public class FiniteStateMachineComponentBase extends RTObject_impl
Inherit this class when implementing various FiniteStateMachine type RT-Components.
RTObject_impl.deactivate_comps, RTObject_impl.ec_copy, RTObject_impl.ec_find, RTObject_impl.nv_name| Modifier and Type | Field and Description |
|---|---|
protected Logbuf |
rtcout
Logger stream
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default_conf, ECOTHER_OFFSET, m_actionListeners, m_configsets, m_created, m_eclist, m_ecMine, m_ecOther, m_exiting, m_fsmActionListeners, m_inports, m_objref, m_outports, m_pManager, m_pORB, m_portAdmin, m_portconnListeners, m_pPOA, m_profile, m_properties, m_pSdoConfig, m_pSdoConfigImpl, m_readAll, m_readAllCompletion, m_sdoOrganizations, m_sdoOwnedOrganizations, m_sdoservice, m_sdoStatus, m_writeAll, m_writeAllCompletion| Constructor and Description |
|---|
FiniteStateMachineComponentBase(Manager manager)
Constructor
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| Modifier and Type | Method and Description |
|---|---|
ReturnCode_t |
_finalize()
[CORBA interface] Finalize the RTC for destruction
|
int |
attach_context(ExecutionContext exec_context)
[CORBA interface] Attach ExecutionContext
|
ReturnCode_t |
detach_context(int ec_id)
[CORBA interface] Detach ExecutionContext.
|
ReturnCode_t |
exit()
[CORBA interface]top the RTC's execution context(s) and finalize
it along with its contents.
|
ComponentProfile |
get_component_profile()
[RTObject CORBA interface] Get RTC's profile
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int |
get_context_handle(ExecutionContext cxt)
[CORBA interface] Return a handle of a ExecutionContext
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ExecutionContext |
get_context(int ec_id)
[CORBA interface] Get ExecutionContext.
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ExecutionContext[] |
get_owned_contexts()
[CORBA interface] Get ExecutionContextList.
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ExecutionContext[] |
get_participating_contexts()
[CORBA interface] Get participating ExecutionContextList.
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PortService[] |
get_ports()
[RTObject CORBA interface] Get Ports
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ReturnCode_t |
initialize()
[CORBA interface] Initialize the RTC that realizes
this interface.
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boolean |
is_alive(ExecutionContext exec_context)
[CORBA interface] Confirm whether RTC is the alive state
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ReturnCode_t |
on_aborting(int ec_id)
[ComponentAction CORBA interface] Transition to Error State
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ReturnCode_t |
on_action(int ec_id) |
ReturnCode_t |
on_activated(int ec_id)
[ComponentAction CORBA interface] Activate RTC
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ReturnCode_t |
on_deactivated(int ec_id)
[ComponentAction CORBA interface] Deactivate RTC
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ReturnCode_t |
on_error(int ec_id)
[ComponentAction CORBA interface] Error Processing of RTC
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ReturnCode_t |
on_finalize()
[ComponentAction CORBA interface] Finalize RTC
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ReturnCode_t |
on_initialize()
[ComponentAction CORBA interface] Initialize RTC
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ReturnCode_t |
on_reset(int ec_id)
[ComponentAction CORBA interface] Resetting RTC
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ReturnCode_t |
on_shutdown(int ec_id)
[ComponentAction CORBA interface] Shutdown RTC
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ReturnCode_t |
on_startup(int ec_id)
[ComponentAction CORBA interface] Startup RTC
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_this, activate, addConfigurationParamListener, addConfigurationParamListener, addConfigurationParamListener, addConfigurationSetListener, addConfigurationSetListener, addConfigurationSetListener, addConfigurationSetNameListener, addConfigurationSetNameListener, addConfigurationSetNameListener, addExecutionContextActionListener, addExecutionContextActionListener, addExecutionContextActionListener, addFsmProfileListener, addFsmProfileListener, addFsmStructureListener, addInPort, addOutPort, addPort, addPort, addPort, addPortActionListener, addPortActionListener, addPortActionListener, addPortConnectListener, addPortConnectListener, addPortConnectListener, addPortConnectRetListener, addPortConnectRetListener, addPortConnectRetListener, addPostComponentActionListener, addPostComponentActionListener, addPostComponentActionListener, addPostFsmActionListener, addPostFsmActionListener, addPreComponentActionListener, addPreComponentActionListener, addPreComponentActionListener, addPreFsmActionListener, addPreFsmActionListener, addSdoServiceConsumer, addSdoServiceProvider, bindContext, bindParameter, createContexts, deactivate, deletePort, deletePort, deletePort, deletePortByName, finalizeContexts, finalizePorts, findExistingEC, get_configuration, get_device_profile, get_monitoring, get_organizations, get_owned_organizations, get_sdo_id, get_sdo_service, get_sdo_type, get_service_profile, get_service_profiles, get_status_list, get_status, getCategory, getConfigService, getContextOptions, getExecutionContext, getExecutionRate, getGlobalContextOptions, getInheritedECOptions, getInPorts, getInstanceName, getNamingNames, getObjRef, getOutPorts, getPrivateContextOptions, getProperties, getTypeName, isOwnExecutionContext, on_execute, on_rate_changed, on_state_update, onAborting, onActivated, onAddPort, onAttachExecutionContext, onDeactivated, onDetachExecutionContext, onError, onExecute, onFinalize, onInitialize, onRateChanged, onRemovePort, onReset, onShutdown, onStartup, onStateUpdate, postOnAborting, postOnActivated, postOnDeactivated, postOnError, postOnExecute, postOnFinalize, postOnFsmDo, postOnFsmEntry, postOnFsmExit, postOnFsmInit, postOnFsmStateChange, postOnInitialize, postOnRateChanged, postOnReset, postOnShutdown, postOnStartup, postOnStateUpdate, preOnAborting, preOnActivated, preOnDeactivated, preOnError, preOnExecute, preOnFinalize, preOnFsmDo, preOnFsmEntry, preOnFsmExit, preOnFsmInit, preOnFsmStateChange, preOnInitialize, preOnRateChanged, preOnReset, preOnShutdown, preOnStartup, preOnStateUpdate, readAll, registerInPort, registerInPort, registerOutPort, registerOutPort, registerPort, registerPort, registerPort, removeConfigurationParamListener, removeConfigurationSetListener, removeConfigurationSetNameListener, removeExecutionContextActionListener, removeFsmProfileListener, removeFsmStructureListener, removeInPort, removeOutPort, removePort, removePort, removePort, removePortActionListener, removePortConnectListener, removePortConnectRetListener, removePostComponentActionListener, removePostFsmActionListener, removePreComponentActionListener, removePreFsmActionListener, removeSdoServiceConsumer, removeSdoServiceProvider, reset, setExecutionRate, setInstanceName, setObjRef, setProperties, setReadAll, setReadAll, setReadAll, setWriteAll, setWriteAll, setWriteAll, shutdown, syncAttributesByProperties, updateParameters, writeAll_all_interfaces, _invoke, _thisprotected Logbuf rtcout
public FiniteStateMachineComponentBase(Manager manager)
public ReturnCode_t initialize()
The invocation of this operation shall result in the invocation of the callback ComponentAction::on_initialize. Constraints
initialize in interface LightweightRTObjectOperationsinitialize in class RTObject_implpublic ReturnCode_t _finalize()
This invocation of this operation shall result in the invocation of the callback ComponentAction::on_finalize. Constraints
_finalize in interface LightweightRTObjectOperations_finalize in class RTObject_implpublic ReturnCode_t exit()
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
exit in interface LightweightRTObjectOperationsexit in class RTObject_implpublic boolean is_alive(ExecutionContext exec_context)
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.
is_alive in interface LightweightRTObjectOperationsis_alive in class RTObject_implpublic ExecutionContext[] get_owned_contexts()
This operation returns a list of all execution contexts owned by this RTC.
get_owned_contexts in interface LightweightRTObjectOperationsget_owned_contexts in class RTObject_implpublic ExecutionContext get_context(int ec_id)
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.
get_context in interface LightweightRTObjectOperationsget_context in class RTObject_implec_id -
ExecutionContext handlepublic ExecutionContext[] get_participating_contexts()
This operation returns a list of all execution contexts in which this RTC participates.
get_participating_contexts in interface LightweightRTObjectOperationsget_participating_contexts in class RTObject_implpublic int get_context_handle(ExecutionContext cxt)
This operation returns a handle that is associated with the given execution context.
get_context_handle in interface LightweightRTObjectOperationsget_context_handle in class RTObject_implcxt -
ExecutionContextpublic ComponentProfile get_component_profile()
This operation returns the ComponentProfile of the RTC.
get_component_profile in interface RTObjectOperationsget_component_profile in class RTObject_implpublic PortService[] get_ports()
This operation returns the reference of ports held by RTC.
get_ports in interface RTObjectOperationsget_ports in class RTObject_implpublic int attach_context(ExecutionContext exec_context)
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.
attach_context in interface LightweightRTObjectOperationsattach_context in class RTObject_implexec_context -
Participating ExecutionContextpublic ReturnCode_t detach_context(int ec_id)
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
detach_context in interface LightweightRTObjectOperationsdetach_context in class RTObject_implec_id -
Detaching ExecutionContext Handlepublic ReturnCode_t on_initialize()
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.
on_initialize in interface ComponentActionOperationson_initialize in class RTObject_implpublic ReturnCode_t on_finalize()
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.
on_finalize in interface ComponentActionOperationson_finalize in class RTObject_implpublic ReturnCode_t on_startup(int ec_id)
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.
on_startup in interface ComponentActionOperationson_startup in class RTObject_implec_id -
ID of ExecutionContext that transited to the statepublic ReturnCode_t on_shutdown(int ec_id)
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.
on_shutdown in interface ComponentActionOperationson_shutdown in class RTObject_implec_id -
ID of ExecutionContext that transited to the statepublic ReturnCode_t on_activated(int ec_id)
The RTC has been activated in the given execution context. As a result of this operation, onActivated() callback function is called.
on_activated in interface ComponentActionOperationson_activated in class RTObject_implec_id -
ID of activation ExecutionContextpublic ReturnCode_t on_deactivated(int ec_id)
The RTC has been deactivated in the given execution context. As a result of this operation, onDeactivated() callback function is called.
on_deactivated in interface ComponentActionOperationson_deactivated in class RTObject_implec_id -
ID of deactivation ExecutionContextpublic ReturnCode_t on_error(int ec_id)
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,
on_error in interface ComponentActionOperationson_error in class RTObject_implec_id -
ID of target ExecutionContextpublic ReturnCode_t on_aborting(int ec_id)
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.
on_aborting in interface ComponentActionOperationson_aborting in class RTObject_implec_id -
ID of ExecutionContext that transited to the statepublic ReturnCode_t on_reset(int ec_id)
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.
on_reset in interface ComponentActionOperationson_reset in class RTObject_implec_id -
ID of target ExecutionContext for the resetpublic ReturnCode_t on_action(int ec_id)
on_action in class RTObject_implec_id -
ID of target ExecutionContext