jp.go.aist.rtm.RTC
Class Manager

java.lang.Object
  jp.go.aist.rtm.RTC.Manager

public class Manager
extends java.lang.Object

This is a manager class that manages various information such as components.

Nested Class Summary

(package private) class	Manager.cleanupComponentsClass Listener Class for deletion of RT component
(package private) class	Manager.ECFactoryPredicate Helper class to find ECFactory
protected class	Manager.FactoryPredicate Helper class to find Factory
protected class	Manager.Finalized Class
protected class	Manager.InstanceName Helper class to find Object
protected class	Manager.OrbRunner ORB exrcution helper class
(package private) class	Manager.shutdownOnNoRtcsClass Listener Class for deletion of Manager
protected class	Manager.Terminator ORB termination helper class.

Field Summary

(package private) Manager.cleanupComponentsClass	m_cleanupComponents Listener for timer processing
protected ObjectManager<java.lang.String,RTObject_impl>	m_compManager Component Manager
protected Properties	m_config Managaer's configuration Properties
protected ObjectManager<java.lang.String,java.lang.Object>	m_ecfactory ExecutionContext Factory
protected java.util.Vector<ExecutionContextBase>	m_ecs ExecutionContext
protected ObjectManager<java.lang.String,FactoryBase>	m_factory Component Factory Manager
(package private) Manager.Finalized	m_finalized List for component deletion
protected ModuleInitProc	m_initProc User component initialization procedure object
(package private) ManagerServant	m_mgrservant The object to the ManagerServant
protected ModuleManager	m_module Module Manager
protected NamingManager	m_namingManager Naming Manager
protected CorbaObjectManager	m_objManager CORBA Object Manager
protected org.omg.CORBA.ORB	m_pORB ORB
protected org.omg.PortableServer.POA	m_pPOA POA
protected org.omg.PortableServer.POAManager	m_pPOAManager POAManager
protected Manager.OrbRunner	m_runner ORB Runner
(package private) Manager.shutdownOnNoRtcsClass	m_shutdownOnNoRtcs Listener for timer processing
protected int	m_terminate_waiting Counter for Terminator
protected Manager.Terminator	m_terminator Terminator
protected Timer	m_timer Timer Object
protected static Manager	manager This field is the only Manager instance.
protected static java.lang.String	manager_mutex This field is a mutex variable for Manager.
protected Logbuf	rtcout Logger stream

Constructor Summary

protected	Manager() Constructor
	Manager(Manager rhs) Copy Constructor

Method Summary

boolean	activateManager() Activate the Manager
protected boolean	bindManagerServant() Binds ManagerServant.
void	cleanupComponent(RTObject_impl comp) Unregister RT-Components
void	clearModules() Clears the RT component manager.
void	clearModulesFactories() Clears the factory for RT component.
protected void	configureComponent(RTObject_impl comp, Properties prop) Configure RT-Component
RTObject_impl	createComponent(java.lang.String comp_args) Create RT-Components
ExecutionContextBase	createContext(java.lang.String ec_args) Create Context
protected void	createORBEndpointOption(java.lang.String opt, java.util.Vector<java.lang.String> endpoints) Create a command optional line of Endpoint of ORB.
protected void	createORBEndpoints(java.util.Vector<java.lang.String> endpoints) Create Endpoints
protected java.lang.String	createORBOptions() Create ORB command options
protected java.util.Properties	createORBProperties() Creates ORB Properties.
void	deleteComponent(RTObject_impl comp) Unregister RT-Components that have been registered to Manager
void	deleteComponent(java.lang.String instanceName) Unregister RT-Components that have been registered to Manager
protected java.lang.String	formatString(java.lang.String namingFormat, Properties properties) Construct registration information when registering to Naming server
RTObject_impl	getComponent(java.lang.String instanceName) Get RT-Component's pointer
java.util.Vector<RTObject_impl>	getComponents() Get all RT-Components registered in the Manager
Properties	getConfig() Get the manager configuration
java.util.Vector<Properties>	getFactoryProfiles() Get profiles of factories.
java.util.Vector<Properties>	getLoadableModules() Get a list of loadable modules
java.util.Vector<Properties>	getLoadedModules() Get a list of loaded modules
java.util.Vector<java.lang.String>	getModulesFactories() Get the list of all Factories
org.omg.CORBA.ORB	getORB() Get the pointer to ORB
org.omg.PortableServer.POA	getPOA() Get a pointer to RootPOA held by Manager
org.omg.PortableServer.POAManager	getPOAManager() Get POAManager that Manager has
static Manager	init(java.lang.String[] argv) Initialize manager
protected boolean	initComposite() PeriodicECSharedComposite initialization
protected boolean	initExecContext() ExecutionContextManager initialization
protected boolean	initFactories() Factories initialization
protected boolean	initLogger() System logger initialization
protected void	initManager(java.lang.String[] argv) Manager internal initialization
protected boolean	initManagerServant() ManagerServant initialization
protected boolean	initNaming() NamingManager initialization
protected boolean	initORB() CORBA ORB initialization
protected boolean	initTimer() Timer initialization
static Manager	instance() Get instance of the manager
void	join() Wait for Manager's termination
java.lang.String	load(java.lang.String moduleFileName, java.lang.String initFunc) [CORBA interface] Load module
protected boolean	mergeProperty(Properties properties, java.lang.String fileName) Merge property information
void	notifyFinalized(RTObject_impl comp) This method deletes RT-Components.
boolean	procComponentArgs(java.lang.String comp_arg, Properties comp_id, Properties comp_conf) Extracting component type/properties from the given string
boolean	procContextArgs(java.lang.String ec_args, java.lang.StringBuffer ec_id, Properties ec_conf) Extracting ExecutionContext's name/properties from the given string
boolean	registerComponent(RTObject_impl comp) Register RT-Component directly without Factory
boolean	registerECFactory(java.lang.String name) Register ExecutionContext Factory Register Factory to create ExecutionContext's instances.
boolean	registerFactory(Properties profile, RtcNewFunc new_func, RtcDeleteFunc delete_func) Register RT-Component Factory
void	runManager() Run the Manager
void	runManager(boolean noBlocking) Run the Manager
void	setModuleInitProc(ModuleInitProc initProc) Set initial procedure
void	shutdown() Shutdown Manager
protected void	shutdownComponents() NamingManager finalization
protected void	shutdownLogger() System Logger finalization
protected void	shutdownManager() Shutdown Manager
protected void	shutdownNaming() NamingManager finalization
protected void	shutdownORB() ORB finalization
void	terminate() Terminate manager
void	unload(java.lang.String moduleFileName) Unload module
void	unloadAll() Unload all modules
boolean	unregisterComponent(RTObject_impl comp) Unregister RT-Components

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

m_cleanupComponents

Manager.cleanupComponentsClass m_cleanupComponents

Listener for timer processing

m_shutdownOnNoRtcs

Manager.shutdownOnNoRtcsClass m_shutdownOnNoRtcs

Listener for timer processing

m_mgrservant

ManagerServant m_mgrservant

The object to the ManagerServant

manager

protected static Manager manager

This field is the only Manager instance.

manager_mutex

protected static java.lang.String manager_mutex

This field is a mutex variable for Manager.

m_pORB

protected org.omg.CORBA.ORB m_pORB

ORB

m_pPOA

protected org.omg.PortableServer.POA m_pPOA

POA

m_pPOAManager

protected org.omg.PortableServer.POAManager m_pPOAManager

POAManager

m_initProc

protected ModuleInitProc m_initProc

User component initialization procedure object

m_config

protected Properties m_config

Managaer's configuration Properties

m_module

protected ModuleManager m_module

Module Manager

m_namingManager

protected NamingManager m_namingManager

Naming Manager

m_objManager

protected CorbaObjectManager m_objManager

CORBA Object Manager

m_timer

protected Timer m_timer

Timer Object

rtcout

protected Logbuf rtcout

Logger stream

m_compManager

protected ObjectManager<java.lang.String,RTObject_impl> m_compManager

Component Manager

m_factory

protected ObjectManager<java.lang.String,FactoryBase> m_factory

Component Factory Manager

m_ecfactory

protected ObjectManager<java.lang.String,java.lang.Object> m_ecfactory

ExecutionContext Factory

m_ecs

protected java.util.Vector<ExecutionContextBase> m_ecs

ExecutionContext

m_runner

protected Manager.OrbRunner m_runner

ORB Runner

m_terminator

protected Manager.Terminator m_terminator

Terminator

m_terminate_waiting

protected int m_terminate_waiting

Counter for Terminator

m_finalized

Manager.Finalized m_finalized

List for component deletion

Constructor Detail

Manager

protected Manager()

Constructor

Protected Constructor

Manager

public Manager(Manager rhs)

Copy Constructor

Protected Copy Constructor

Parameters:

rhs - Manager object of copy source

Method Detail

init

public static Manager init(java.lang.String[] argv)

Initialize manager

This is the static member function to initialize the Manager. The Manager is initialized by given commandline arguments. To use the manager, this initialization member function init() must be called. The manager has two static functions to get the instance such as 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. *Initialization of manager

• initManager: Argument processing, reading config file, initialization of subsystem
• initLogger: Initialization of Logger
• initORB: Initialization of ORB
• initNaming: Initialization of NamingService
• initExecutionContext: Initialization of ExecutionContext factory
• initTimer: Initialization of Timer

Parameters:

argv - The array of the command line arguments.

Returns:

Reference of the unique instance of Manager

instance

public static Manager instance()

Get instance of the manager

This is the static member function to get the instance of the Manager. Before calling this function, ensure that the initialization function "init()" is called.

Returns:

The only instance reference of the manager

terminate

public void terminate()

Terminate manager

Terminate manager's processing

shutdown

public void shutdown()

Shutdown Manager

Terminate manager's processing. After terminating ORB, shutdown manager in sync.

join

public void join()

Wait for Manager's termination

Wait for Manager's termination to synchronize.

getConfig

public Properties getConfig()

Get the manager configuration

Get the manager configuration that has been set to manager.

Returns:

Manager's configuration

setModuleInitProc

public void setModuleInitProc(ModuleInitProc initProc)

Set initial procedure

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.

Parameters:

initProc - Callback interface

activateManager

public boolean activateManager()

Activate the Manager

This operation do the following:

Activate CORBA POAManager

Activate Manager CORBA object

Bind object reference of the Manager to the nameserver This operation should be invoked after Manager:init(), and before runManager().

Returns:

Activation result (Successful:true, Failed:false)

runManager

public void runManager()

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. This operation is going to blocking mode and never returns until Manager::destroy() is called.

runManager

public void runManager(boolean noBlocking)

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.

Parameters:

noBlocking - false: Blocking mode, true: non-blocking mode.

load

public java.lang.String load(java.lang.String moduleFileName,
                             java.lang.String initFunc)

[CORBA interface] Load module

Load specified module (shared library, DLL etc..), and invoke initialize function.

Parameters:

moduleFileName - The module file name

initFunc - The initialize function name

unload

public void unload(java.lang.String moduleFileName)
            throws java.lang.Exception

Unload module

Unload module.

Parameters:

moduleFileName - The module file name

Throws:

java.lang.Exception

unloadAll

public void unloadAll()

Unload all modules

Unload all modules.

getLoadedModules

public java.util.Vector<Properties> getLoadedModules()

Get a list of loaded modules

Get module list that is currently loaded into manager.

Returns:

Module list that has been loaded.

getLoadableModules

public java.util.Vector<Properties> getLoadableModules()

Get a list of loadable modules

Get loadable module list. (Currently, unimplemented on ModuleManager side)

Returns:

Loadable module list

registerFactory

public boolean registerFactory(Properties profile,
                               RtcNewFunc new_func,
                               RtcDeleteFunc delete_func)

Register RT-Component Factory

Register Factory to create RT-Component's instances.

Parameters:

profile - RT-Component profile

new_func - RT-Component creation function

delete_func - RT-Component destruction function

Returns:

Registration result (Successful:true, Failed:false)

getFactoryProfiles

public java.util.Vector<Properties> getFactoryProfiles()

Get profiles of factories.

Get profiles of factories.

Returns:

profiles of factories

registerECFactory

public boolean registerECFactory(java.lang.String name)

Register ExecutionContext Factory Register Factory to create ExecutionContext's instances.

Parameters:

name - ExecutionContext name

Returns:

Registration result (Successful:true, Failed:false)

getModulesFactories

public java.util.Vector<java.lang.String> getModulesFactories()

Get the list of all Factories

Get the list of all factories that have been registered.

Returns:

Registered factory list

clearModulesFactories

public void clearModulesFactories()

Clears the factory for RT component.

clearModules

public void clearModules()

Clears the RT component manager.

createComponent

public RTObject_impl createComponent(java.lang.String 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.

Read and set configuration information that was set by external file.

Bind ExecutionContext and start operation.

Register to naming service.

Parameters:

comp_args - Target RT-Component names for the creation.
comp_args: [id]?[configuration]
for examples,
RTC:jp.go.aist:example:ConfigSample:1.0?conf.default.str_param0=munya RTC::example:ConfigSample:?conf.default.int_param0=100

Returns:

Created RT-Component's instances

cleanupComponent

public void cleanupComponent(RTObject_impl comp)

Unregister RT-Components

Unregister specified RT-Component's instances from naming service.

Parameters:

comp - Target RT-Components for the unregistration

notifyFinalized

public void notifyFinalized(RTObject_impl comp)

This method deletes RT-Components.

The deleted RT-Component is registered. The registered RT-Components are deleted by cleanupComponents().

Parameters:

comp - Deleted RT component

procComponentArgs

public boolean procComponentArgs(java.lang.String comp_arg,
                                 Properties comp_id,
                                 Properties comp_conf)

Extracting component type/properties from the given string

This operation extracts component type name and its properties from the figen character string. The given string formats is the following. [RTC type]?[key(0)]=[val(0)]&[key(1)]=[val(1)]...[key(n)]=[val(n)] Returned value "comp_id" has keys of "vendor", "category", "implementation_id", "version", and returned as Properties type object. "comp_conf" is returned as Properties type object includeing component properties to be given to component.

Parameters:

comp_arg - character string to be processed

comp_id - extracted component type name

comp_conf - extracted component's properties

Returns:

comp_arg false will returned if no component type in arg

registerComponent

public boolean registerComponent(RTObject_impl comp)

Register RT-Component directly without Factory

Register specified RT-Component's instances not via Factory to Manager directly.

Parameters:

comp - Target RT-Component's instances for the registration

Returns:

Registration result (Successful:true, Failed:false)

unregisterComponent

public boolean unregisterComponent(RTObject_impl comp)

Unregister RT-Components

Unregister specified RT-Components

Parameters:

comp - Target RT-Component's instances for the unregistration

Returns:

Unregistration result (Successful:true, Failed:false)

createContext

public ExecutionContextBase createContext(java.lang.String ec_args)

Create Context

Parameters:

ec_args - Arguments

Returns:

@return Created Context's instances

procContextArgs

public boolean procContextArgs(java.lang.String ec_args,
                               java.lang.StringBuffer ec_id,
                               Properties ec_conf)

Extracting ExecutionContext's name/properties from the given string

This operation extracts ExecutionContext's name and its properties from the figen character string. The given string formats is the following. [ExecutionContext's name]?[key(0)] =[val(0)]&[key(1)]=[val(1)]...[key(n)]=[val(n)] "ec_conf" is returned as Properties type object includeing component properties to be given to component.

Parameters:

ec_args - character string to be processed

ec_id - extracted ExecutionContext's name

ec_conf - extracted ExecutionContext's properties

Returns:

ec_arg false will returned if no ExecutionContext's name in arg

deleteComponent

public void deleteComponent(RTObject_impl comp)

Unregister RT-Components that have been registered to Manager

Unregister RT-Components that have been registered to manager Remove specified RT-Component from naming service, terminate itself and release its instances.

Parameters:

comp - Target RT-Component's instances for the unregistration

deleteComponent

public void deleteComponent(java.lang.String instanceName)

Unregister RT-Components that have been registered to Manager

Unregister RT-Components that have been registered to manager Remove specified RT-Component from naming service, terminate itself and release its instances.

Parameters:

instanceName - Target RT-Component's instances for the unregistration

getComponent

public RTObject_impl getComponent(java.lang.String instanceName)

Get RT-Component's pointer

Search RT-Component that has been registered to Manager by its specified name, and get it that matches.

Parameters:

instanceName - Target RT-Component's name for searching

Returns:

Target RT-Component's instances that matches

getComponents

public java.util.Vector<RTObject_impl> getComponents()

Get all RT-Components registered in the Manager

Get all RT-Component's instances that have been registered to Manager.

Returns:

List of all RT-Component's instances

getORB

public org.omg.CORBA.ORB getORB()

Get the pointer to ORB

Get the pointer to ORB that has been set to Manager.

Returns:

ORB object

getPOA

public org.omg.PortableServer.POA getPOA()

Get a pointer to RootPOA held by Manager

Get the pointer to RootPOA that has been set to Manager.

Returns:

RootPOA object

getPOAManager

public org.omg.PortableServer.POAManager getPOAManager()

Get POAManager that Manager has

Get POAMAnager that has been set to Manager.

Returns:

POA manager

initManager

protected void initManager(java.lang.String[] argv)
                    throws java.lang.Exception

Manager internal initialization

Execute Manager's internal initialization processing.

• Set Manager configuration
• Set log output file
• Create termination processing thread
• Create timer thread (when using timer)

Parameters:

argv - Commandline arguments

Throws:

java.lang.Exception

shutdownManager

protected void shutdownManager()

Shutdown Manager

Shutdown Manager

initLogger

protected boolean initLogger()

System logger initialization

Initialize System logger. Initialize logger and set it according to the set information in configuration file,

Returns:

Initialization result (Successful:true, Failed:false)

shutdownLogger

protected void shutdownLogger()

System Logger finalization

initORB

protected boolean initORB()

CORBA ORB initialization

Initialize ORB based on the configuration given by arguments.

Returns:

ORB initialization result (Successful:true, Failed:false)

createORBOptions

protected java.lang.String createORBOptions()

Create ORB command options

Create ORB launch options from configuration information that has been set.

Returns:

ORB launch options

createORBEndpoints

protected void createORBEndpoints(java.util.Vector<java.lang.String> endpoints)

Create Endpoints

Create Endpoints from the configuration.

Parameters:

endpoints - endpoints Endpoints list

createORBEndpointOption

protected void createORBEndpointOption(java.lang.String opt,
                                       java.util.Vector<java.lang.String> endpoints)

Create a command optional line of Endpoint of ORB.

Parameters:

opt - ORB options

endpoints - Endpoints list

createORBProperties

protected java.util.Properties createORBProperties()

Creates ORB Properties.

Returns:

java.util.Properties Property of ORB.init().

shutdownORB

protected void shutdownORB()

ORB finalization

Finalize ORB . When the waiting process exists, wait until it completes. In actual finalization, deactivate POA Manager and then shutdown of ORB.

initNaming

protected boolean initNaming()

NamingManager initialization

Initialize NamingManager . However, operate nothing, if it is set to property that NamingManager is not used. Register default NamingServer that is set to property information, when NamingManager is used. Also, launch a timer that updates information automatically at specified cycle and register the method for the update to the timer, when it is set to update it reguraly.

Returns:

Initialization result (Successful:true, Failed:false)

shutdownNaming

protected void shutdownNaming()

NamingManager finalization

Finalize NamingManager. Unbind all registered elements and shutdown them.

shutdownComponents

protected void shutdownComponents()

NamingManager finalization

Get a list of RT-Components that have been registered to NamingManager, and shutdown all components.

configureComponent

protected void configureComponent(RTObject_impl comp,
                                  Properties prop)

Configure RT-Component

Read property files described each RT-Component's type and instance, * and configure it to the component. Also, get each component's registered name when registering to NamingService and configure it.

Parameters:

comp - Target RT-Component for the configuration

initExecContext

protected boolean initExecContext()

ExecutionContextManager initialization

Initialize each ExecutionContext that is used, and register each ExecutionContext creation Factory to ExecutionContextManager.

Returns:

ExecutionContextManager initialization result (Successful:true, Failed:false)

initComposite

protected boolean initComposite()

PeriodicECSharedComposite initialization

Returns:

(初期化成功:true、初期化失敗:false)} PeriodicECSharedComposite initialization result (Successful:true, Failed:false)

initFactories

protected boolean initFactories()

Factories initialization

Initialize buffer factories, thread factories, publisher factories, provider factories, and consumer factories.

Returns:

PeriodicECSharedComposite initialization result (Successful:true, Failed:false)

initTimer

protected boolean initTimer()

Timer initialization

Initialize each Timer that is used. (In current implementation, nothing is done.)

Returns:

Timer Initialization result (Successful:true, Failed:false)

initManagerServant

protected boolean initManagerServant()

ManagerServant initialization

Returns:

Initialization result (Successful:true, Failed:false)

bindManagerServant

protected boolean bindManagerServant()

Binds ManagerServant.

Returns:

Result (Successful:true, Failed:false)

mergeProperty

protected boolean mergeProperty(Properties properties,
                                java.lang.String fileName)

Merge property information

Load property information that is configured in the specified file, and merge existing properties that has been configured.

Parameters:

properties - Target properties for the merge

fileName - File name that property information is described

Returns:

Merge result (Successful:true, Failed:false)

formatString

protected java.lang.String formatString(java.lang.String namingFormat,
                                        Properties properties)

Construct registration information when registering to Naming server

Construct information when registering to NameServer based on specified format and property information. Each format specification character means as follows:

• % : Break of Context
• n : Instance's name
• t : Type name
• m : Type name
• v : Version
• V : Vender
• c : Category
• h : Host name
• M : Manager name
• p : Process ID

Parameters:

namingFormat - Format specification for NamingService registration

properties - Property information that is used

Returns:

Specification format conversion result