OpenRTM_aist.FiniteStateMachineComponentBase.FiniteStateMachineComponentBase Class Reference

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Inheritance diagram for OpenRTM_aist.FiniteStateMachineComponentBase.FiniteStateMachineComponentBase:

Public Member Functions
def	__init__ (self, manager)
def	initialize (self)
def	finalize (self)
def	exit (self)
def	is_alive (self, exec_context)
def	get_owned_contexts (self)
def	get_context (self, ec_id)
def	get_participating_contexts (self)
def	get_context_handle (self, cxt)
def	get_component_profile (self)
def	get_ports (self)
def	attach_context (self, exec_context)
def	detach_context (self, ec_id)
def	on_initialize (self)
def	on_finalize (self)
def	on_startup (self, ec_id)
def	on_shutdown (self, ec_id)
def	on_activated (self, ec_id)
def	on_deactivated (self, ec_id)
def	on_error (self, ec_id)
def	on_aborting (self, ec_id)
def	on_reset (self, ec_id)
def	on_action (self, ec_id)
Public Member Functions inherited from OpenRTM_aist.RTObject.RTObject_impl
def	__init__ (self, manager=None, orb=None, poa=None)
def	__del__ (self)
def	onInitialize (self)
def	onFinalize (self)
def	onStartup (self, ec_id)
def	onShutdown (self, ec_id)
def	onActivated (self, ec_id)
def	onDeactivated (self, ec_id)
def	onExecute (self, ec_id)
def	onAborting (self, ec_id)
def	onError (self, ec_id)
def	onReset (self, ec_id)
def	onStateUpdate (self, ec_id)
def	onRateChanged (self, ec_id)
def	onAction (self, ec_id)
def	initialize (self)
def	finalize (self)
def	exit (self)
def	is_alive (self, exec_context)
def	get_context (self, ec_id)
def	get_owned_contexts (self)
def	get_participating_contexts (self)
def	get_component_profile (self)
def	get_ports (self)
def	attach_context (self, exec_context)
def	detach_context (self, ec_id)
def	on_initialize (self)
def	on_finalize (self)
def	on_startup (self, ec_id)
def	on_shutdown (self, ec_id)
def	on_activated (self, ec_id)
def	on_deactivated (self, ec_id)
def	on_aborting (self, ec_id)
def	on_error (self, ec_id)
def	on_reset (self, ec_id)
def	get_owned_organizations (self)
def	get_sdo_id (self)
def	get_sdo_type (self)
def	get_device_profile (self)
def	get_service_profiles (self)
def	get_service_profile (self, _id)
def	get_sdo_service (self, _id)
def	get_configuration (self)
def	get_monitoring (self)
def	get_organizations (self)
def	get_status_list (self)
def	get_status (self, name)
def	getInstanceName (self)
	const char* getInstanceName()
def	setInstanceName (self, instance_name)
	void setInstanceName(const char* instance_name);
def	getTypeName (self)
	const char* getTypeName()
def	getDescription (self)
	const char* getDescription()
def	getVersion (self)
	const char* getVersion()
def	getVendor (self)
	const char* getVendor()
def	getCategory (self)
	const char* getCategory()
def	getNamingNames (self)
	std::vector<std::string> getNamingNames();
def	setObjRef (self, rtobj)
	void setObjRef(const RTObject_ptr rtobj);
def	getObjRef (self)
	RTObject_ptr getObjRef() const;
def	setProperties (self, prop)
def	getProperties (self)
def	bindParameter (self, param_name, var, def_val, trans=None)
	template <typename VarType> bool bindParameter(const char* param_name, VarType& var, const char* def_val, bool (trans)(VarType&, const char) = coil::stringTo)
def	getConfigService (self)
def	updateParameters (self, config_set)
	void updateParameters(const char* config_set);
def	registerPort (self, port)
def	registerInPort (self, name, inport)
def	registerOutPort (self, name, outport)
	void registerOutPort(const char* name, OutPortBase& outport);
def	removeInPort (self, port)
def	removeOutPort (self, port)
def	deletePort (self, port)
def	deletePortByName (self, port_name)
def	getExecutionContext (self, ec_id)
def	getExecutionRate (self, ec_id)
def	setExecutionRate (self, ec_id, rate)
def	isOwnExecutionContext (self, ec_id)
def	deactivate (self, ec_id)
def	activate (self, ec_id)
def	reset (self, ec_id)
def	addSdoServiceProvider (self, prof, provider)
def	removeSdoServiceProvider (self, id)
def	addSdoServiceConsumer (self, prof)
def	removeSdoServiceConsumer (self, id)
def	removeSdoServiceConsumerStartThread (self, id)
def	readAll (self)
def	writeAll (self)
def	setReadAll (self, read=True, completion=False)
def	setWriteAll (self, write=True, completion=False)
def	finalizePorts (self)
def	addPreComponentActionListener (self, listener_type, memfunc)
def	removePreComponentActionListener (self, listener_type, listener)
def	addPostComponentActionListener (self, listener_type, memfunc)
def	removePostComponentActionListener (self, listener_type, listener)
def	addPortActionListener (self, listener_type, memfunc)
def	removePortActionListener (self, listener_type, listener)
def	addExecutionContextActionListener (self, listener_type, memfunc)
def	removeExecutionContextActionListener (self, listener_type, listener)
def	addPortConnectListener (self, listener_type, memfunc)
def	removePortConnectListener (self, listener_type, listener)
def	addPortConnectRetListener (self, listener_type, memfunc)
def	removePortConnectRetListener (self, listener_type, listener)
def	addConfigurationParamListener (self, type, memfunc)
def	removeConfigurationParamListener (self, type, listener)
def	addConfigurationSetListener (self, listener_type, memfunc)
def	removeConfigurationSetListener (self, type, listener)
def	addConfigurationSetNameListener (self, type, memfunc)
def	removeConfigurationSetNameListener (self, type, listener)
def	addPreFsmActionListener (self, listener_type, memfunc)
def	removePreFsmActionListener (self, listener_type, listener)
def	addPostFsmActionListener (self, listener_type, memfunc)
def	removePostFsmActionListener (self, listener_type, listener)
def	addFsmProfileListener (self, listener_type, memfunc)
def	removeFsmProfileListener (self, listener_type, listener)
def	addFsmStructureListener (self, listener_type, memfunc)
def	removeFsmStructureListener (self, listener_type, listener)
def	shutdown (self)
def	getPrivateContextOptions (self, ec_args)
	getting individual EC options from RTC's configuration file More...
def	getGlobalContextOptions (self, global_ec_props)
	getting global EC options from rtc.conf More...
def	getContextOptions (self, ec_args)
	getting EC options More...
def	findExistingEC (self, ec_arg)
	fiding existing EC from the factory More...
def	createContexts (self, ec_args)
	creating, initializing and binding context More...
def	setINSObjRef (self, obj)
	omniINSPOAから取得したオブジェクトを登録 More...

Detailed Description

This is a class to be a base of each RT-Component. This is a implementation class of lightweightRTComponent in Robotic Technology Component specification

Constructor & Destructor Documentation

__init__()

def OpenRTM_aist.FiniteStateMachineComponentBase.FiniteStateMachineComponentBase.__init__	(		self,
			manager
	)

Consructor

Reimplemented from OpenRTM_aist.RTObject.RTObject_impl.

Member Function Documentation

attach_context()

def OpenRTM_aist.FiniteStateMachineComponentBase.FiniteStateMachineComponentBase.attach_context	(		self,
			exec_context
	)

[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

Prticipating ExecutionContext

Returns

ExecutionContext Handle

UniqueId attach_context(ExecutionContext_ptr exec_context)

Reimplemented from OpenRTM_aist.RTObject.RTObject_impl.

detach_context()

def OpenRTM_aist.FiniteStateMachineComponentBase.FiniteStateMachineComponentBase.detach_context	(		self,
			ec_id
	)

[CORBA interface] Attach 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_component. 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

ec_id

Dettaching ExecutionContext Handle

Returns

ReturnCode_t detach_context(UniqueId exec_handle)

Reimplemented from OpenRTM_aist.RTObject.RTObject_impl.

exit()

def OpenRTM_aist.FiniteStateMachineComponentBase.FiniteStateMachineComponentBase.exit

(

self

)

Stop 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

Reimplemented from OpenRTM_aist.RTObject.RTObject_impl.

finalize()

def OpenRTM_aist.FiniteStateMachineComponentBase.FiniteStateMachineComponentBase.finalize

(

self

)

Finalize the RTC for preparing it 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_component. 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

Reimplemented from OpenRTM_aist.RTObject.RTObject_impl.

get_component_profile()

def OpenRTM_aist.FiniteStateMachineComponentBase.FiniteStateMachineComponentBase.get_component_profile

(

self

)

[RTObject CORBA interface] Get RTC's profile

This operation returns the ComponentProfile of the RTC

Returns

ComponentProfile

virtual ComponentProfile* get_component_profile()

Reimplemented from OpenRTM_aist.RTObject.RTObject_impl.

get_context()

def OpenRTM_aist.FiniteStateMachineComponentBase.FiniteStateMachineComponentBase.get_context	(		self,
			ec_id
	)

[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

ec_id

ExecutionContext handle

Returns

ExecutionContext

virtual ExecutionContext_ptr get_context(UniqueId exec_handle)

Reimplemented from OpenRTM_aist.RTObject.RTObject_impl.

get_context_handle()

def OpenRTM_aist.FiniteStateMachineComponentBase.FiniteStateMachineComponentBase.get_context_handle	(		self,
			cxt
	)

[CORBA interface] Return a handle of a ExecutionContext

Parameters

ExecutionContext

Returns

ExecutionContextHandle

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

virtual ExecutionContextHandle_t get_context_handle(ExecutionContext_ptr cxt)

Reimplemented from OpenRTM_aist.RTObject.RTObject_impl.

get_owned_contexts()

def OpenRTM_aist.FiniteStateMachineComponentBase.FiniteStateMachineComponentBase.get_owned_contexts

(

self

)

[CORBA interface] Get ExecutionContextList.

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

Returns

ExecutionContext List

virtual ExecutionContextList* get_owned_contexts()

Reimplemented from OpenRTM_aist.RTObject.RTObject_impl.

get_participating_contexts()

def OpenRTM_aist.FiniteStateMachineComponentBase.FiniteStateMachineComponentBase.get_participating_contexts

(

self

)

[CORBA interface] Get participating ExecutionContextList.

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

Returns

ExecutionContext List

virtual ExecutionContextList* get_participating_contexts()

Reimplemented from OpenRTM_aist.RTObject.RTObject_impl.

get_ports()

def OpenRTM_aist.FiniteStateMachineComponentBase.FiniteStateMachineComponentBase.get_ports

(

self

)

[RTObject CORBA interface] Get Ports

This operation returns a list of the RTCs ports.

Returns

PortList

virtual PortServiceList* get_ports()

Reimplemented from OpenRTM_aist.RTObject.RTObject_impl.

initialize()

def OpenRTM_aist.FiniteStateMachineComponentBase.FiniteStateMachineComponentBase.initialize

(

self

)

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

Reimplemented from OpenRTM_aist.RTObject.RTObject_impl.

is_alive()

def OpenRTM_aist.FiniteStateMachineComponentBase.FiniteStateMachineComponentBase.is_alive	(		self,
			exec_context
	)

Confirm whether RTC is an Alive state or NOT.

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 CORBA::Boolean is_alive(ExecutionContext_ptr exec_context)

Reimplemented from OpenRTM_aist.RTObject.RTObject_impl.

on_aborting()

def OpenRTM_aist.FiniteStateMachineComponentBase.FiniteStateMachineComponentBase.on_aborting	(		self,
			ec_id
	)

[ComponentAction CORBA interface] Transition 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.

Parameters

ec_id

Returns

Reimplemented from OpenRTM_aist.RTObject.RTObject_impl.

on_action()

def OpenRTM_aist.FiniteStateMachineComponentBase.FiniteStateMachineComponentBase.on_action	(		self,
			ec_id
	)

Consructor

on_activated()

def OpenRTM_aist.FiniteStateMachineComponentBase.FiniteStateMachineComponentBase.on_activated	(		self,
			ec_id
	)

[ComponentAction CORBA interface] Activate RTC

The RTC has been activated in the given execution context.

Parameters

ec_id

Returns

Reimplemented from OpenRTM_aist.RTObject.RTObject_impl.

on_deactivated()

def OpenRTM_aist.FiniteStateMachineComponentBase.FiniteStateMachineComponentBase.on_deactivated	(		self,
			ec_id
	)

[ComponentAction CORBA interface] Deactivate RTC

The RTC has been deactivated in the given execution context.

Parameters

ec_id

Returns

Reimplemented from OpenRTM_aist.RTObject.RTObject_impl.

on_error()

def OpenRTM_aist.FiniteStateMachineComponentBase.FiniteStateMachineComponentBase.on_error	(		self,
			ec_id
	)

[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.

Parameters

ec_id

Returns

Reimplemented from OpenRTM_aist.RTObject.RTObject_impl.

on_finalize()

def OpenRTM_aist.FiniteStateMachineComponentBase.FiniteStateMachineComponentBase.on_finalize

(

self

)

[ComponentAction CORBA interface] Finalize RTC

The RTC is being destroyed. Any final RTC-specific tear-down logic should be performed here.

Returns

Reimplemented from OpenRTM_aist.RTObject.RTObject_impl.

on_initialize()

def OpenRTM_aist.FiniteStateMachineComponentBase.FiniteStateMachineComponentBase.on_initialize

(

self

)

[ComponentAction CORBA interface] Initialize RTC

The RTC has been initialized and entered the Alive state. Any RTC-specific initialization logic should be performed here.

Returns

Reimplemented from OpenRTM_aist.RTObject.RTObject_impl.

on_reset()

def OpenRTM_aist.FiniteStateMachineComponentBase.FiniteStateMachineComponentBase.on_reset	(		self,
			ec_id
	)

[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.

Parameters

ec_id

Returns

Reimplemented from OpenRTM_aist.RTObject.RTObject_impl.

on_shutdown()

def OpenRTM_aist.FiniteStateMachineComponentBase.FiniteStateMachineComponentBase.on_shutdown	(		self,
			ec_id
	)

[ComponentAction CORBA interface] ShutDown RTC

The given execution context, in which the RTC is participating, has transitioned from Running to Stopped.

Parameters

ec_id

Returns

Reimplemented from OpenRTM_aist.RTObject.RTObject_impl.

on_startup()

def OpenRTM_aist.FiniteStateMachineComponentBase.FiniteStateMachineComponentBase.on_startup	(		self,
			ec_id
	)

[ComponentAction CORBA interface] StartUp RTC

The given execution context, in which the RTC is participating, has transitioned from Stopped to Running.

Parameters

ec_id

Returns

Reimplemented from OpenRTM_aist.RTObject.RTObject_impl.

---

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

• C:/docs/OpenRTM-aist-Python/OpenRTM_aist/FiniteStateMachineComponentBase.py