input_port_base.cc

#include "drake/systems/framework/input_port_base.h"

#include <stdexcept>
#include <utility>

#include <fmt/format.h>

#include "drake/common/drake_assert.h"

namespace drake {
namespace systems {

InputPortBase::InputPortBase(
    internal::SystemMessageInterface* owning_system, std::string name,
    InputPortIndex index, DependencyTicket ticket,
    PortDataType data_type, int size,
    const std::optional<RandomDistribution>& random_type,
    EvalAbstractCallback eval)
    : PortBase("Input", owning_system, std::move(name), index, ticket,
               data_type, size),
      eval_(std::move(eval)),
      random_type_(random_type) {
  if (is_random() && data_type != kVectorValued) {
    throw std::logic_error("Random input ports must be vector valued.");
  }
  DRAKE_DEMAND(eval_ != nullptr);
}

InputPortBase::~InputPortBase() = default;

void InputPortBase::ThrowRequiredMissing() const {
  throw std::logic_error(fmt::format(
      "InputPort::Eval(): required {} is not connected",
      GetFullDescription()));
}

}  // namespace systems
}  // namespace drake