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OpenRTM-aist-Python 2.0.0
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Classes | |
| class | ECFactoryPredicate |
| class | FactoryPredicate |
| class | Finalized |
| class | InstanceName |
| class | ModulePredicate |
Public Member Functions | |
| def | __init__ (self, _manager=None) |
| def | init (*arg) |
| def | instance () |
| def | terminate (self) |
| def | shutdown (self) |
| def | setModuleInitProc (self, proc) |
| def | activateManager (self) |
| def | runManager (self, no_block=False) |
| def | main (self) |
| def | join (self) |
| def | load (self, fname, initfunc) |
| def | unload (self, fname) |
| def | unloadAll (self) |
| def | getLoadedModules (self) |
| def | getLoadableModules (self) |
| def | registerFactory (self, profile, new_func, delete_func) |
| def | getFactoryProfiles (self) |
| def | registerECFactory (self, name, new_func, delete_func) |
| def | getModulesFactories (self) |
| def | createComponent (self, comp_args) |
| def | registerComponent (self, comp) |
| def | unregisterComponent (self, comp) |
| def | createContext (self, ec_args) |
| def | deleteComponent (self, instance_name=None, comp=None) |
| def | getComponent (self, instance_name) |
| def | getComponents (self) |
| def | getORB (self) |
| def | getPOA (self) |
| def | getPOAManager (self) |
| def | initManager (self, argv) |
| def | shutdownManagerServant (self) |
| def | shutdownManager (self) |
| def | shutdownOnNoRtcs (self) |
| def | initLogstreamFile (self) |
| def | initLogstreamPlugins (self) |
| def | initLogstreamOthers (self) |
| def | initLogger (self) |
| def | shutdownLogger (self) |
| def | initORB (self) |
| def | createORBOptions (self) |
| def | createORBEndpoints (self) |
| def | createORBEndpointOption (self, opt, endpoints) |
| def | shutdownORB (self) |
| def | initNaming (self) |
| def | shutdownNaming (self) |
| def | initExecContext (self) |
| def | initCpuAffinity (self) |
| def | initComposite (self) |
| def | initFactories (self) |
| def | initTimer (self) |
| def | shutdownTimer (self) |
| def | endpointPropertySwitch (self) |
| def | setEndpointProperty (self, objref) |
| def | initManagerServant (self) |
| def | shutdownComponents (self) |
| def | cleanupComponent (self, comp) |
| def | cleanupComponents (self) |
| def | notifyFinalized (self, comp) |
| def | procComponentArgs (self, comp_arg, comp_id, comp_conf) |
| bool procComponentArgs(const char* comp_arg,
coil::Properties& comp_id,
coil::Properties& comp_conf) | |
| def | configureComponent (self, comp, prop) |
| void configureComponent(RTObject_impl* comp, const coil::Properties&
prop); | |
| def | mergeProperty (self, prop, file_name) |
| def | formatString (self, naming_format, prop) |
| def | getLogbuf (self, name="manager") |
| def | getConfig (self) |
| def | publishPorts (self, comp) |
| def | subscribePorts (self, comp) |
| def | getPortsOnNameServers (self, nsname, kind) |
| def | connectDataPorts (self, port, target_ports) |
| def | connectServicePorts (self, port, target_ports) |
| def | initPreConnection (self) |
| def | initPreActivation (self) |
| def | initPreCreation (self) |
| def | invokeInitProc (self) |
| def | getManagerServant (self) |
| def | getNaming (self) |
| def | addTask (self, fn, period) |
| def | invoke (self, fn, delay) |
| def | removeTask (self, task) |
| def | addExecutionContext (self, ec) |
| def | removeExecutionContext (self, ec) |
| def | createdExecutionContexts (self) |
Manager class
| def OpenRTM_aist.Manager.Manager.__init__ | ( | self, | |
_manager = None |
|||
| ) |
Protected Copy Constructor
| def OpenRTM_aist.Manager.Manager.activateManager | ( | self | ) |
| def OpenRTM_aist.Manager.Manager.addExecutionContext | ( | self, | |
| ec | |||
| ) |
| self | |
| ec | Execution context |
| def OpenRTM_aist.Manager.Manager.addTask | ( | self, | |
| fn, | |||
| period | |||
| ) |
Add a task to the Manager timer.
This operation add a function or functional object to Manger's timer. It run until removeTask(). DO NOT block (Ex. sleep) in the registerd function.
| self | |
| fn | The Function run periodically. |
| period | Period of fn execution. |
| def OpenRTM_aist.Manager.Manager.cleanupComponents | ( | self | ) |
This method deletes RT-Components.
This method deletes RT-Components registered by notifyFinalized().
void cleanupComponents();
| def OpenRTM_aist.Manager.Manager.connectDataPorts | ( | self, | |
| port, | |||
| target_ports | |||
| ) |
| self | |
| port | |
| target_ports | void connectDataPorts(PortService_ptr port,PortServiceList_var& target_ports) |
| def OpenRTM_aist.Manager.Manager.connectServicePorts | ( | self, | |
| port, | |||
| target_ports | |||
| ) |
| self | |
| port | |
| target_ports | void connectServicePorts(PortService_ptr port,PortServiceList_var& target_ports) |
| def OpenRTM_aist.Manager.Manager.createComponent | ( | self, | |
| comp_args | |||
| ) |
Create RT-Components
Create specified RT-Component's instances via registered Factory. When its instances have been created successfully, the following processings are also executed.
| module_name | Target RT-Component names for the creation |
| def OpenRTM_aist.Manager.Manager.createContext | ( | self, | |
| ec_args | |||
| ) |
Create Context
ExecutionContextBase* createContext(const char* ec_args);
| def OpenRTM_aist.Manager.Manager.createdExecutionContexts | ( | self | ) |
| self |
| def OpenRTM_aist.Manager.Manager.createORBEndpointOption | ( | self, | |
| opt, | |||
| endpoints | |||
| ) |
Create a command optional line of Endpoint of ORB.
| opt | ORB options |
| endpoints | Endpoints list |
void createORBEndpointOption(std::string& opt, coil::vstring& endpoints);
| def OpenRTM_aist.Manager.Manager.createORBEndpoints | ( | self | ) |
Create Endpoints
Create Endpoints from the configuration.
| endpoints | Endpoints list |
void createORBEndpoints(coil::vstring& endpoints);
| def OpenRTM_aist.Manager.Manager.createORBOptions | ( | self | ) |
ORB command option creation
| def OpenRTM_aist.Manager.Manager.deleteComponent | ( | self, | |
instance_name = None, |
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comp = None |
|||
| ) |
Unregister RT-Component that is registered in the Manager
| def OpenRTM_aist.Manager.Manager.endpointPropertySwitch | ( | self | ) |
ManagerServant initialization
Getting corba.endpoint_property value and return them as a tuple. This function obtains corbaendpoint_property that specifies if IPv4/IPv6 addresses and IP address numbes to be published, and it returnes them as tuple.
| def OpenRTM_aist.Manager.Manager.getComponent | ( | self, | |
| instance_name | |||
| ) |
Get RT-Component's pointer
| def OpenRTM_aist.Manager.Manager.getComponents | ( | self | ) |
Get all RT-Component's pointer
| def OpenRTM_aist.Manager.Manager.getFactoryProfiles | ( | self | ) |
Get profiles of factories.
Get profiles of factories.
| def OpenRTM_aist.Manager.Manager.getLoadableModules | ( | self | ) |
Get loadable module names
| def OpenRTM_aist.Manager.Manager.getLoadedModules | ( | self | ) |
Get loaded module names std::vector<coil::Properties> getLoadedModules();
| def OpenRTM_aist.Manager.Manager.getManagerServant | ( | self | ) |
| self |
| def OpenRTM_aist.Manager.Manager.getModulesFactories | ( | self | ) |
Get the list of all RT-Component Factory
| def OpenRTM_aist.Manager.Manager.getNaming | ( | self | ) |
| self |
| def OpenRTM_aist.Manager.Manager.getORB | ( | self | ) |
Get the pointer to the ORB
| def OpenRTM_aist.Manager.Manager.getPOA | ( | self | ) |
Get the pointer to the RootPOA
| def OpenRTM_aist.Manager.Manager.getPortsOnNameServers | ( | self, | |
| nsname, | |||
| kind | |||
| ) |
| self | |
| nsname | |
| kind |
PortServiceList_var getPortsOnNameServers(std::string nsname,std::string kind)
| def OpenRTM_aist.Manager.Manager.init | ( | * | arg | ) |
Initializa manager
This is the static function to tintialize the Manager. The Manager is initialized by given arguments. At the starting the manager, this static function "must" be called from application program. The manager has two static functions to get the instance, "init()" and "instance()". Since initializing process is only performed by the "init()" function, the "init()" has to be called at the beginning of the lifecycle of the Manager. function.
| argv | The array of the command line arguments. |
| def OpenRTM_aist.Manager.Manager.initComposite | ( | self | ) |
PeriodicECSharedComposite initialization
| def OpenRTM_aist.Manager.Manager.initCpuAffinity | ( | self | ) |
| self |
| def OpenRTM_aist.Manager.Manager.initFactories | ( | self | ) |
Factories initialization
Initialize buffer factories, thread factories, publisher factories, provider factories, and consumer factories.
| def OpenRTM_aist.Manager.Manager.initLogger | ( | self | ) |
System logger initialization
| def OpenRTM_aist.Manager.Manager.initLogstreamFile | ( | self | ) |
| self |
| def OpenRTM_aist.Manager.Manager.initLogstreamOthers | ( | self | ) |
| self |
| def OpenRTM_aist.Manager.Manager.initLogstreamPlugins | ( | self | ) |
| self |
| def OpenRTM_aist.Manager.Manager.initManager | ( | self, | |
| argv | |||
| ) |
Manager internal initialization
| def OpenRTM_aist.Manager.Manager.initManagerServant | ( | self | ) |
ManagerServant initialization
| def OpenRTM_aist.Manager.Manager.initORB | ( | self | ) |
CORBA ORB initialization
| def OpenRTM_aist.Manager.Manager.initPreActivation | ( | self | ) |
| self | void initPreActivation() |
| def OpenRTM_aist.Manager.Manager.initPreConnection | ( | self | ) |
| self | void initPreConnection() |
| def OpenRTM_aist.Manager.Manager.initPreCreation | ( | self | ) |
| self | void initPreCreation() |
| def OpenRTM_aist.Manager.Manager.instance | ( | ) |
Get instance of the manager
This is the static function to get the instance of the Manager. Before calling this function, ensure that the initialization function "init()" is called.
| def OpenRTM_aist.Manager.Manager.invoke | ( | self, | |
| fn, | |||
| delay | |||
| ) |
| def OpenRTM_aist.Manager.Manager.invokeInitProc | ( | self | ) |
| self | void invokeInitProc() |
| def OpenRTM_aist.Manager.Manager.join | ( | self | ) |
Wait for Manager's termination
| self |
| def OpenRTM_aist.Manager.Manager.load | ( | self, | |
| fname, | |||
| initfunc | |||
| ) |
[CORBA interface] Load module
Load module (shared library, DLL etc..) by file name, and invoke initialize function.
| fname | The module file name |
| initfunc | The initialize function name |
| def OpenRTM_aist.Manager.Manager.main | ( | self | ) |
The main function of the Manager main thread.
| self |
| def OpenRTM_aist.Manager.Manager.notifyFinalized | ( | self, | |
| comp | |||
| ) |
This method deletes RT-Components.
The deleted RT-Component is registered. The registered RT-Components are deleted by cleanupComponents().
| Deleted | RT component |
void notifyFinalized(RTObject_impl* comp);
| def OpenRTM_aist.Manager.Manager.publishPorts | ( | self, | |
| comp | |||
| ) |
| self | |
| comp |
void publishPorts(RTObject_impl* comp)
| def OpenRTM_aist.Manager.Manager.registerComponent | ( | self, | |
| comp | |||
| ) |
Register RT-Component directly without Factory
| def OpenRTM_aist.Manager.Manager.registerECFactory | ( | self, | |
| name, | |||
| new_func, | |||
| delete_func | |||
| ) |
Register ExecutionContext Factory
| def OpenRTM_aist.Manager.Manager.registerFactory | ( | self, | |
| profile, | |||
| new_func, | |||
| delete_func | |||
| ) |
Register RT-Component Factory
| def OpenRTM_aist.Manager.Manager.removeExecutionContext | ( | self, | |
| ec | |||
| ) |
| self | |
| ec | Execution context |
| def OpenRTM_aist.Manager.Manager.removeTask | ( | self, | |
| task | |||
| ) |
Remove the task from the Manager timer.
This operation remove the specify function.
| self | |
| id | Task ID |
| def OpenRTM_aist.Manager.Manager.runManager | ( | self, | |
no_block = False |
|||
| ) |
Run the Manager
This operation processes the main event loop of the Manager. In this main loop, CORBA's ORB event loop or other processes are performed. As the default behavior, this operation is going to blocking mode and never returns until manager::destroy() is called. When the given argument "no_block" is set to "true", this operation creates a thread to process the event loop internally, and it doesn't block and returns.
| no_block | false: Blocking mode, true: non-blocking mode. |
| def OpenRTM_aist.Manager.Manager.setEndpointProperty | ( | self, | |
| objref | |||
| ) |
Setting endpoint information to property
This function sets endpoint information to corba.endpoints property. It extract endpoint information (list of IP address, port number) from given object reference, and set them to corba.endpoints, corba.endpoints_ipv4, corba.endpoints_ipv6
| objref | A object reference |
| def OpenRTM_aist.Manager.Manager.setModuleInitProc | ( | self, | |
| proc | |||
| ) |
Run the Manager
This operation sets the initial procedure call to process module initialization, other user defined initialization and so on. The given procedure will be called at the proper timing after the manager initialization, activation and run.
| proc | A function pointer to the initial procedure call |
| def OpenRTM_aist.Manager.Manager.shutdownLogger | ( | self | ) |
System Logger finalization
| def OpenRTM_aist.Manager.Manager.shutdownOnNoRtcs | ( | self | ) |
Shutdown Manager
This method shutdowns Manager as follows.
void shutdownOnNoRtcs();
| def OpenRTM_aist.Manager.Manager.shutdownORB | ( | self | ) |
ORB finalization
| def OpenRTM_aist.Manager.Manager.subscribePorts | ( | self, | |
| comp | |||
| ) |
| self | |
| comp |
void subscribePorts(RTObject_impl* comp)
| def OpenRTM_aist.Manager.Manager.unload | ( | self, | |
| fname | |||
| ) |
Unload module
Unload shared library.
| pathname | Module file name |
| def OpenRTM_aist.Manager.Manager.unloadAll | ( | self | ) |
Unload module
Unload all loaded shared library.
| def OpenRTM_aist.Manager.Manager.unregisterComponent | ( | self, | |
| comp | |||
| ) |
Register RT-Component directly without Factory
1.9.4