RTC::RTObject_impl Class Reference

RT-Component class. More...

#include <RTObject.h>

Inheritance diagram for RTC::RTObject_impl:

Classes
struct	deactivate_comps
	Functor to deactivate RTC. More...
struct	ec_copy
	Functor to find ExecutionContext. More...
struct	ec_find
struct	nv_name
	Functor to find NVList. More...
struct	svc_name
	Functor to find from SDOService Profile List by id. More...
Public Types
typedef PreComponentActionListener	PreCompActionListener
	Adding PreComponentAction type listener.
typedef PreComponentActionListenerType	PreCompActionListenerType
typedef PostComponentActionListener	PostCompActionListener
	Adding PostComponentAction type listener.
typedef PostComponentActionListenerType	PostCompActionListenerType
typedef ExecutionContextActionListenerType	ECActionListenerType
	Adding ExecutionContextAction type listener.
typedef ExecutionContextActionListener	ECActionListener
Public Member Functions
	RTObject_impl (Manager *manager)
	Constructor.
	RTObject_impl (CORBA::ORB_ptr orb, PortableServer::POA_ptr poa)
	Constructor.
virtual	~RTObject_impl (void)
	Virtual destructor.
virtual ReturnCode_t	initialize () throw (CORBA::SystemException)
	[CORBA interface] Initialize the RTC that realizes this interface.
virtual ReturnCode_t	finalize () throw (CORBA::SystemException)
	[CORBA interface] Finalize the RTC for destruction
virtual ReturnCode_t	exit () throw (CORBA::SystemException)
	[CORBA interface]top the RTC's execution context(s) and finalize it along with its contents.
virtual CORBA::Boolean	is_alive (ExecutionContext_ptr exec_context) throw (CORBA::SystemException)
	[CORBA interface] Confirm whether RTC is the alive state
virtual ExecutionContext_ptr	get_context (UniqueId exec_handle) throw (CORBA::SystemException)
	[CORBA interface] Get ExecutionContext.
virtual ExecutionContextList *	get_owned_contexts () throw (CORBA::SystemException)
	[CORBA interface] Get ExecutionContextList.
virtual ExecutionContextList *	get_participating_contexts () throw (CORBA::SystemException)
	[CORBA interface] Get participating ExecutionContextList.
virtual ExecutionContextHandle_t	get_context_handle (ExecutionContext_ptr cxt) throw (CORBA::SystemException)
	[CORBA interface] Return a handle of a ExecutionContext
UniqueId	attach_context (ExecutionContext_ptr exec_context) throw (CORBA::SystemException)
	[CORBA interface] Attach ExecutionContext
UniqueId	bindContext (ExecutionContext_ptr exec_context)
ReturnCode_t	detach_context (UniqueId exec_handle) throw (CORBA::SystemException)
	[CORBA interface] Detach ExecutionContext.
virtual ComponentProfile *	get_component_profile () throw (CORBA::SystemException)
	[RTObject CORBA interface] Get RTC's profile
virtual PortServiceList *	get_ports () throw (CORBA::SystemException)
	[RTObject CORBA interface] Get Ports
virtual ReturnCode_t	on_initialize () throw (CORBA::SystemException)
	[RTObject CORBA interface] Get ExecutionContextAdmin
virtual ReturnCode_t	on_finalize () throw (CORBA::SystemException)
	[ComponentAction CORBA interface] Finalize RTC
virtual ReturnCode_t	on_startup (UniqueId exec_handle) throw (CORBA::SystemException)
	[ComponentAction CORBA interface] Startup RTC
virtual ReturnCode_t	on_shutdown (UniqueId exec_handle) throw (CORBA::SystemException)
	[ComponentAction CORBA interface] Shutdown RTC
virtual ReturnCode_t	on_activated (UniqueId exec_handle) throw (CORBA::SystemException)
	[ComponentAction CORBA interface] Activate RTC
virtual ReturnCode_t	on_deactivated (UniqueId exec_handle) throw (CORBA::SystemException)
	[ComponentAction CORBA interface] Deactivate RTC
virtual ReturnCode_t	on_aborting (UniqueId exec_handle) throw (CORBA::SystemException)
	[ComponentAction CORBA interface] Transition to Error State
virtual ReturnCode_t	on_error (UniqueId exec_handle) throw (CORBA::SystemException)
	[ComponentAction CORBA interface] Error Processing of RTC
virtual ReturnCode_t	on_reset (UniqueId exec_handle) throw (CORBA::SystemException)
	[ComponentAction CORBA interface] Resetting RTC
virtual ReturnCode_t	on_execute (UniqueId exec_handle) throw (CORBA::SystemException)
	[DataFlowComponentAction CORBA interface] Primary Periodic Operation of RTC
virtual ReturnCode_t	on_state_update (UniqueId exec_handle) throw (CORBA::SystemException)
	[DataFlowComponentAction CORBA interface] Secondary Periodic Operation of RTC
virtual ReturnCode_t	on_rate_changed (UniqueId exec_handle) throw (CORBA::SystemException)
	[DataFlowComponentAction CORBA interface] Notify rate changed
virtual SDOPackage::OrganizationList *	get_owned_organizations () throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get Organization list
virtual char *	get_sdo_id () throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get the SDO ID
virtual char *	get_sdo_type () throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get SDO type
virtual SDOPackage::DeviceProfile *	get_device_profile () throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get SDO DeviceProfile list
virtual SDOPackage::ServiceProfileList *	get_service_profiles () throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get SDO ServiceProfile
virtual SDOPackage::ServiceProfile *	get_service_profile (const char *id) throw (CORBA::SystemException, SDOPackage::InvalidParameter, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get specified ServiceProfile
virtual SDOPackage::SDOService_ptr	get_sdo_service (const char *id) throw (CORBA::SystemException, SDOPackage::InvalidParameter, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get specified SDO Service's reference
virtual SDOPackage::Configuration_ptr	get_configuration () throw (CORBA::SystemException, SDOPackage::InterfaceNotImplemented, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get Configuration object
virtual SDOPackage::Monitoring_ptr	get_monitoring () throw (CORBA::SystemException, SDOPackage::InterfaceNotImplemented, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get Monitoring object
virtual SDOPackage::OrganizationList *	get_organizations () throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get Organization list
virtual SDOPackage::NVList *	get_status_list () throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get SDO Status list
virtual CORBA::Any *	get_status (const char *name) throw (CORBA::SystemException, SDOPackage::InvalidParameter, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get SDO Status
const char *	getInstanceName ()
	[local interface] Get instance name
void	setInstanceName (const char *instance_name)
	[local interface] Set instance name
const char *	getTypeName ()
	[local interface] Get type name
const char *	getDescription ()
	[local interface] GetDescription
const char *	getVersion ()
	[local interface] Get version information
const char *	getVendor ()
	[local interface] Get vendor
const char *	getCategory ()
	[local interface] Get category information
std::vector< std::string >	getNamingNames ()
	[local interface] Get Naming Server information
void	setObjRef (const RTObject_ptr rtobj)
	[local interface] Set the object reference
RTObject_ptr	getObjRef () const
	[local interface] Get the object reference
void	setProperties (const coil::Properties &prop)
	[local interface] Set RTC property
coil::Properties &	getProperties ()
	[local interface] Get RTC property
template<typename VarType >
bool	bindParameter (const char param_name, VarType &var, const char def_val, bool(trans)(VarType &, const char )=coil::stringTo)
	Setup for configuration parameters.
void	updateParameters (const char *config_set)
	Update configuration parameters (by ID).
bool	addPort (PortBase &port)
	[local interface] Register Port
bool	addPort (PortService_ptr port)
	[local interface] Register Port
bool	addPort (CorbaPort &port)
	[local interface] Register Port
void	registerPort (PortBase &port)
	[local interface] Register Port
void	registerPort (PortService_ptr port)
	[local interface] Register Port
void	registerPort (CorbaPort &port)
	[local interface] Register Port
bool	addInPort (const char *name, InPortBase &inport)
	[local interface] Register DataInPort
void	registerInPort (const char *name, InPortBase &inport)
	[local interface] Register DataInPort
bool	addOutPort (const char *name, OutPortBase &outport)
	[local interface] Register DataOutPort
void	registerOutPort (const char *name, OutPortBase &outport)
	[local interface] Register DataOutPort
bool	removeInPort (InPortBase &port)
	[local interface] Unregister InPort
bool	removeOutPort (OutPortBase &port)
	[local interface] Unregister OutPort
bool	removePort (PortBase &port)
	[local interface] Unregister Port
bool	removePort (PortService_ptr port)
	[local interface] Unregister Port
bool	removePort (CorbaPort &port)
	[local interface] Unregister Port
void	deletePort (PortBase &port)
	[local interface] Unregister Port
void	deletePort (PortService_ptr port)
	[local interface] Unregister Port
void	deletePort (CorbaPort &port)
	[local interface] Unregister Port
void	deletePortByName (const char *port_name)
	[local interface] Delete Port by specifying its name
ReturnCode_t	addSdoService (const SDOPackage::ServiceProfile &profile)
	[local interface] Add SDO service
SDOPackage::SDOService_var	removeSdoService (const char *service_name)
	[local interface] Remove SDO service
bool	readAll ()
	Readout the value from All InPorts.
bool	writeAll ()
	The write() method of all OutPort is called.
void	setReadAll (bool read=true, bool completion=false)
	Set whether to execute the readAll() method.
void	setWriteAll (bool write=true, bool completion=false)
	Set whether to execute the writeAll() method.
void	finalizePorts ()
	Unregister All Ports.
void	finalizeContexts ()
	The ExecutionContextBase list is deleted.
void	addPreComponentActionListener (PreComponentActionListenerType listener_type, PreComponentActionListener *listener, bool autoclean=true)
template<class Listener >
PreComponentActionListener *	addPortComponentActionListener (PreCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id))
void	removePreComponentActionListener (PreComponentActionListenerType listener_type, PreComponentActionListener *listener)
	Removing PreComponentAction type listener.
void	addPostComponentActionListener (PostComponentActionListenerType listener_type, PostComponentActionListener *listener, bool autoclean=true)
template<class Listener >
PostComponentActionListener *	addPostComponentActionListener (PostCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id, ReturnCode_t ret))
void	removePostComponentActionListener (PostComponentActionListenerType listener_type, PostComponentActionListener *listener)
	Removing PostComponentAction type listener.
void	addPortActionListener (PortActionListenerType listener_type, PortActionListener *listener, bool autoclean=true)
	Adding PortAction type listener.
template<class Listener >
PortActionListener *	addPortActionListener (PortActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const RTC::PortProfile &))
void	removePortActionListener (PortActionListenerType listener_type, PortActionListener *listener)
	Removing PortAction type listener.
void	addExecutionContextActionListener (ECActionListenerType listener_type, ECActionListener *listener, bool autoclean=true)
template<class Listener >
ECActionListener *	addExecutionContextActionListener (ECActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId))
void	removeExecutionContextActionListener (ECActionListenerType listener_type, ECActionListener *listener)
	Removing ExecutionContextAction type listener.
void	addPortConnectListener (PortConnectListenerType listener_type, PortConnectListener *listener, bool autoclean=true)
	Adding PortConnect type listener.
template<class Listener >
PortConnectListener *	addPortConnectListener (PortConnectListenerType listener_type, Listener &obj, void(Listener::memfunc)(const char , ConnectorProfile &))
void	removePortConnectListener (PortConnectListenerType listener_type, PortConnectListener *listener)
	Removing PortConnect type listener.
void	addPortConnectRetListener (PortConnectRetListenerType listener_type, PortConnectRetListener *listener, bool autoclean=true)
	Adding PortConnectRet type listener.
template<class Listener >
PortConnectRetListener *	addPortConnectRetListener (PortConnectRetListenerType listener_type, Listener &obj, void(Listener::memfunc)(const char , ConnectorProfile &, ReturnCode_t))
void	removePortConnectRetListener (PortConnectRetListenerType listener_type, PortConnectRetListener *listener)
	Removing PortConnectRet type listener.
void	addConfigurationParamListener (ConfigurationParamListenerType type, ConfigurationParamListener *listener, bool autoclean=true)
	Adding ConfigurationParamListener.
template<class Listener >
ConfigurationParamListener *	addConfigurationParamListener (ConfigurationParamListenerType listener_type, Listener &obj, void(Listener::memfunc)(const char , const char *))
void	removeConfigurationParamListener (ConfigurationParamListenerType type, ConfigurationParamListener *listener)
	Removing ConfigurationParamListener.
void	addConfigurationSetListener (ConfigurationSetListenerType type, ConfigurationSetListener *listener, bool autoclean=true)
	Adding ConfigurationSetListener.
template<class Listener >
ConfigurationSetListener *	addConfigurationSetListener (ConfigurationSetListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const coil::Properties &config_set))
void	removeConfigurationSetListener (ConfigurationSetListenerType type, ConfigurationSetListener *listener)
	Removing ConfigurationSetListener.
void	addConfigurationSetNameListener (ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener, bool autoclean=true)
	Adding ConfigurationSetNameListener.
template<class Listener >
ConfigurationSetNameListener *	addConfigurationSetNameListener (ConfigurationSetNameListenerType type, Listener &obj, void(Listener::memfunc)(const char ))
void	removeConfigurationSetNameListener (ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener)
	Removing ConfigurationSetNameListener.
Protected Member Functions
virtual ReturnCode_t	onInitialize ()
	Callback function to initialize.
virtual ReturnCode_t	onFinalize ()
	Callback function to finalize.
virtual ReturnCode_t	onStartup (RTC::UniqueId exec_handle)
	Callback function for startup action.
virtual ReturnCode_t	onShutdown (RTC::UniqueId exec_handle)
	Callback function for shutdown action.
virtual ReturnCode_t	onActivated (RTC::UniqueId exec_handle)
	Callback function to activate.
virtual ReturnCode_t	onDeactivated (RTC::UniqueId exec_handle)
	Callback function to deactivate.
virtual ReturnCode_t	onExecute (RTC::UniqueId exec_handle)
	Callback function to execute periodically.
virtual ReturnCode_t	onAborting (RTC::UniqueId exec_handle)
	Callback function to abort.
virtual ReturnCode_t	onError (RTC::UniqueId exec_handle)
	Callback function for error handling.
virtual ReturnCode_t	onReset (RTC::UniqueId exec_handle)
	Callback function to reset.
virtual ReturnCode_t	onStateUpdate (RTC::UniqueId exec_handle)
	Callback function to update the state.
virtual ReturnCode_t	onRateChanged (RTC::UniqueId exec_handle)
	Callback function to change execution cycle.
void	shutdown ()
	Shutdown RTC.
void	preOnInitialize (UniqueId ec_id)
void	preOnFinalize (UniqueId ec_id)
void	preOnStartup (UniqueId ec_id)
void	preOnShutdown (UniqueId ec_id)
void	preOnActivated (UniqueId ec_id)
void	preOnDeactivated (UniqueId ec_id)
void	preOnAborting (UniqueId ec_id)
void	preOnError (UniqueId ec_id)
void	preOnReset (UniqueId ec_id)
void	preOnExecute (UniqueId ec_id)
void	preOnStateUpdate (UniqueId ec_id)
void	preOnRateChanged (UniqueId ec_id)
void	postOnInitialize (UniqueId ec_id, ReturnCode_t ret)
void	postOnFinalize (UniqueId ec_id, ReturnCode_t ret)
void	postOnStartup (UniqueId ec_id, ReturnCode_t ret)
void	postOnShutdown (UniqueId ec_id, ReturnCode_t ret)
void	postOnActivated (UniqueId ec_id, ReturnCode_t ret)
void	postOnDeactivated (UniqueId ec_id, ReturnCode_t ret)
void	postOnAborting (UniqueId ec_id, ReturnCode_t ret)
void	postOnError (UniqueId ec_id, ReturnCode_t ret)
void	postOnReset (UniqueId ec_id, ReturnCode_t ret)
void	postOnExecute (UniqueId ec_id, ReturnCode_t ret)
void	postOnStateUpdate (UniqueId ec_id, ReturnCode_t ret)
void	postOnRateChanged (UniqueId ec_id, ReturnCode_t ret)
void	onAddPort (const PortProfile &pprof)
void	onRemovePort (const PortProfile &pprof)
void	onAttachExecutionContext (UniqueId ec_id)
void	onDetachExecutionContext (UniqueId ec_id)
Protected Attributes
Logger	rtclog
	Logger stream.
Manager *	m_pManager
	Manager object.
CORBA::ORB_var	m_pORB
	The pointer to the ORB.
PortableServer::POA_var	m_pPOA
	The pointer to the POA.
SDOPackage::OrganizationList	m_sdoOwnedOrganizations
	SDO owned organization list.
SDOPackage::ServiceProfileList	m_sdoSvcProfiles
	SDOService Profile List.
SDOPackage::Configuration_impl *	m_pSdoConfigImpl
	The pointer to the SDO Configuration Object.
SDOPackage::Configuration_var	m_pSdoConfig
	The pointer to the SDO Configuration Interface.
SDOPackage::OrganizationList	m_sdoOrganizations
	SDO organization.
SDOPackage::NVList	m_sdoStatus
	SDO Status.
ComponentProfile	m_profile
	ComponentProfile.
RTObject_var	m_objref
	Object reference.
PortAdmin	m_portAdmin
	List of Port Object reference.
std::vector< InPortBase * >	m_inports
	List of InPortBase*.
std::vector< OutPortBase * >	m_outports
	List of OutPortBase*.
ExecutionContextServiceList	m_ecMine
	List of owned ExecutionContextService.
std::vector < ExecutionContextBase * >	m_eclist
	List of ExecutionContextBase.
ExecutionContextServiceList	m_ecOther
	List of participating ExecutionContextService.
bool	m_created
	Created Status Flag.
bool	m_exiting
	RTC Finalize Status Flag.
coil::Properties	m_properties
	Alive Status Flag.
ConfigAdmin	m_configsets
	Configuration Administrator Object.
SdoServiceAdmin	m_sdoservice
	SDO Service Administrator Object.
bool	m_readAll
	flag for readAll()
bool	m_writeAll
	flag for writeAll()
bool	m_readAllCompletion
	flag for readAll()
bool	m_writeAllCompletion
	flag for writeAll()
ComponentActionListeners	m_actionListeners
	ComponentActionListener holder.
PortConnectListeners	m_portconnListeners
	PortConnectListener holder.

Detailed Description

RT-Component class.

This is a class to be a base of each RT-Component. This is a implementation class of lightweightRTComponent in Robotic Technology Component specification. This provides a implementation of ComponentAction interface that offers the the component's function and the implementation of LightweightRTObject for management of the component's lifecycle. When users actually create the components, they should use each subclass corresponding to Execution Semantics.
(In current implementation, since only Periodic Sampled Data Processing is supported, this class inherits dataFlowComponent directly.)

Since:: 0.2.0

Member Typedef Documentation

typedef ExecutionContextActionListener RTC::RTObject_impl::ECActionListener

typedef ExecutionContextActionListenerType RTC::RTObject_impl::ECActionListenerType

Adding ExecutionContextAction type listener.

This operation adds certain listeners related to ComponentActions post events. The following listener types are available.

ADD_PORT: At adding ExecutionContext
REMOVE_PORT: At removing ExecutionContext

Listeners should have the following function operator().

ExecutionContextActionListener::operator()(UniqueId ec_id)

The ownership of the given listener object is transferred to this RTObject object in default. The given listener object will be destroied automatically in the RTObject's dtor or if the listener is deleted by removeExecutionContextActionListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters:

	listener_type	A listener type
	listener	A pointer to a listener object
	autoclean	A flag for automatic listener destruction

typedef PostComponentActionListener RTC::RTObject_impl::PostCompActionListener

Adding PostComponentAction type listener.

This operation adds certain listeners related to ComponentActions post events. The following listener types are available.

POST_ON_INITIALIZE: after onInitialize
POST_ON_FINALIZE: after onFinalize
POST_ON_STARTUP: after onStartup
POST_ON_SHUTDOWN: after onShutdown
POST_ON_ACTIVATED: after onActivated
POST_ON_DEACTIVATED: after onDeactivated
POST_ON_ABORTED: after onAborted
POST_ON_ERROR: after onError
POST_ON_RESET: after onReset
POST_ON_EXECUTE: after onExecute
POST_ON_STATE_UPDATE: after onStateUpdate

Listeners should have the following function operator().

PostComponentActionListener::operator()(UniqueId ec_id, ReturnCode_t ret)

The ownership of the given listener object is transferred to this RTObject object in default. The given listener object will be destroied automatically in the RTObject's dtor or if the listener is deleted by removePostComponentActionListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters:

	listener_type	A listener type
	listener	A pointer to a listener object
	autoclean	A flag for automatic listener destruction

typedef PostComponentActionListenerType RTC::RTObject_impl::PostCompActionListenerType

typedef PreComponentActionListener RTC::RTObject_impl::PreCompActionListener

Adding PreComponentAction type listener.

This operation adds certain listeners related to ComponentActions pre events. The following listener types are available.

PRE_ON_INITIALIZE: before onInitialize
PRE_ON_FINALIZE: before onFinalize
PRE_ON_STARTUP: before onStartup
PRE_ON_SHUTDOWN: before onShutdown
PRE_ON_ACTIVATED: before onActivated
PRE_ON_DEACTIVATED: before onDeactivated
PRE_ON_ABORTED: before onAborted
PRE_ON_ERROR: before onError
PRE_ON_RESET: before onReset
PRE_ON_EXECUTE: before onExecute
PRE_ON_STATE_UPDATE: before onStateUpdate

Listeners should have the following function operator().

PreComponentActionListener::operator()(UniqueId ec_id)

The ownership of the given listener object is transferred to this RTObject object in default. The given listener object will be destroied automatically in the RTObject's dtor or if the listener is deleted by removePreComponentActionListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters:

	listener_type	A listener type
	listener	A pointer to a listener object
	autoclean	A flag for automatic listener destruction

typedef PreComponentActionListenerType RTC::RTObject_impl::PreCompActionListenerType

Constructor & Destructor Documentation

RTC::RTObject_impl::RTObject_impl ( Manager * manager )

Constructor.

Constructor

Parameters:

manager

Manager object

RTC::RTObject_impl::RTObject_impl	(	CORBA::ORB_ptr	orb,
		PortableServer::POA_ptr	poa
	)

Constructor.

Constructor

Parameters:

	orb	ORB
	poa	POA

virtual RTC::RTObject_impl::~RTObject_impl ( void ) [virtual]

Virtual destructor.

Member Function Documentation

template<class Listener >

ConfigurationParamListener* RTC::RTObject_impl::addConfigurationParamListener	(	ConfigurationParamListenerType	listener_type,
		Listener &	obj,
		void(Listener::)(const char , const char *)	memfunc
	)			`[inline]`

References addConfigurationParamListener().

void RTC::RTObject_impl::addConfigurationParamListener	(	ConfigurationParamListenerType	type,
		ConfigurationParamListener *	listener,
		bool	autoclean = `true`
	)

Adding ConfigurationParamListener.

This function adds a listener object which is called when update(const char* config_set, const char* config_param) is called. In the type argument, currently only ON_UPDATE_CONFIG_PARAM is allowed.

Parameters:

	type	ConfigurationParamListenerType value ON_UPDATE_CONFIG_PARAM is only allowed.
	listener	ConfigurationParamListener listener object.
	autoclean	a flag whether if the listener object autocleaned.

Referenced by addConfigurationParamListener().

template<class Listener >

ConfigurationSetListener* RTC::RTObject_impl::addConfigurationSetListener	(	ConfigurationSetListenerType	listener_type,
		Listener &	obj,
		void(Listener::*)(const coil::Properties &config_set)	memfunc
	)			`[inline]`

References addConfigurationSetListener().

void RTC::RTObject_impl::addConfigurationSetListener	(	ConfigurationSetListenerType	type,
		ConfigurationSetListener *	listener,
		bool	autoclean = `true`
	)

Adding ConfigurationSetListener.

This function add a listener object which is called when ConfigurationSet is updated. Available events are the followings.

Parameters:

	type	ConfigurationSetListenerType value
	listener	ConfigurationSetListener listener object.
	autoclean	a flag whether if the listener object autocleaned.

Referenced by addConfigurationSetListener().

template<class Listener >

ConfigurationSetNameListener* RTC::RTObject_impl::addConfigurationSetNameListener	(	ConfigurationSetNameListenerType	type,
		Listener &	obj,
		void(Listener::)(const char )	memfunc
	)			`[inline]`

References addConfigurationSetNameListener().

void RTC::RTObject_impl::addConfigurationSetNameListener	(	ConfigurationSetNameListenerType	type,
		ConfigurationSetNameListener *	listener,
		bool	autoclean = `true`
	)

Adding ConfigurationSetNameListener.

This function add a listener object which is called when ConfigurationSetName is updated. Available events are the followings.

ON_UPDATE_CONFIG_SET: A ConfigurationSet has been updated.
ON_REMOVE_CONFIG_SET: A ConfigurationSet has been deleted.
ON_ACTIVATE_CONFIG_SET: A ConfigurationSet has been activated.

Parameters:

	type	ConfigurationSetNameListenerType value
	listener	ConfigurationSetNameListener listener object.
	autoclean	a flag whether if the listener object autocleaned.

Referenced by addConfigurationSetNameListener().

template<class Listener >

ECActionListener* RTC::RTObject_impl::addExecutionContextActionListener	(	ECActionListenerType	listener_type,
		Listener &	obj,
		void(Listener::*)(UniqueId)	memfunc
	)			`[inline]`

References addExecutionContextActionListener().

void RTC::RTObject_impl::addExecutionContextActionListener	(	ECActionListenerType	listener_type,
		ECActionListener *	listener,
		bool	autoclean = `true`
	)

Referenced by addExecutionContextActionListener().

bool RTC::RTObject_impl::addInPort	(	const char *	name,
		InPortBase &	inport
	)

[local interface] Register DataInPort

This operation registers DataInPort held by this RTC. Set "port.dataport" and "tcp_any" to property of Port, and create instances of DataInPort and register it.

Parameters:

	name	Port name
	inport	DataInPort which is registered to the RTC

Returns:: Register result (Successful:true, Failed:false)

bool RTC::RTObject_impl::addOutPort	(	const char *	name,
		OutPortBase &	outport
	)

[local interface] Register DataOutPort

This operation registers DataOutPor held by this RTC. Set "port.dataport" and "tcp_any" to property of Port, and then create instances of DataOutPort and register it.

Parameters:

	name	Port name
	outport	DataOutPort which is registered to the RTC

Returns:: Register result (Successful:true, Failed:false)

bool RTC::RTObject_impl::addPort ( CorbaPort & port )

[local interface] Register Port

This operation registers a Port held by this RTC. In order to enable access to the Port from outside of RTC, the Port must be registered by this operation. The Port that is registered by this operation would be identified by PortProfile.name in the inside of RTC. Therefore, the Port should have unique PortProfile.name in the RTC. The registering Port would be activated properly, and the reference and the object reference would be stored in lists in RTC.

Parameters:

port

Port which is registered to the RTC

Returns:: Register result (Successful:true, Failed:false)

bool RTC::RTObject_impl::addPort ( PortService_ptr port )

[local interface] Register Port

This operation registers a Port held by this RTC. In order to enable access to the Port from outside of RTC, the Port must be registered by this operation. The Port that is registered by this operation would be identified by PortProfile.name in the inside of RTC. Therefore, the Port should have unique PortProfile.name in the RTC. The registering Port would be activated properly, and the reference and the object reference would be stored in lists in RTC.

Parameters:

port

Port which is registered to the RTC

Returns:: Register result (Successful:true, Failed:false)

bool RTC::RTObject_impl::addPort ( PortBase & port )

[local interface] Register Port

This operation registers a Port held by this RTC. In order to enable access to the Port from outside of RTC, the Port must be registered by this operation. The Port that is registered by this operation would be identified by PortProfile.name in the inside of RTC. Therefore, the Port should have unique PortProfile.name in the RTC. The registering Port would be activated properly, and the reference and the object reference would be stored in lists in RTC.

Parameters:

port

Port which is registered to the RTC

Returns:: Register result (Successful:true, Failed:false)

template<class Listener >

PortActionListener* RTC::RTObject_impl::addPortActionListener	(	PortActionListenerType	listener_type,
		Listener &	obj,
		void(Listener::*)(const RTC::PortProfile &)	memfunc
	)			`[inline]`

References addPortActionListener().

void RTC::RTObject_impl::addPortActionListener	(	PortActionListenerType	listener_type,
		PortActionListener *	listener,
		bool	autoclean = `true`
	)

Adding PortAction type listener.

This operation adds certain listeners related to ComponentActions post events. The following listener types are available.

ADD_PORT: At adding Port
REMOVE_PORT: At removing Port

Listeners should have the following function operator().

PortActionListener::operator()(RTC::PortProfile pprof)

The ownership of the given listener object is transferred to this RTObject object in default. The given listener object will be destroied automatically in the RTObject's dtor or if the listener is deleted by removePortActionListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters:

	listener_type	A listener type
	listener	A pointer to a listener object
	autoclean	A flag for automatic listener destruction

Referenced by addPortActionListener().

template<class Listener >

PreComponentActionListener* RTC::RTObject_impl::addPortComponentActionListener	(	PreCompActionListenerType	listener_type,
		Listener &	obj,
		void(Listener::*)(UniqueId ec_id)	memfunc
	)			`[inline]`

References addPreComponentActionListener().

template<class Listener >

PortConnectListener* RTC::RTObject_impl::addPortConnectListener	(	PortConnectListenerType	listener_type,
		Listener &	obj,
		void(Listener::)(const char , ConnectorProfile &)	memfunc
	)			`[inline]`

References addPortConnectListener().

void RTC::RTObject_impl::addPortConnectListener	(	PortConnectListenerType	listener_type,
		PortConnectListener *	listener,
		bool	autoclean = `true`
	)

Adding PortConnect type listener.

This operation adds certain listeners related to Port's connect actions. The following listener types are available.

ON_NOTIFY_CONNECT: right after entering into notify_connect()
ON_NOTIFY_DISCONNECT: right after entering into notify_disconnect()
ON_UNSUBSCRIBE_INTERFACES: unsubscribing IF in notify_disconnect()

Listeners should have the following function operator().

PortConnectListener::operator()(const char*, ConnectorProfile)

The ownership of the given listener object is transferred to this RTObject object in default. The given listener object will be destroied automatically in the RTObject's dtor or if the listener is deleted by removePortConnectListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters:

	listener_type	A listener type
	listener	A pointer to a listener object
	autoclean	A flag for automatic listener destruction

Referenced by addPortConnectListener().

template<class Listener >

PortConnectRetListener* RTC::RTObject_impl::addPortConnectRetListener	(	PortConnectRetListenerType	listener_type,
		Listener &	obj,
		void(Listener::)(const char , ConnectorProfile &, ReturnCode_t)	memfunc
	)			`[inline]`

References addPortConnectRetListener().

void RTC::RTObject_impl::addPortConnectRetListener	(	PortConnectRetListenerType	listener_type,
		PortConnectRetListener *	listener,
		bool	autoclean = `true`
	)

Adding PortConnectRet type listener.

This operation adds certain listeners related to Port's connect actions. The following listener types are available.

ON_CONNECT_NEXTPORT: after cascade-call in notify_connect()
ON_SUBSCRIBE_INTERFACES: after IF subscribing in notify_connect()
ON_CONNECTED: completed nofity_connect() connection process
ON_DISCONNECT_NEXT: after cascade-call in notify_disconnect()
ON_DISCONNECTED: completed notify_disconnect() disconnection process

Listeners should have the following function operator().

PortConnectRetListener::operator()(const char*, ConnectorProfile)

The ownership of the given listener object is transferred to this RTObject object in default. The given listener object will be destroied automatically in the RTObject's dtor or if the listener is deleted by removePortConnectRetListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters:

	listener_type	A listener type
	listener	A pointer to a listener object
	autoclean	A flag for automatic listener destruction

Referenced by addPortConnectRetListener().

template<class Listener >

PostComponentActionListener* RTC::RTObject_impl::addPostComponentActionListener	(	PostCompActionListenerType	listener_type,
		Listener &	obj,
		void(Listener::*)(UniqueId ec_id, ReturnCode_t ret)	memfunc
	)			`[inline]`

References addPostComponentActionListener().

void RTC::RTObject_impl::addPostComponentActionListener	(	PostComponentActionListenerType	listener_type,
		PostComponentActionListener *	listener,
		bool	autoclean = `true`
	)

Referenced by addPostComponentActionListener().

void RTC::RTObject_impl::addPreComponentActionListener	(	PreComponentActionListenerType	listener_type,
		PreComponentActionListener *	listener,
		bool	autoclean = `true`
	)

Referenced by addPortComponentActionListener().

ReturnCode_t RTC::RTObject_impl::addSdoService ( const SDOPackage::ServiceProfile & profile )

[local interface] Add SDO service

This operation adds SDO service to this RT-Component.

UniqueId RTC::RTObject_impl::attach_context ( ExecutionContext_ptr exec_context ) throw (CORBA::SystemException)

[CORBA interface] Attach ExecutionContext

Inform this RTC that it is participating in the given execution context. Return a handle that represents the association of this RTC with the context. This operation is intended to be invoked by ExecutionContextOperations::add_component. It is not intended for use by other clients.

Parameters:

exec_context

Participating ExecutionContext

Returns:: ExecutionContext Handle

UniqueId RTC::RTObject_impl::bindContext ( ExecutionContext_ptr exec_context )

template<typename VarType >

bool RTC::RTObject_impl::bindParameter	(	const char *	param_name,
		VarType &	var,
		const char *	def_val,
		bool()(VarType &, const char )	trans = `coil::stringTo`
	)			`[inline]`

Setup for configuration parameters.

Bind configuration parameter to its variable. Specify the data type of configuration parameter as <VarType>.

Parameters:

	param_name	Configuration parameter name
	var	Variables to store configuration parameter
	def_val	Default value of configuration parameter
	trans	Function to transform configuration parameter type into string format

Returns:: Setup result (Successful:true, Failed:false)

References RTC::ConfigAdmin::bindParameter(), m_configsets, and RTC_TRACE.

void RTC::RTObject_impl::deletePort ( CorbaPort & port )

[local interface] Unregister Port

This operation unregisters a Port held by this RTC.

Parameters:

port

Port which is unregistered

void RTC::RTObject_impl::deletePort ( PortService_ptr port )

[local interface] Unregister Port

This operation unregisters a Port held by this RTC.

Parameters:

port

Port which is unregistered

void RTC::RTObject_impl::deletePort ( PortBase & port )

[local interface] Unregister Port

This operation unregisters a Port held by this RTC.

Parameters:

port

Port which is unregistered

void RTC::RTObject_impl::deletePortByName ( const char * port_name )

[local interface] Delete Port by specifying its name

Delete Port which RTC has by specifying its name.

Parameters:

port_name

Name of Port which is deleted

ReturnCode_t RTC::RTObject_impl::detach_context ( UniqueId exec_handle ) throw (CORBA::SystemException)

[CORBA interface] Detach ExecutionContext.

Inform this RTC that it is no longer participating in the given execution context. This operation is intended to be invoked by ExecutionContextOperations::remove. It is not intended for use by other clients. Constraints

This operation may not be invoked if this RTC is not already participating in the execution context. Such a call shall fail with ReturnCode_t::PRECONDITION_NOT_MET.
This operation may not be invoked if this RTC is Active in the indicated execution context. Otherwise, it shall fail with ReturnCode_t::PRECONDITION_NOT_MET.

Parameters:

exec_handle

Detaching ExecutionContext Handle

Returns:: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::exit ( ) throw (CORBA::SystemException) [virtual]

[CORBA interface]top the RTC's execution context(s) and finalize it along with its contents.

Any execution contexts for which the RTC is the owner shall be stopped. If the RTC participates in any execution contexts belonging to another RTC that contains it, directly or indirectly (i.e. the containing RTC is the owner of the ExecutionContext), it shall be deactivated in those contexts. After the RTC is no longer Active in any Running execution context, it and any RTCs contained transitively within it shall be finalized.

Constraints

An RTC cannot be exited if it has not yet been initialized. Any attempt to exit an RTC that is in the Created state shall fail with ReturnCode_t::PRECONDITION_NOT_MET.

Returns:: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::finalize ( ) throw (CORBA::SystemException) [virtual]

[CORBA interface] Finalize the RTC for destruction

This invocation of this operation shall result in the invocation of the callback ComponentAction::on_finalize.

Constraints

An RTC may not be finalized while it is participating in any execution context. It must first be removed with ExecutionContextOperations::remove. Otherwise, this operation shall fail with ReturnCode_t::PRECONDITION_NOT_MET.
An RTC may not be finalized while it is in the Created state. Any attempt to invoke this operation while in that state shall fail with ReturnCode_t::PRECONDITION_NOT_MET.
Application developers are not expected to call this operation directly; it exists for use by the RTC infrastructure.

Returns:: The return code of ReturnCode_t type

void RTC::RTObject_impl::finalizeContexts ( )

The ExecutionContextBase list is deleted.

void RTC::RTObject_impl::finalizePorts ( )

Unregister All Ports.

This operation deactivates the all Ports and deletes the all Port's registrations in the RTC

virtual ComponentProfile* RTC::RTObject_impl::get_component_profile ( ) throw (CORBA::SystemException) [virtual]

[RTObject CORBA interface] Get RTC's profile

This operation returns the ComponentProfile of the RTC.

Returns:: ComponentProfile

virtual SDOPackage::Configuration_ptr RTC::RTObject_impl::get_configuration ( ) throw (CORBA::SystemException, SDOPackage::InterfaceNotImplemented, SDOPackage::NotAvailable, SDOPackage::InternalError) [virtual]

[SDO interface] Get Configuration object

This operation returns an object implementing the Configuration interface. The Configuration interface is one of the interfaces that each SDO maintains. The interface is used to configure the attributes defined in DeviceProfile, ServiceProfile, and Organization. See OMG SDO specification Section 2.3.5, "Configuration Interface," on page 2-24 for more details about the Configuration interface.

Returns:: The Configuration interface of an SDO.

Exceptions:

	InterfaceNotImplemented	The target SDO has no Configuration interface.
	SDONotExists	The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
	NotAvailable	The target SDO is reachable but cannot respond.
	InternalError	The target SDO cannot execute the operation completely due to some internal error.

virtual ExecutionContext_ptr RTC::RTObject_impl::get_context ( UniqueId exec_handle ) throw (CORBA::SystemException) [virtual]

[CORBA interface] Get ExecutionContext.

Obtain a reference to the execution context represented by the given handle. The mapping from handle to context is specific to a particular RTC instance. The given handle must have been obtained by a previous call to attach_context on this RTC.

Parameters:

exec_handle

ExecutionContext handle

Returns:: ExecutionContext

virtual ExecutionContextHandle_t RTC::RTObject_impl::get_context_handle ( ExecutionContext_ptr cxt ) throw (CORBA::SystemException) [virtual]

[CORBA interface] Return a handle of a ExecutionContext

This operation returns a handle that is associated with the given execution context.

virtual SDOPackage::DeviceProfile* RTC::RTObject_impl::get_device_profile ( ) throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError) [virtual]

[SDO interface] Get SDO DeviceProfile list

This operation returns the DeviceProfile of the SDO. If the SDO does not represent any hardware device, then a DeviceProfile with empty values are returned. This operation throws SDOException with one of the following types.

Returns:: The DeviceProfile of the SDO.

Exceptions:

	SDONotExists	The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
	NotAvailable	The target SDO is reachable but cannot respond.
	InternalError	The target SDO cannot execute the operation completely due to some internal error.

virtual SDOPackage::Monitoring_ptr RTC::RTObject_impl::get_monitoring ( ) throw (CORBA::SystemException, SDOPackage::InterfaceNotImplemented, SDOPackage::NotAvailable, SDOPackage::InternalError) [virtual]

[SDO interface] Get Monitoring object

This operation returns an object implementing the Monitoring interface. The Monitoring interface is one of the interfaces that each SDO maintains. The interface is used to monitor the properties of an SDO. See OMG SDO specification Section 2.3.7, "Monitoring Interface," on page 2-35 for more details about the Monitoring interface.

Returns:: The Monitoring interface of an SDO.

Exceptions:

	InterfaceNotImplemented	The target SDO has no Configuration interface.
	SDONotExists	The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
	NotAvailable	The target SDO is reachable but cannot respond.
	InternalError	The target SDO cannot execute the operation completely due to some internal error.

virtual SDOPackage::OrganizationList* RTC::RTObject_impl::get_organizations ( ) throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError) [virtual]

[SDO interface] Get Organization list

An SDO belongs to zero or more organizations. If the SDO belongs to one or more organizations, this operation returns the list of organizations that the SDO belongs to. An empty list is returned if the SDO does not belong to any Organizations.

Returns:: The list of Organizations that the SDO belong to.

Exceptions:

	SDONotExists	The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
	NotAvailable	The target SDO is reachable but cannot respond.
	InternalError	The target SDO cannot execute the operation completely due to some internal error.

virtual ExecutionContextList* RTC::RTObject_impl::get_owned_contexts ( ) throw (CORBA::SystemException) [virtual]

[CORBA interface] Get ExecutionContextList.

This operation returns a list of all execution contexts owned by this RTC.

Returns:: ExecutionContext List

virtual SDOPackage::OrganizationList* RTC::RTObject_impl::get_owned_organizations ( ) throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError) [virtual]

[SDO interface] Get Organization list

SDOSystemElement can be the owner of zero or more organizations. If the SDOSystemElement owns one or more Organizations, this operation returns the list of Organizations that the SDOSystemElement owns. If it does not own any Organization, it returns empty list.

Returns:: Owned Organization List

Exceptions:

	SDONotExists	The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
	NotAvailable	The target SDO is reachable but cannot respond.
	InternalError	The target SDO cannot execute the operation completely due to some internal error.

virtual ExecutionContextList* RTC::RTObject_impl::get_participating_contexts ( ) throw (CORBA::SystemException) [virtual]

[CORBA interface] Get participating ExecutionContextList.

This operation returns a list of all execution contexts in which this RTC participates.

Returns:: ExecutionContext List

virtual PortServiceList* RTC::RTObject_impl::get_ports ( ) throw (CORBA::SystemException) [virtual]

[RTObject CORBA interface] Get Ports

This operation returns the reference of ports held by RTC.

Returns:: PortServiceList

virtual char* RTC::RTObject_impl::get_sdo_id ( ) throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError) [virtual]

[SDO interface] Get the SDO ID

This operation returns id of the SDO. This operation throws SDOException with one of the following types.

Returns:: id of the SDO defined in the resource data model.

Exceptions:

	SDONotExists	The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
	NotAvailable	The target SDO is reachable but cannot respond.
	InternalError	The target SDO cannot execute the operation completely due to some internal error.

virtual SDOPackage::SDOService_ptr RTC::RTObject_impl::get_sdo_service ( const char * id ) throw (CORBA::SystemException, SDOPackage::InvalidParameter, SDOPackage::NotAvailable, SDOPackage::InternalError) [virtual]

[SDO interface] Get specified SDO Service's reference

This operation returns an object implementing an SDO's service that is identified by the identifier specified as an argument. Different services provided by an SDO are distinguished with different identifiers. See OMG SDO specification Section 2.2.8, "ServiceProfile," on page 2-12 for more details.

Parameters:

id

The identifier referring to one of the SDO Service

Returns:: The reference requested to SDO Service.

Exceptions:

	InvalidParameter	Argument “id” is null, or if the ServiceProfile that is specified by argument “id” does not exist.
	SDONotExists	The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
	NotAvailable	The target SDO is reachable but cannot respond.
	InternalError	The target SDO cannot execute the operation completely due to some internal error.

virtual char* RTC::RTObject_impl::get_sdo_type ( ) throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError) [virtual]

[SDO interface] Get SDO type

This operation returns sdoType of the SDO. This operation throws SDOException with one of the following types.

Returns:: Type of the SDO defined in the resource data model.

Exceptions:

	SDONotExists	The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
	NotAvailable	The target SDO is reachable but cannot respond.
	InternalError	The target SDO cannot execute the operation completely due to some internal error.

virtual SDOPackage::ServiceProfile* RTC::RTObject_impl::get_service_profile ( const char * id ) throw (CORBA::SystemException, SDOPackage::InvalidParameter, SDOPackage::NotAvailable, SDOPackage::InternalError) [virtual]

[SDO interface] Get specified ServiceProfile

This operation returns the ServiceProfile that is specified by the argument "id."

Parameters:

id

The identifier referring to one of the ServiceProfiles.

Returns:: The profile of the specified service.

Exceptions:

	InvalidParameter	The ServiceProfile that is specified by the argument 'id' does not exist or if 'id' is 'null.'
	SDONotExists	The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
	NotAvailable	The target SDO is reachable but cannot respond.
	InternalError	The target SDO cannot execute the operation completely due to some internal error.

virtual SDOPackage::ServiceProfileList* RTC::RTObject_impl::get_service_profiles ( ) throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError) [virtual]

[SDO interface] Get SDO ServiceProfile

This operation returns a list of ServiceProfiles that the SDO has. If the SDO does not provide any service, then an empty list is returned. This operation throws SDOException with one of the following types.

Returns:: List of ServiceProfiles of all the services the SDO is providing.

Exceptions:

	SDONotExists	The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
	NotAvailable	The target SDO is reachable but cannot respond.
	InternalError	The target SDO cannot execute the operation completely due to some internal error.

virtual CORBA::Any* RTC::RTObject_impl::get_status ( const char * name ) throw (CORBA::SystemException, SDOPackage::InvalidParameter, SDOPackage::NotAvailable, SDOPackage::InternalError) [virtual]

[SDO interface] Get SDO Status

Parameters:

name

One of the parameters defining the "status" of an SDO.

Returns:: The value of the specified status parameter.

Exceptions:

	SDONotExists	The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
	NotAvailable	The target SDO is reachable but cannot respond.
	InvalidParameter	The parameter defined by "name" is null or does not exist.
	InternalError	The target SDO cannot execute the operation completely due to some internal error.

virtual SDOPackage::NVList* RTC::RTObject_impl::get_status_list ( ) throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError) [virtual]

[SDO interface] Get SDO Status list

This operation returns an NVlist describing the status of an SDO.

Returns:: The actual status of an SDO.

Exceptions:

	SDONotExists	The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
	NotAvailable	The target SDO is reachable but cannot respond.
	InternalError	The target SDO cannot execute the operation completely due to some internal error.

const char* RTC::RTObject_impl::getCategory ( ) [inline]

[local interface] Get category information

Get the category information that has been set in ComponentProfile.

Returns:: Category information

References m_profile, and RTC_TRACE.

const char* RTC::RTObject_impl::getDescription ( ) [inline]

[local interface] GetDescription

Get the Description has been set in ComponentProfile.

Returns:: Description

References m_profile, and RTC_TRACE.

const char* RTC::RTObject_impl::getInstanceName ( ) [inline]

[local interface] Get instance name

Return the instance name that has been set in ComponentProfile.

Returns:: Instance name

References m_profile, and RTC_TRACE.

std::vector<std::string> RTC::RTObject_impl::getNamingNames ( )

[local interface] Get Naming Server information

Get Naming Server information that has been set.

Returns:: Naming Server list

RTObject_ptr RTC::RTObject_impl::getObjRef ( ) const

[local interface] Get the object reference

Get CORBA object reference that has been set

Returns:: The object reference

coil::Properties& RTC::RTObject_impl::getProperties ( )

[local interface] Get RTC property

This operation returns the properties of the RTC. Empty property would be returned, if RTC has no property.

Returns:: Property for RTC.

const char* RTC::RTObject_impl::getTypeName ( ) [inline]

[local interface] Get type name

Get the type name has been set in ComponentProfile.

Returns:: Type name

References m_profile, and RTC_TRACE.

const char* RTC::RTObject_impl::getVendor ( ) [inline]

[local interface] Get vendor

Get the vendor information that has been set in ComponentProfile.

Returns:: Vendor information

References m_profile, and RTC_TRACE.

const char* RTC::RTObject_impl::getVersion ( ) [inline]

[local interface] Get version information

Get the version information that has been set in ComponentProfile.

Returns:: Version information

References m_profile, and RTC_TRACE.

virtual ReturnCode_t RTC::RTObject_impl::initialize ( ) throw (CORBA::SystemException) [virtual]

[CORBA interface] Initialize the RTC that realizes this interface.

The invocation of this operation shall result in the invocation of the callback ComponentAction::on_initialize.

Constraints

An RTC may be initialized only while it is in the Created state. Any attempt to invoke this operation while in another state shall fail with ReturnCode_t::PRECONDITION_NOT_MET.
Application developers are not expected to call this operation directly; it exists for use by the RTC infrastructure.

Returns:: The return code of ReturnCode_t type

virtual CORBA::Boolean RTC::RTObject_impl::is_alive ( ExecutionContext_ptr exec_context ) throw (CORBA::SystemException) [virtual]

[CORBA interface] Confirm whether RTC is the alive state

A component is alive or not regardless of the execution context from which it is observed. However, whether or not it is Active, Inactive, or in Error is dependent on the execution context(s) in which it is running. That is, it may be Active in one context but Inactive in another. Therefore, this operation shall report whether this RTC is either Active, Inactive or in Error; which of those states a component is in with respect to a particular context may be queried from the context itself.

Returns:: Result of Alive state confirmation

virtual ReturnCode_t RTC::RTObject_impl::on_aborting ( UniqueId exec_handle ) throw (CORBA::SystemException) [virtual]

[ComponentAction CORBA interface] Transition to Error State

The RTC is transitioning from the Active state to the Error state in some execution context. This callback is invoked only a single time for time that the RTC transitions into the Error state from another state. This behavior is in contrast to that of on_error. As a result of this operation, onAborting() callback function is invoked.

Parameters:

exec_handle

ID of ExecutionContext that transited to the state

Returns:: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::on_activated ( UniqueId exec_handle ) throw (CORBA::SystemException) [virtual]

[ComponentAction CORBA interface] Activate RTC

The RTC has been activated in the given execution context. As a result of this operation, onActivated() callback function is called.

Parameters:

exec_handle

ID of activation ExecutionContext

Returns:: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::on_deactivated ( UniqueId exec_handle ) throw (CORBA::SystemException) [virtual]

[ComponentAction CORBA interface] Deactivate RTC

The RTC has been deactivated in the given execution context. As a result of this operation, onDeactivated() callback function is called.

Parameters:

exec_handle

ID of deactivation ExecutionContext

Returns:: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::on_error ( UniqueId exec_handle ) throw (CORBA::SystemException) [virtual]

[ComponentAction CORBA interface] Error Processing of RTC

The RTC remains in the Error state. If the RTC is in the Error state relative to some execution context when it would otherwise be invoked from that context (according to the context’s ExecutionKind), this callback shall be invoked instead. For example,

If the ExecutionKind is PERIODIC, this operation shall be invoked in sorted order at the rate of the context instead of DataFlowComponentAction::on_execute and on_state_update.
If the ExecutionKind is EVENT_DRIVEN, this operation shall be invoked whenever FsmParticipantAction::on_action would otherwise have been invoked. As a result of this operation, onError() callback function is invoked.

Parameters:

exec_handle

ID of target ExecutionContext

Returns:: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::on_execute ( UniqueId exec_handle ) throw (CORBA::SystemException) [virtual]

[DataFlowComponentAction CORBA interface] Primary Periodic Operation of RTC

This operation will be invoked periodically at the rate of the given execution context as long as the following conditions hold:

The RTC is Active.
The given execution context is Running This callback occurs during the first execution pass. As a result of this operation, onExecute() callback function is invoked.

Constraints

The execution context of the given context shall be PERIODIC.

Parameters:

exec_handle

ID of target ExecutionContext for Primary Periodic Operation

Returns:: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::on_finalize ( ) throw (CORBA::SystemException) [virtual]

[ComponentAction CORBA interface] Finalize RTC

The RTC is being destroyed. Any final RTC-specific tear-down logic should be performed here. As a result of this operation, onFinalize() callback function is called.

Returns:: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::on_initialize ( ) throw (CORBA::SystemException) [virtual]

[RTObject CORBA interface] Get ExecutionContextAdmin

This operation returns a list containing an ExecutionContextAdmin for every ExecutionContext owned by the RTC.

Returns:: ExecutionContextService List

[ComponentAction CORBA interface] Initialize RTC The RTC has been initialized and entered the Alive state. Any RTC-specific initialization logic should be performed here. As a result of this operation, onInitialize() callback function is called.

Returns:: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::on_rate_changed ( UniqueId exec_handle ) throw (CORBA::SystemException) [virtual]

[DataFlowComponentAction CORBA interface] Notify rate changed

This operation is a notification that the rate of the indicated execution context has changed. As a result of this operation, onRateChanged() callback function is called.

Constraints

The execution context of the given context shall be PERIODIC.

Parameters:

exec_handle

ID of target ExecutionContext for Operation

Returns:: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::on_reset ( UniqueId exec_handle ) throw (CORBA::SystemException) [virtual]

[ComponentAction CORBA interface] Resetting RTC

The RTC is in the Error state. An attempt is being made to recover it such that it can return to the Inactive state. If the RTC was successfully recovered and can safely return to the Inactive state, this method shall complete with ReturnCode_t::OK. Any other result shall indicate that the RTC should remain in the Error state. As a result of this operation, onReset() callback function is invoked.

Parameters:

exec_handle

ID of target ExecutionContext for the reset

Returns:: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::on_shutdown ( UniqueId exec_handle ) throw (CORBA::SystemException) [virtual]

[ComponentAction CORBA interface] Shutdown RTC

The given execution context, in which the RTC is participating, has transitioned from Running to Stopped. As a result of this operation, onShutdown() callback function is called.

Parameters:

exec_handle

ID of ExecutionContext that transited to the state

Returns:: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::on_startup ( UniqueId exec_handle ) throw (CORBA::SystemException) [virtual]

[ComponentAction CORBA interface] Startup RTC

The given execution context, in which the RTC is participating, has transitioned from Stopped to Running. As a result of this operation, onStartup() callback function is called.

Parameters:

exec_handle

ID of ExecutionContext that transited to the state

Returns:: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::on_state_update ( UniqueId exec_handle ) throw (CORBA::SystemException) [virtual]

[DataFlowComponentAction CORBA interface] Secondary Periodic Operation of RTC

This operation will be invoked periodically at the rate of the given execution context as long as the following conditions hold:

The RTC is Active.
The given execution context is Running This callback occurs during the second execution pass. As a result of this operation, onStateUpdate() callback function is invoked.

Constraints

The execution context of the given context shall be PERIODIC.

Parameters:

exec_handle

ID of target ExecutionContext for Secondary Periodic Operation

Returns:: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::onAborting ( RTC::UniqueId exec_handle ) [protected, virtual]

Callback function to abort.

This is a callback function that is executed when ComponentAction::on_aborting was invoked.
As for actual abortion of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.

Parameters:

exec_handle

ID of the participant ExecutionContext

Returns:: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::onActivated ( RTC::UniqueId exec_handle ) [protected, virtual]

Callback function to activate.

This is a callback function that is executed when ComponentAction::on_activated was invoked.
As for actual activation of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.

Parameters:

exec_handle

ID of the participant ExecutionContext

Returns:: The return code of ReturnCode_t type

Reimplemented in RTC::PeriodicECSharedComposite.

void RTC::RTObject_impl::onAddPort ( const PortProfile & pprof ) [inline, protected]

References RTC::ADD_PORT, m_actionListeners, RTC::PortActionListenerHolder::notify(), and RTC::ComponentActionListeners::portaction_.

void RTC::RTObject_impl::onAttachExecutionContext ( UniqueId ec_id ) [inline, protected]

References RTC::EC_ATTACHED, RTC::ComponentActionListeners::ecaction_, m_actionListeners, and RTC::ExecutionContextActionListenerHolder::notify().

virtual ReturnCode_t RTC::RTObject_impl::onDeactivated ( RTC::UniqueId exec_handle ) [protected, virtual]

Callback function to deactivate.

This is a callback function that is executed when ComponentAction::on_deactivated was invoked.
As for actual deactivation of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.

Parameters:

exec_handle

ID of the participant ExecutionContext

Returns:: The return code of ReturnCode_t type

Reimplemented in RTC::PeriodicECSharedComposite.

void RTC::RTObject_impl::onDetachExecutionContext ( UniqueId ec_id ) [inline, protected]

References RTC::EC_DETACHED, RTC::ComponentActionListeners::ecaction_, m_actionListeners, and RTC::ExecutionContextActionListenerHolder::notify().

virtual ReturnCode_t RTC::RTObject_impl::onError ( RTC::UniqueId exec_handle ) [protected, virtual]

Callback function for error handling.

This is a callback function that is executed when ComponentAction::on_error was invoked.
As for actual error handling of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.

Parameters:

exec_handle

ID of the participant ExecutionContext

Returns:: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::onExecute ( RTC::UniqueId exec_handle ) [protected, virtual]

Callback function to execute periodically.

This is a callback function that is executed when DataFlowComponentAction::on_execute is invoked.
As for actual periodic execution of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it. This function is invoked periodically as the first execution pass of Two-Pass Execution in Periodic Sampled Data Processing.

Parameters:

exec_handle

ID of the participant ExecutionContext

Returns:: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::onFinalize ( ) [protected, virtual]

Callback function to finalize.

This is a callback function that is executed when ComponentAction::on_finalize was invoked.
As for actual finalization of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.

Returns:: The return code of ReturnCode_t type

Reimplemented in RTC::PeriodicECSharedComposite.

virtual ReturnCode_t RTC::RTObject_impl::onInitialize ( ) [protected, virtual]

Callback function to initialize.

This is a callback function that is executed when ComponentAction::on_initialize was invoked.
As for actual initialization of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.

Returns:: The return code of ReturnCode_t type

Reimplemented in RTC::PeriodicECSharedComposite.

virtual ReturnCode_t RTC::RTObject_impl::onRateChanged ( RTC::UniqueId exec_handle ) [protected, virtual]

Callback function to change execution cycle.

This is a callback function that is executed when DataFlowComponentAction::on_rate_changed was invoked.
As for actual changing execution cycle of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.
This function is invoked when the execution of ExecutionContext was updated in Periodic Sampled Data Processing.

Parameters:

exec_handle

ID of the participant ExecutionContext

Returns:: The return code of ReturnCode_t type

void RTC::RTObject_impl::onRemovePort ( const PortProfile & pprof ) [inline, protected]

References m_actionListeners, RTC::PortActionListenerHolder::notify(), RTC::ComponentActionListeners::portaction_, and RTC::REMOVE_PORT.

virtual ReturnCode_t RTC::RTObject_impl::onReset ( RTC::UniqueId exec_handle ) [protected, virtual]

Callback function to reset.

This is a callback function that is executed when ComponentAction::on_reset was invoked.
As for actual reset of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.

Parameters:

exec_handle

ID of the participant ExecutionContext

Returns:: The return code of ReturnCode_t type

Reimplemented in RTC::PeriodicECSharedComposite.

virtual ReturnCode_t RTC::RTObject_impl::onShutdown ( RTC::UniqueId exec_handle ) [protected, virtual]

Callback function for shutdown action.

Callback function that is executed when ComponentAction::on_shutdown was invoked.
As for actual shutdown of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.

Parameters:

exec_handle

ID of the participant ExecutionContext

Returns:: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::onStartup ( RTC::UniqueId exec_handle ) [protected, virtual]

Callback function for startup action.

Callback function that is executed when ComponentAction::on_startup was invoked.
As for actual startup of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.

Parameters:

exec_handle

ID of the participant ExecutionContext

Returns:: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::onStateUpdate ( RTC::UniqueId exec_handle ) [protected, virtual]

Callback function to update the state.

This is a callback function that is executed when DataFlowComponentAction::on_state_update was invoked.
As for actual updating the state of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.
This function is invoked periodically as the second execution pass of Two-Pass Execution in Periodic Sampled Data Processing.

Parameters:

exec_handle

ID of the participant ExecutionContext

Returns:: The return code of ReturnCode_t type

void RTC::RTObject_impl::postOnAborting	(	UniqueId	ec_id,
		ReturnCode_t	ret
	)			`[inline, protected]`

References m_actionListeners, RTC::PostComponentActionListenerHolder::notify(), RTC::POST_ON_ABORTING, and RTC::ComponentActionListeners::postaction_.

void RTC::RTObject_impl::postOnActivated	(	UniqueId	ec_id,
		ReturnCode_t	ret
	)			`[inline, protected]`

References m_actionListeners, RTC::PostComponentActionListenerHolder::notify(), RTC::POST_ON_ACTIVATED, and RTC::ComponentActionListeners::postaction_.

void RTC::RTObject_impl::postOnDeactivated	(	UniqueId	ec_id,
		ReturnCode_t	ret
	)			`[inline, protected]`

References m_actionListeners, RTC::PostComponentActionListenerHolder::notify(), RTC::POST_ON_DEACTIVATED, and RTC::ComponentActionListeners::postaction_.

void RTC::RTObject_impl::postOnError	(	UniqueId	ec_id,
		ReturnCode_t	ret
	)			`[inline, protected]`

References m_actionListeners, RTC::PostComponentActionListenerHolder::notify(), RTC::POST_ON_ERROR, and RTC::ComponentActionListeners::postaction_.

void RTC::RTObject_impl::postOnExecute	(	UniqueId	ec_id,
		ReturnCode_t	ret
	)			`[inline, protected]`

References m_actionListeners, RTC::PostComponentActionListenerHolder::notify(), RTC::POST_ON_EXECUTE, and RTC::ComponentActionListeners::postaction_.

void RTC::RTObject_impl::postOnFinalize	(	UniqueId	ec_id,
		ReturnCode_t	ret
	)			`[inline, protected]`

References m_actionListeners, RTC::PostComponentActionListenerHolder::notify(), RTC::POST_ON_FINALIZE, and RTC::ComponentActionListeners::postaction_.

void RTC::RTObject_impl::postOnInitialize	(	UniqueId	ec_id,
		ReturnCode_t	ret
	)			`[inline, protected]`

References m_actionListeners, RTC::PostComponentActionListenerHolder::notify(), RTC::POST_ON_INITIALIZE, and RTC::ComponentActionListeners::postaction_.

void RTC::RTObject_impl::postOnRateChanged	(	UniqueId	ec_id,
		ReturnCode_t	ret
	)			`[inline, protected]`

References m_actionListeners, RTC::PostComponentActionListenerHolder::notify(), RTC::POST_ON_RATE_CHANGED, and RTC::ComponentActionListeners::postaction_.

void RTC::RTObject_impl::postOnReset	(	UniqueId	ec_id,
		ReturnCode_t	ret
	)			`[inline, protected]`

References m_actionListeners, RTC::PostComponentActionListenerHolder::notify(), RTC::POST_ON_RESET, and RTC::ComponentActionListeners::postaction_.

void RTC::RTObject_impl::postOnShutdown	(	UniqueId	ec_id,
		ReturnCode_t	ret
	)			`[inline, protected]`

References m_actionListeners, RTC::PostComponentActionListenerHolder::notify(), RTC::POST_ON_SHUTDOWN, and RTC::ComponentActionListeners::postaction_.

void RTC::RTObject_impl::postOnStartup	(	UniqueId	ec_id,
		ReturnCode_t	ret
	)			`[inline, protected]`

References m_actionListeners, RTC::PostComponentActionListenerHolder::notify(), RTC::POST_ON_STARTUP, and RTC::ComponentActionListeners::postaction_.

void RTC::RTObject_impl::postOnStateUpdate	(	UniqueId	ec_id,
		ReturnCode_t	ret
	)			`[inline, protected]`

References m_actionListeners, RTC::PostComponentActionListenerHolder::notify(), RTC::POST_ON_STATE_UPDATE, and RTC::ComponentActionListeners::postaction_.

void RTC::RTObject_impl::preOnAborting ( UniqueId ec_id ) [inline, protected]

References m_actionListeners, RTC::PreComponentActionListenerHolder::notify(), RTC::PRE_ON_ABORTING, and RTC::ComponentActionListeners::preaction_.

void RTC::RTObject_impl::preOnActivated ( UniqueId ec_id ) [inline, protected]

References m_actionListeners, RTC::PreComponentActionListenerHolder::notify(), RTC::PRE_ON_ACTIVATED, and RTC::ComponentActionListeners::preaction_.

void RTC::RTObject_impl::preOnDeactivated ( UniqueId ec_id ) [inline, protected]

References m_actionListeners, RTC::PreComponentActionListenerHolder::notify(), RTC::PRE_ON_DEACTIVATED, and RTC::ComponentActionListeners::preaction_.

void RTC::RTObject_impl::preOnError ( UniqueId ec_id ) [inline, protected]

References m_actionListeners, RTC::PreComponentActionListenerHolder::notify(), RTC::PRE_ON_ERROR, and RTC::ComponentActionListeners::preaction_.

void RTC::RTObject_impl::preOnExecute ( UniqueId ec_id ) [inline, protected]

References m_actionListeners, RTC::PreComponentActionListenerHolder::notify(), RTC::PRE_ON_EXECUTE, and RTC::ComponentActionListeners::preaction_.

void RTC::RTObject_impl::preOnFinalize ( UniqueId ec_id ) [inline, protected]

References m_actionListeners, RTC::PreComponentActionListenerHolder::notify(), RTC::PRE_ON_FINALIZE, and RTC::ComponentActionListeners::preaction_.

void RTC::RTObject_impl::preOnInitialize ( UniqueId ec_id ) [inline, protected]

References m_actionListeners, RTC::PreComponentActionListenerHolder::notify(), RTC::PRE_ON_INITIALIZE, and RTC::ComponentActionListeners::preaction_.

void RTC::RTObject_impl::preOnRateChanged ( UniqueId ec_id ) [inline, protected]

References m_actionListeners, RTC::PreComponentActionListenerHolder::notify(), RTC::PRE_ON_RATE_CHANGED, and RTC::ComponentActionListeners::preaction_.

void RTC::RTObject_impl::preOnReset ( UniqueId ec_id ) [inline, protected]

References m_actionListeners, RTC::PreComponentActionListenerHolder::notify(), RTC::PRE_ON_RESET, and RTC::ComponentActionListeners::preaction_.

void RTC::RTObject_impl::preOnShutdown ( UniqueId ec_id ) [inline, protected]

References m_actionListeners, RTC::PreComponentActionListenerHolder::notify(), RTC::PRE_ON_SHUTDOWN, and RTC::ComponentActionListeners::preaction_.

void RTC::RTObject_impl::preOnStartup ( UniqueId ec_id ) [inline, protected]

References m_actionListeners, RTC::PreComponentActionListenerHolder::notify(), RTC::PRE_ON_STARTUP, and RTC::ComponentActionListeners::preaction_.

void RTC::RTObject_impl::preOnStateUpdate ( UniqueId ec_id ) [inline, protected]

References m_actionListeners, RTC::PreComponentActionListenerHolder::notify(), RTC::PRE_ON_STATE_UPDATE, and RTC::ComponentActionListeners::preaction_.

bool RTC::RTObject_impl::readAll ( )

Readout the value from All InPorts.

This operation read the value from all InPort registered in the RTC.

Returns:: result (Successful:true, Failed:false)

void RTC::RTObject_impl::registerInPort	(	const char *	name,
		InPortBase &	inport
	)

[local interface] Register DataInPort

This operation registers DataInPort held by this RTC. Set "port.dataport" and "tcp_any" to property of Port, and create instances of DataInPort and register it.

Parameters:

	name	Port name
	inport	DataInPort which is registered to the RTC

void RTC::RTObject_impl::registerOutPort	(	const char *	name,
		OutPortBase &	outport
	)

[local interface] Register DataOutPort

This operation registers DataOutPor held by this RTC. Set "port.dataport" and "tcp_any" to property of Port, and then create instances of DataOutPort and register it.

Parameters:

	name	Port name
	outport	DataOutPort which is registered to the RTC

void RTC::RTObject_impl::registerPort ( CorbaPort & port )

[local interface] Register Port

This operation registers a Port held by this RTC. In order to enable access to the Port from outside of RTC, the Port must be registered by this operation. The Port that is registered by this operation would be identified by PortProfile.name in the inside of RTC. Therefore, the Port should have unique PortProfile.name in the RTC. The registering Port would be activated properly, and the reference and the object reference would be stored in lists in RTC.

Parameters:

port

Port which is registered to the RTC

void RTC::RTObject_impl::registerPort ( PortService_ptr port )

[local interface] Register Port

This operation registers a Port held by this RTC. In order to enable access to the Port from outside of RTC, the Port must be registered by this operation. The Port that is registered by this operation would be identified by PortProfile.name in the inside of RTC. Therefore, the Port should have unique PortProfile.name in the RTC. The registering Port would be activated properly, and the reference and the object reference would be stored in lists in RTC.

Parameters:

port

Port which is registered to the RTC

void RTC::RTObject_impl::registerPort ( PortBase & port )

[local interface] Register Port

This operation registers a Port held by this RTC. In order to enable access to the Port from outside of RTC, the Port must be registered by this operation. The Port that is registered by this operation would be identified by PortProfile.name in the inside of RTC. Therefore, the Port should have unique PortProfile.name in the RTC. The registering Port would be activated properly, and the reference and the object reference would be stored in lists in RTC.

Parameters:

port

Port which is registered to the RTC

void RTC::RTObject_impl::removeConfigurationParamListener	(	ConfigurationParamListenerType	type,
		ConfigurationParamListener *	listener
	)

Removing ConfigurationParamListener.

This function removes a listener object which is added by addConfigurationParamListener() function.

Parameters:

	type	ConfigurationParamListenerType value ON_UPDATE_CONFIG_PARAM is only allowed.
	listener	a pointer to ConfigurationParamListener listener object.

void RTC::RTObject_impl::removeConfigurationSetListener	(	ConfigurationSetListenerType	type,
		ConfigurationSetListener *	listener
	)

Removing ConfigurationSetListener.

This function removes a listener object which is added by addConfigurationSetListener() function.

Parameters:

	type	ConfigurationSetListenerType value
	listener	a pointer to ConfigurationSetListener listener object.

void RTC::RTObject_impl::removeConfigurationSetNameListener	(	ConfigurationSetNameListenerType	type,
		ConfigurationSetNameListener *	listener
	)

Removing ConfigurationSetNameListener.

This function removes a listener object which is added by addConfigurationSetNameListener() function.

Parameters:

	type	ConfigurationSetNameListenerType value ON_UPDATE_CONFIG_PARAM is only allowed.
	listener	a pointer to ConfigurationSetNameListener listener object.

void RTC::RTObject_impl::removeExecutionContextActionListener	(	ECActionListenerType	listener_type,
		ECActionListener *	listener
	)

Removing ExecutionContextAction type listener.

This operation removes a specified listener.

Parameters:

	listener_type	A listener type
	listener	A pointer to a listener object

bool RTC::RTObject_impl::removeInPort ( InPortBase & port )

[local interface] Unregister InPort

This operation unregisters a InPort held by this RTC.

Parameters:

port

Port which is unregistered

Returns:: Unregister result (Successful:true, Failed:false)

bool RTC::RTObject_impl::removeOutPort ( OutPortBase & port )

[local interface] Unregister OutPort

This operation unregisters a OutPort held by this RTC.

Parameters:

port

Port which is unregistered

Returns:: Unregister result (Successful:true, Failed:false)

bool RTC::RTObject_impl::removePort ( CorbaPort & port )

[local interface] Unregister Port

This operation unregisters a Port held by this RTC.

Parameters:

port

Port which is unregistered

Returns:: Unregister result (Successful:true, Failed:false)

bool RTC::RTObject_impl::removePort ( PortService_ptr port )

[local interface] Unregister Port

This operation unregisters a Port held by this RTC.

Parameters:

port

Port which is unregistered

Returns:: Unregister result (Successful:true, Failed:false)

bool RTC::RTObject_impl::removePort ( PortBase & port )

[local interface] Unregister Port

This operation unregisters a Port held by this RTC.

Parameters:

port

Port which is unregistered

Returns:: Unregister result (Successful:true, Failed:false)

void RTC::RTObject_impl::removePortActionListener	(	PortActionListenerType	listener_type,
		PortActionListener *	listener
	)

Removing PortAction type listener.

This operation removes a specified listener.

Parameters:

	listener_type	A listener type
	listener	A pointer to a listener object

void RTC::RTObject_impl::removePortConnectListener	(	PortConnectListenerType	listener_type,
		PortConnectListener *	listener
	)

Removing PortConnect type listener.

This operation removes a specified listener.

Parameters:

	listener_type	A listener type
	listener	A pointer to a listener object

void RTC::RTObject_impl::removePortConnectRetListener	(	PortConnectRetListenerType	listener_type,
		PortConnectRetListener *	listener
	)

Removing PortConnectRet type listener.

This operation removes a specified listener.

Parameters:

	listener_type	A listener type
	listener	A pointer to a listener object

void RTC::RTObject_impl::removePostComponentActionListener	(	PostComponentActionListenerType	listener_type,
		PostComponentActionListener *	listener
	)

Removing PostComponentAction type listener.

This operation removes a specified listener.

Parameters:

	listener_type	A listener type
	listener	A pointer to a listener object

void RTC::RTObject_impl::removePreComponentActionListener	(	PreComponentActionListenerType	listener_type,
		PreComponentActionListener *	listener
	)

Removing PreComponentAction type listener.

This operation removes a specified listener.

Parameters:

	listener_type	A listener type
	listener	A pointer to a listener object

SDOPackage::SDOService_var RTC::RTObject_impl::removeSdoService ( const char * service_name )

[local interface] Remove SDO service

This operation removes SDO service to this RT-Component.

void RTC::RTObject_impl::setInstanceName ( const char * instance_name )

[local interface] Set instance name

Set the instance name specified in ComponentProfile.

Parameters:

instance_name

Instance name

void RTC::RTObject_impl::setObjRef ( const RTObject_ptr rtobj )

[local interface] Set the object reference

Set RTC's CORBA object reference.

Parameters:

rtobj

The object reference

void RTC::RTObject_impl::setProperties ( const coil::Properties & prop )

[local interface] Set RTC property

This operation sets the properties to the RTC. The given property values should include information for ComponentProfile. Generally, this operation is designed to be called from Manager, when RTC is initialized

Parameters:

prop

Property for RTC.

void RTC::RTObject_impl::setReadAll	(	bool	read = `true`,
		bool	completion = `false`
	)

Set whether to execute the readAll() method.

Parameters:

	read(default:true)	(readAll() is called:true, readAll() isn't called:false)
	completion(default:false)	All InPort::read() calls are completed.:true, If one InPort::read() is False, return false.:false
	completion(default:false)

void RTC::RTObject_impl::setWriteAll	(	bool	write = `true`,
		bool	completion = `false`
	)

Set whether to execute the writeAll() method.

Parameters:

	write(default:true)	(writeAll() is called:true, writeAll() isn't called:false)
	completion(default:false)	All OutPort::write() calls are completed.:true, If one OutPort::write() is False, return false.:false