PortAdmin.h

説明を見る。

// -*- C++ -*-
#ifndef RTC_PORTADMIN_H
#define RTC_PORTADMIN_H

#include <rtm/idl/RTCSkel.h>
#include <rtm/PortBase.h>
#include <rtm/ObjectManager.h>
#include <rtm/SystemLogger.h>

namespace RTC
{
  class PortAdmin
  {
  public:
    PortAdmin(CORBA::ORB_ptr orb, PortableServer::POA_ptr poa);
    
    virtual ~PortAdmin(void){};
    
    PortServiceList* getPortServiceList() const;
    
    PortProfileList getPortProfileList() const;
    
    PortService_ptr getPortRef(const char* port_name) const;
    
    PortBase* getPort(const char* port_name) const;
    
    bool addPort(PortBase& port);

    bool addPort(PortService_ptr port);

    void registerPort(PortBase& port);

    void registerPort(PortService_ptr port);
    
    bool removePort(PortBase& port);

    bool removePort(PortService_ptr port);

    void deletePort(PortBase& port);

    void deletePort(PortService_ptr port);
    
    void deletePortByName(const char* port_name);

    void activatePorts();

    void deactivatePorts();

    void finalizePorts();
    
  private:
    CORBA::ORB_var m_pORB;
    
    PortableServer::POA_var m_pPOA;
    
    PortServiceList m_portRefs;

    mutable Logger rtclog;

    template <class T>
    class comp_op
    {
    public:
      comp_op(const char* _name)
        : m_name(_name)
      {
      }
      comp_op(T* obj) 
        : m_name((const char*)(obj->getProfile().name))
      {
      }
      bool operator()(T* obj)
      {
        std::string name((const char*)obj->getProfile().name);
        return m_name == name;
      }
    private:
      std::string m_name;
    };

    class port_prof_collect
    {
    public:
      port_prof_collect(PortProfileList& p) : m_p(p) {}
      void operator()(const PortBase* port)
      {
        CORBA_SeqUtil::push_back(m_p, port->getPortProfile());
      }
    private:
      PortProfileList& m_p;
    };

    class port_prof_collect2
    {
    public:
      port_prof_collect2(PortProfileList& p) : m_p(p) {}
      void operator()(const PortService_ptr port)
      {
        PortProfile* pp(port->get_port_profile());
        CORBA_SeqUtil::push_back(m_p, *(pp));
        delete pp;
      }
    private:
      PortProfileList& m_p;
    };
    
    struct find_port_name;
    struct find_port;
    struct del_port;
    
    // サーバントを直接格納するオブジェクトマネージャ
    ObjectManager<const char*, PortBase, comp_op<PortBase> > m_portServants;
    
  };
};     // namespace RTC
#endif // RTC_PORTADMIN_H

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