the system that owns this port.

This is similar in spirit to SystemBase::ValidateContext, but ports cannot use SystemBase.

Note: This method is sufficiently fast for performance sensitive code.

Friends And Related Function Documentation

◆ internal::PortBaseAttorney

friend class internal::PortBaseAttorney

friend

The documentation for this class was generated from the following file:

drake/systems/framework/port_base.h

Detailed Description

Public Member Functions

Protected Member Functions

Friends

Constructor & Destructor Documentation

◆ PortBase() [1/3]

◆ PortBase() [2/3]

◆ ~PortBase()

◆ PortBase() [3/3]

Member Function Documentation

◆ get_data_type()

◆ get_deprecation()

◆ get_int_index()

◆ get_mutable_system_interface()

◆ get_name()

◆ get_system_interface()

◆ GetFullDescription()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ PortEvalCast() [1/2]

◆ PortEvalCast() [2/2]

◆ set_deprecation()

◆ size()

◆ ThrowBadCast() [1/3]

◆ ThrowBadCast() [2/3]

◆ ThrowBadCast() [3/3]

◆ ThrowValidateContextMismatch()

◆ ticket()

◆ ValidateSystemId()

Friends And Related Function Documentation

◆ internal::PortBaseAttorney