SdoConfiguration.h

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// -*- C++ -*-
#ifndef RTC_SDOCONFIGURATION_H
#define RTC_SDOCONFIGURATION_H
 
// CORBA header include
#include <rtm/RTC.h>
#include <mutex>
 
// local includes
#include <rtm/idl/SDOPackageSkel.h>
#include <rtm/ConfigAdmin.h>
#include <rtm/SystemLogger.h>
#include <rtm/SdoServiceAdmin.h>
 
#include <string>
 
// SdoConfiguration with SeqEx 159120
// SdoConfiguration with SeqUtil 114504 114224
 
namespace SDOPackage
{
  class Configuration_impl
    : public virtual POA_SDOPackage::Configuration,
      public virtual PortableServer::RefCountServantBase
  {
  public:
    Configuration_impl(RTC::ConfigAdmin& configsets,
                       RTC::SdoServiceAdmin& sdoServiceAdmin);
 
    ~Configuration_impl() override;
 
    //============================================================
    //
    // <<< CORBA interfaces >>>
    //
    //============================================================
    CORBA::Boolean set_device_profile(const DeviceProfile& dProfile) override;
 
    CORBA::Boolean add_service_profile(const ServiceProfile& sProfile) override;
 
    CORBA::Boolean add_organization(Organization_ptr org) override;
 
    CORBA::Boolean remove_service_profile(const char* id) override;
 
    CORBA::Boolean remove_organization(const char* organization_id) override;
 
    ParameterList* get_configuration_parameters() override;
 
    NVList* get_configuration_parameter_values() override;
 
    CORBA::Any* get_configuration_parameter_value(const char* name) override;
 
    CORBA::Boolean set_configuration_parameter(const char* name,
                                                       const CORBA::Any& value) override;
 
    ConfigurationSetList* get_configuration_sets() override;
 
    ConfigurationSet* get_configuration_set(const char* id) override;
 
    ConfigurationSet* get_active_configuration_set() override;
 
    CORBA::Boolean
    add_configuration_set(const ConfigurationSet& configuration_set) override;
 
    CORBA::Boolean
    set_configuration_set_values(const ConfigurationSet& configuration_set) override;
 
    CORBA::Boolean remove_configuration_set(const char* id) override;
 
    CORBA::Boolean activate_configuration_set(const char* id) override;
 
    // end of CORBA interface definition
    //============================================================
 
    Configuration_ptr getObjRef();
 
    DeviceProfile getDeviceProfile();
 
    OrganizationList getOrganizations();
 
  protected:
    ::RTC::Logger rtclog;
    static std::string getUUID() ;
 
    Configuration_var m_objref;
 
    DeviceProfile m_deviceProfile;
    std::mutex m_dprofile_mutex;
 
    ParameterList m_parameters;
    std::mutex m_params_mutex;
 
    /*
      struct ConfigurationSet
      {
      string id;
      string description;
      NVList configuration_data;
      };
    */
    RTC::ConfigAdmin& m_configsets;
    std::mutex m_config_mutex;
 
    RTC::SdoServiceAdmin& m_sdoservice;
    std::mutex m_sdoservice_mutex;
 
    OrganizationList m_organizations;
    std::mutex m_org_mutex;
 
    struct nv_name
    {
      explicit nv_name(const char* name) : m_name(name) {}
      bool operator()(const NameValue& nv)
      {
        return m_name == std::string(nv.name);
      }
      std::string m_name;
    };
 
    struct org_id
    {
      explicit org_id(const char* id) : m_id(id) {}
#ifdef ORB_IS_ORBEXPRESS
      bool operator()(const Organization_var& o)
#else
      bool operator()(const Organization_ptr& o)
#endif
      {
        CORBA::String_var id(o->get_organization_id());
        return m_id == (const char *)id;
      }
      const std::string m_id;
    };
 
    struct config_id
    {
      explicit config_id(const char* id) :  m_id(id) {}
      bool operator()(const ConfigurationSet& c)
      {
        std::string id(c.id);
        return m_id == id;
      }
      const std::string m_id;
    };
  };  // class Configuration_impl
} // namespace SDOPackage
 
#endif  // RTC_SDOCONFIGURATION_H