RTObject

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jp.go.aist.rtm.RTC
Class RTObject_impl

java.lang.Object
  org.omg.PortableServer.Servant
      OpenRTM.DataFlowComponentPOA
          jp.go.aist.rtm.RTC.RTObject_impl

All Implemented Interfaces:: SDOOperations, SDOSystemElementOperations, org.omg.CORBA.portable.InvokeHandler, ComponentActionOperations, DataFlowComponentActionOperations, DataFlowComponentOperations, LightweightRTObjectOperations, RTObjectOperations

Direct Known Subclasses:: DataFlowComponentBase, PeriodicECSharedComposite_impl

public class RTObject_impl
extends DataFlowComponentPOA
extends DataFlowComponentPOA

RT-Component class

This is a class to be a base of each RT-Component. This is a implementation class of lightweightRTComponent in Robotic Technology Component specification. This provides a implementation of ComponentAction interface that offers the the component's function and the implementation of LightweightRTObject for management of the component's lifecycle. When users actually create the components, they should use each subclass corresponding to Execution Semantics.
(In current implementation, since only Periodic Sampled Data Processing is supported, this class inherits dataFlowComponent directly.)

Nested Class Summary
`(package private) class`	`RTObject_impl.deactivate_comps` Functor to deactivate RTC
`(package private) class`	`RTObject_impl.ec_copy` Functor to copy ExecutionContext
`(package private) class`	`RTObject_impl.ec_find` Functor to find ExecutionContext
`(package private) class`	`RTObject_impl.nv_name` Functor to find NVList

Field Summary
`(package private) static java.lang.String[]`	`default_conf` Default component profile of RT component.
`static int`	`ECOTHER_OFFSET`
`protected ComponentActionListeners`	`m_actionListeners` ComponentActionListener holder
`protected ConfigAdmin`	`m_configsets` Configuration Administrator Object
`protected boolean`	`m_created` Created Status Flag
`protected java.util.Vector<ExecutionContextBase>`	`m_eclist` List of ExecutionContextBase
`protected ExecutionContextServiceListHolder`	`m_ecMine` List of owned ExecutionContextService
`protected ExecutionContextServiceListHolder`	`m_ecOther` List of participating ExecutionContextService
`protected java.util.Vector<InPortBase>`	`m_inports` List of InPortBase.
`protected RTObject`	`m_objref` Object reference
`protected java.util.Vector<OutPortBase>`	`m_outports` List of OutPortBase.
`protected Manager`	`m_pManager` Manager object
`protected org.omg.CORBA.ORB`	`m_pORB` ORB
`protected PortAdmin`	`m_portAdmin` List of Port Object reference
`protected org.omg.PortableServer.POA`	`m_pPOA` POA
`protected ComponentProfile`	`m_profile` ComponentProfile
`protected Properties`	`m_properties` RTC's Property
`protected Configuration`	`m_pSdoConfig` The SDO Configuration Interface
`protected Configuration_impl`	`m_pSdoConfigImpl` The SDO Configuration Object
`protected boolean`	`m_readAll` flag for readAll()
`protected boolean`	`m_readAllCompletion` flag for readAll()
`protected OrganizationListHolder`	`m_sdoOrganizations` SDO organization
`protected OrganizationListHolder`	`m_sdoOwnedOrganizations` SDO owned organization list
`protected NVListHolder`	`m_sdoStatus` SDO Status
`protected ServiceProfileListHolder`	`m_sdoSvcProfiles` SDOService Profile List
`protected boolean`	`m_writeAll` flag for writeAll()
`protected boolean`	`m_writeAllCompletion` flag for writeAll().
`protected Logbuf`	`rtcout` Logger stream

Constructor Summary
`RTObject_impl(Manager manager)` Constructor
`RTObject_impl(org.omg.CORBA.ORB orb, org.omg.PortableServer.POA poa)` Constructor

Method Summary

ReturnCode_t _finalize()
[CORBA interface] Finalize the RTC for preparing it for destruction

DataFlowComponent _this()
Gets DataFlowComponent object.

void addExecutionContextActionListener(int listener_type, ExecutionContextActionListener listener)

void addExecutionContextActionListener(int listener_type, ExecutionContextActionListener listener, boolean autoclean)
Adding ExecutionContextAction type listener

boolean addInPort(java.lang.String name, InPortBase inport)
[local interface] Register DataInPort.

boolean addOutPort(java.lang.String name, OutPortBase outport)
[local interface] Register DataOutPort.

boolean addPort(CorbaPort port)
[local interface] Register Port

boolean addPort(PortBase port)
[local interface] Register Port

boolean addPort(PortService port)
[local interface] Register Port

void addPortActionListener(int listener_type, PortActionListener listener)

void addPortActionListener(int listener_type, PortActionListener listener, boolean autoclean)
Adding PortAction type listener

void addPostComponentActionListener(int listener_type, PostComponentActionListener listener)

void addPostComponentActionListener(int listener_type, PostComponentActionListener listener, boolean autoclean)
Adding PostComponentAction type listener

void addPreComponentActionListener(int listener_type, PreComponentActionListener listener)

void addPreComponentActionListener(int listener_type, PreComponentActionListener listener, boolean autoclean)
Adding PreComponentAction type listener

int attach_context(ExecutionContext exec_context)
[CORBA interface] Attach ExecutionContext

int bindContext(ExecutionContext exec_context)
Binds ExecutionContext.

boolean bindParameter(java.lang.String param_name, ValueHolder var, java.lang.String def_val)
Setup for configuration parameters

void deletePort(CorbaPort port)
[local interface] Unregister Port

void deletePort(PortBase port)
[local interface] Unregister Port

void deletePort(PortService port)
[local interface] Unregister Port

void deletePortByName(java.lang.String port_name)
[local interface] Delete Port by specifying its name

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.

void finalizeContexts()
The ExecutionContextBase list is deleted.

void finalizePorts()
Unregister All Ports

ComponentProfile get_component_profile()
[RTObject CORBA interface] Get RTC's profile

Configuration get_configuration()
[SDO interface] Get Configuration object

int get_context_handle(ExecutionContext cxt)
[CORBA interface] Return a handle of a ExecutionContext

ExecutionContext get_context(int ec_id)
[CORBA interface] Get ExecutionContext.

DeviceProfile get_device_profile()
[SDO interface] Get SDO DeviceProfile list

Monitoring get_monitoring()
[SDO interface] Get Monitoring object

Organization[] get_organizations()
[SDO interface] Get Organization list

ExecutionContext[] get_owned_contexts()
[CORBA interface] Get ExecutionContextList.

Organization[] get_owned_organizations()
[SDO interface] Get Organization list

ExecutionContext[] get_participating_contexts()
[CORBA interface] Get participating ExecutionContextList.

PortService[] get_ports()
[RTObject CORBA interface] Get Ports

java.lang.String get_sdo_id()
[SDO interface] Get the SDO ID

SDOService get_sdo_service(java.lang.String id)
[SDO interface] Get specified SDO Service's reference

java.lang.String get_sdo_type()
[SDO interface] Get SDO type

ServiceProfile get_service_profile(java.lang.String id)
[SDO interface] Get specified ServiceProfile

ServiceProfile[] get_service_profiles()
[SDO interface] Get SDO ServiceProfile

NameValue[] get_status_list()
[SDO interface] Get SDO Status list

org.omg.CORBA.Any get_status(java.lang.String name)
[SDO interface] Get SDO Status

java.lang.String getCategory()
[local interface] Get category information

java.lang.String getInstanceName()
[local interface] Get instance name

java.lang.String[] getNamingNames()
[local interface] Get Naming Server information

RTObject getObjRef()
[local interface] Get the object reference

Properties getProperties()
[local interface] Get RTC property

java.lang.String getTypeName()
[local interface] Get type name

ReturnCode_t initialize()
[CORBA interface] IInitialize the RTC that realizes this interface.

boolean is_alive(ExecutionContext exec_context)
[CORBA interface] Confirm whether RTC is the alive state

ReturnCode_t on_aborting(int ec_id)
[ComponentAction CORBA interface] Transition to Error State

ReturnCode_t on_activated(int ec_id)
[ComponentAction CORBA interface] Activate RTC

ReturnCode_t on_deactivated(int ec_id)
[ComponentAction CORBA interface] Deactivate RTC

ReturnCode_t on_error(int ec_id)
[ComponentAction CORBA interface] Error Processing of RTC

ReturnCode_t on_execute(int ec_id)
[DataFlowComponentAction CORBA interface] Primary Periodic Operation of RTC

ReturnCode_t on_finalize()
[ComponentAction CORBA interface] Finalize RTC

ReturnCode_t on_initialize()
[ComponentAction CORBA interface] Initialize RTC

ReturnCode_t on_rate_changed(int ec_id)
[DataFlowComponentAction CORBA interface] Notify rate changed

ReturnCode_t on_reset(int ec_id)
[ComponentAction CORBA interface] Resetting RTC

ReturnCode_t on_shutdown(int ec_id)
[ComponentAction CORBA interface] Shutdown RTC

ReturnCode_t on_startup(int ec_id)
[ComponentAction CORBA interface] Startup RTC

ReturnCode_t on_state_update(int ec_id)
[DataFlowComponentAction CORBA interface] Secondary Periodic Operation of RTC

protected ReturnCode_t onAborting(int ec_id)
Callback function to abort

protected ReturnCode_t onActivated(int ec_id)
Callback function to activate

protected void onAddPort(PortProfile pprof)

protected void onAttachExecutionContext(int ec_id)

protected ReturnCode_t onDeactivated(int ec_id)
Callback function to deactivate

protected void onDetachExecutionContext(int ec_id)

protected ReturnCode_t onError(int ec_id)
Callback function for error handling

protected ReturnCode_t onExecute(int ec_id)
[@.en Callback function to execute periodically}

protected ReturnCode_t onFinalize()
Callback function to finalize

protected ReturnCode_t onInitialize()
Callback function to initialize

protected ReturnCode_t onRateChanged(int ec_id)
Callback function to change execution cycle

protected void onRemovePort(PortProfile pprof)

protected ReturnCode_t onReset(int ec_id)
Callback function to reset

protected ReturnCode_t onShutdown(int ec_id)
Callback function for shutdown action

protected ReturnCode_t onStartup(int ec_id)
Callback function for startup action

protected ReturnCode_t onStateUpdate(int ec_id)
Callback function to update the state

protected void postOnAborting(int ec_id, ReturnCode_t ret)

protected void postOnActivated(int ec_id, ReturnCode_t ret)

protected void postOnDeactivated(int ec_id, ReturnCode_t ret)

protected void postOnError(int ec_id, ReturnCode_t ret)

protected void postOnExecute(int ec_id, ReturnCode_t ret)

protected void postOnFinalize(int ec_id, ReturnCode_t ret)

protected void postOnInitialize(int ec_id, ReturnCode_t ret)

protected void postOnRateChanged(int ec_id, ReturnCode_t ret)

protected void postOnReset(int ec_id, ReturnCode_t ret)

protected void postOnShutdown(int ec_id, ReturnCode_t ret)

protected void postOnStartup(int ec_id, ReturnCode_t ret)

protected void postOnStateUpdate(int ec_id, ReturnCode_t ret)

protected void preOnAborting(int ec_id)

protected void preOnActivated(int ec_id)

protected void preOnDeactivated(int ec_id)

protected void preOnError(int ec_id)

protected void preOnExecute(int ec_id)

protected void preOnFinalize(int ec_id)

protected void preOnInitialize(int ec_id)

protected void preOnRateChanged(int ec_id)

protected void preOnReset(int ec_id)

protected void preOnShutdown(int ec_id)

protected void preOnStartup(int ec_id)

protected void preOnStateUpdate(int ec_id)

boolean readAll()
Readout the value from All InPorts.





<DataType,Buffer> 


void

registerInPort(java.lang.Class<DataType> DATA_TYPE_CLASS,
               java.lang.String name,
               InPort<DataType> inport)

[local interface] Register DataInPort.

void registerInPort(java.lang.String name, InPortBase inport)
[local interface] Register DataInPort.





<DataType,Buffer> 


void

registerOutPort(java.lang.Class<DataType> DATA_TYPE_CLASS,
                java.lang.String name,
                OutPort<DataType> outport)

[local interface] Register DataOutPort. This operation registers DataOutPor held by this RTC.

void registerOutPort(java.lang.String name, OutPortBase outport)
[local interface] Register DataOutPort

void registerPort(CorbaPort port)
[local interface] Register Port

void registerPort(PortBase port)
[local interface] Register Port

void registerPort(PortService port)
[local interface] Register Port

void removeExecutionContextActionListener(int listener_type, ExecutionContextActionListener listener)
@brief Removing ExecutionContextAction type listener

boolean removeInPort(InPortBase port)
[local interface] Unregister InPort

boolean removeOutPort(OutPortBase port)
[local interface] Unregister OutPort.

boolean removePort(CorbaPort port)
[local interface] Unregister Port

boolean removePort(PortBase port)
[local interface] Unregister Port

boolean removePort(PortService port)
[local interface] Unregister Port

void removePortActionListener(int listener_type, PortActionListener listener)
Removing PortAction type listener

void removePostComponentActionListener(int listener_type, PostComponentActionListener listener)
Removing PostComponentAction type listener

void removePreComponentActionListener(int listener_type, PreComponentActionListener listener)
Removing PreComponentAction type listener

void setInstanceName(java.lang.String instance_name)
[local interface] Set instance name

void setObjRef(RTObject rtobj)
[local interface] Set the object reference

void setProperties(Properties prop)
[local interface] Set RTC property

void setReadAll()
Set whether to execute the readAll() method.

void setReadAll(boolean read)
Set whether to execute the readAll() method.

void setReadAll(boolean read, boolean completion)
Set whether to execute the readAll() method.

void setWriteAll()
Set whether to execute the writeAll() method.

void setWriteAll(boolean write)
Set whether to execute the writeAll() method.

void setWriteAll(boolean write, boolean completion)
Set whether to execute the writeAll() method.

protected void shutdown()
Shutdown RTC

protected void syncAttributesByProperties()
Sets property

void updateParameters(java.lang.String config_set)
Update configuration parameters

boolean writeAll()
The write() method of all OutPorts are called.

Methods inherited from class OpenRTM.DataFlowComponentPOA
`_all_interfaces, _invoke, _this`

Methods inherited from class org.omg.PortableServer.Servant
`_default_POA, _get_delegate, _get_interface_def, _is_a, _non_existent, _object_id, _orb, _poa, _set_delegate, _this_object, _this_object`

Methods inherited from class java.lang.Object
`clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait`

Field Detail

default_conf

static final java.lang.String[] default_conf

Default component profile of RT component.

ECOTHER_OFFSET

public static final int ECOTHER_OFFSET

See Also:: Constant Field Values

m_pManager

protected Manager m_pManager

Manager object

m_pORB

protected org.omg.CORBA.ORB m_pORB

ORB

m_pPOA

protected org.omg.PortableServer.POA m_pPOA

POA

m_sdoOwnedOrganizations

protected OrganizationListHolder m_sdoOwnedOrganizations

SDO owned organization list

m_sdoSvcProfiles

protected ServiceProfileListHolder m_sdoSvcProfiles

SDOService Profile List

m_pSdoConfigImpl

protected Configuration_impl m_pSdoConfigImpl

The SDO Configuration Object

m_pSdoConfig

protected Configuration m_pSdoConfig

The SDO Configuration Interface

m_sdoOrganizations

protected OrganizationListHolder m_sdoOrganizations

SDO organization

m_sdoStatus

protected NVListHolder m_sdoStatus

SDO Status

m_profile

protected ComponentProfile m_profile

ComponentProfile

m_objref

protected RTObject m_objref

Object reference

m_portAdmin

protected PortAdmin m_portAdmin

List of Port Object reference

m_ecMine

protected ExecutionContextServiceListHolder m_ecMine

List of owned ExecutionContextService

m_eclist

protected java.util.Vector<ExecutionContextBase> m_eclist

List of ExecutionContextBase

m_ecOther

protected ExecutionContextServiceListHolder m_ecOther

List of participating ExecutionContextService

m_created

protected boolean m_created

Created Status Flag

m_properties

protected Properties m_properties

RTC's Property

m_configsets

protected ConfigAdmin m_configsets

Configuration Administrator Object

rtcout

protected Logbuf rtcout

Logger stream

m_inports

protected java.util.Vector<InPortBase> m_inports

List of InPortBase.

m_outports

protected java.util.Vector<OutPortBase> m_outports

List of OutPortBase.

m_readAll

protected boolean m_readAll

flag for readAll()

m_writeAll

protected boolean m_writeAll

flag for writeAll()

m_readAllCompletion

protected boolean m_readAllCompletion

flag for readAll()

true:Even if the error occurs during readAll(), it executes it to the last minute. false:End when error occurs during readAll().

m_writeAllCompletion

protected boolean m_writeAllCompletion

flag for writeAll().

true:Even if the error occurs during writeAll(), it executes it to the last minute. false:End when error occurs during writeAll().

m_actionListeners

protected ComponentActionListeners m_actionListeners

ComponentActionListener holder

Holders of ComponentActionListeners

Constructor Detail

RTObject_impl

public RTObject_impl(Manager manager)

Constructor

Parameters:: manager - Manager object

RTObject_impl

public RTObject_impl(org.omg.CORBA.ORB orb,
                     org.omg.PortableServer.POA poa)

Constructor

Parameters:: orb - ORB; poa - POA

Method Detail

_this

public DataFlowComponent _this()

Gets DataFlowComponent object.

Gets OpenRTM.DataFlowComponent object.

Overrides:: _this in class DataFlowComponentPOA

Returns:: OpenRTM.DataFlowComponent object.

onInitialize

protected ReturnCode_t onInitialize()

Callback function to initialize

This is a callback function that is executed when ComponentAction::on_initialize was invoked.
As for actual initialization of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.

Returns:: The return code of ReturnCode_t type

onFinalize

protected ReturnCode_t onFinalize()

Callback function to finalize

This is a callback function that is executed when ComponentAction::on_finalize was invoked.
As for actual finalization of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.

Returns:: The return code of ReturnCode_t type

onStartup

protected ReturnCode_t onStartup(int ec_id)

Callback function for startup action

Callback function that is executed when ComponentAction::on_startup was invoked.
As for actual startup of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.

Parameters:: ec_id - ID of the participant ExecutionContext
Returns:: The return code of ReturnCode_t type

onShutdown

protected ReturnCode_t onShutdown(int ec_id)

Callback function for shutdown action

Callback function that is executed when ComponentAction::on_shutdown was invoked.
As for actual shutdown of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.

Parameters:: ec_id - ID of the participant ExecutionContext
Returns:: The return code of ReturnCode_t type

onActivated

protected ReturnCode_t onActivated(int ec_id)

Callback function to activate

This is a callback function that is executed when ComponentAction::on_activated was invoked.
As for actual activation of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.

Parameters:: ec_id - ID of the participant ExecutionContext
Returns:: The return code of ReturnCode_t type

onDeactivated

protected ReturnCode_t onDeactivated(int ec_id)

Callback function to deactivate

This is a callback function that is executed when ComponentAction::on_deactivated was invoked.
As for actual deactivation of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.

Parameters:: ec_id - ID of the participant ExecutionContext
Returns:: The return code of ReturnCode_t type

onExecute

protected ReturnCode_t onExecute(int ec_id)

[@.en Callback function to execute periodically}

This is a callback function that is executed when DataFlowComponentAction::on_execute is invoked.
As for actual periodic execution of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it. This function is invoked periodically as the first execution pass of Two-Pass Execution in Periodic Sampled Data Processing.

Parameters:: ec_id - ID of the participant ExecutionContext
Returns:: The return code of ReturnCode_t type

onAborting

protected ReturnCode_t onAborting(int ec_id)

Callback function to abort

This is a callback function that is executed when ComponentAction::on_aborting was invoked.
As for actual abortion of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.

Parameters:: ec_id - ID of the participant ExecutionContext
Returns:: The return code of ReturnCode_t type

onError

protected ReturnCode_t onError(int ec_id)

Callback function for error handling

This is a callback function that is executed when ComponentAction::on_error was invoked.
As for actual error handling of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.

Parameters:: ec_id - ID of the participant ExecutionContext
Returns:: The return code of ReturnCode_t type

onReset

protected ReturnCode_t onReset(int ec_id)

Callback function to reset

This is a callback function that is executed when ComponentAction::on_reset was invoked.
As for actual reset of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.

Parameters:: ec_id - ID of the participant ExecutionContext
Returns:: The return code of ReturnCode_t type

onStateUpdate

protected ReturnCode_t onStateUpdate(int ec_id)

Callback function to update the state

This is a callback function that is executed when DataFlowComponentAction::on_state_update was invoked.
As for actual updating the state of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.
This function is invoked periodically as the second execution pass of Two-Pass Execution in Periodic Sampled Data Processing.

Parameters:: ec_id - ID of the participant ExecutionContext
Returns:: The return code of ReturnCode_t type

onRateChanged

protected ReturnCode_t onRateChanged(int ec_id)

Callback function to change execution cycle

This is a callback function that is executed when DataFlowComponentAction::on_rate_changed was invoked.
As for actual changing execution cycle of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.
This function is invoked when the execution of ExecutionContext was updated in Periodic Sampled Data Processing.

Parameters:: ec_id - ID of the participant ExecutionContext
Returns:: The return code of ReturnCode_t type

initialize

public ReturnCode_t initialize()

[CORBA interface] IInitialize the RTC that realizes this interface.

The invocation of this operation shall result in the invocation of the callback ComponentAction::on_initialize. Constraints

An RTC may be initialized only while it is in the Created state. Any attempt to invoke this operation while in another state shall fail with ReturnCode_t::PRECONDITION_NOT_MET.
Application developers are not expected to call this operation directly; it exists for use by the RTC infrastructure.

Returns:: The return code of ReturnCode_t type

_finalize

public ReturnCode_t _finalize()
                       throws org.omg.CORBA.SystemException

[CORBA interface] Finalize the RTC for preparing it for destruction

This invocation of this operation shall result in the invocation of the callback ComponentAction::on_finalize. Constraints

An RTC may not be finalized while it is participating in any execution context. It must first be removed with ExecutionContextOperations::remove. Otherwise, this operation shall fail with ReturnCode_t::PRECONDITION_NOT_MET.
An RTC may not be finalized while it is in the Created state. Any attempt to invoke this operation while in that state shall fail with ReturnCode_t::PRECONDITION_NOT_MET.
Application developers are not expected to call this operation directly;

it exists for use by the RTC infrastructure.

Returns:: The return code of ReturnCode_t type
Throws:: org.omg.CORBA.SystemException

exit

public ReturnCode_t exit()
                  throws org.omg.CORBA.SystemException

[CORBA interface]top the RTC's execution context(s) and finalize it along with its contents.

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

An RTC cannot be exited if it has not yet been initialized. Any attempt to exit an RTC that is in the Created state shall fail with ReturnCode_t::PRECONDITION_NOT_MET.

Returns:: The return code of ReturnCode_t type
Throws:: org.omg.CORBA.SystemException

is_alive

public boolean is_alive(ExecutionContext exec_context)
                 throws org.omg.CORBA.SystemException

[CORBA interface] Confirm whether RTC is the alive state

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.

Returns:: Result of Alive state confirmation
Throws:: org.omg.CORBA.SystemException

get_owned_contexts

public ExecutionContext[] get_owned_contexts()
                                      throws org.omg.CORBA.SystemException

[CORBA interface] Get ExecutionContextList.

This operation returns a list of all execution contexts owned by this RTC.

Returns:: ExecutionContext List
Throws:: org.omg.CORBA.SystemException

get_context

public ExecutionContext get_context(int ec_id)

[CORBA interface] Get ExecutionContext.

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.

Parameters:: ec_id - ExecutionContext handle
Returns:: ExecutionContext

get_participating_contexts

public ExecutionContext[] get_participating_contexts()
                                              throws org.omg.CORBA.SystemException

[CORBA interface] Get participating ExecutionContextList.

This operation returns a list of all execution contexts in which this RTC participates.

Returns:: ExecutionContext List
Throws:: org.omg.CORBA.SystemException

get_context_handle

public int get_context_handle(ExecutionContext cxt)
                       throws org.omg.CORBA.SystemException

[CORBA interface] Return a handle of a ExecutionContext

This operation returns a handle that is associated with the given execution context.

Parameters:: cxt - ExecutionContext
Returns:: ExecutionContextHandle_t
Throws:: org.omg.CORBA.SystemException

bindContext

public int bindContext(ExecutionContext exec_context)

Binds ExecutionContext.

Parameters:: exec_context - ExecutionContext
Returns:: ID(Returns -1,When narrow fails.)

get_component_profile

public ComponentProfile get_component_profile()

[RTObject CORBA interface] Get RTC's profile

This operation returns the ComponentProfile of the RTC.

Returns:: ComponentProfile

get_ports

public PortService[] get_ports()

[RTObject CORBA interface] Get Ports

This operation returns the reference of ports held by RTC.

Returns:: PortServiceList

attach_context

public int attach_context(ExecutionContext exec_context)
                   throws org.omg.CORBA.SystemException

[CORBA interface] Attach ExecutionContext

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.

Parameters:: exec_context - Participating ExecutionContext
Returns:: ExecutionContext Handle
Throws:: org.omg.CORBA.SystemException

detach_context

public ReturnCode_t detach_context(int ec_id)
                            throws org.omg.CORBA.SystemException

[CORBA interface] Detach ExecutionContext.

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

This operation may not be invoked if this RTC is not already participating in the execution context. Such a call shall fail with ReturnCode_t::PRECONDITION_NOT_MET.
This operation may not be invoked if this RTC is Active in the indicated execution context. Otherwise, it shall fail with ReturnCode_t::PRECONDITION_NOT_MET.

Parameters:: ec_id - Detaching ExecutionContext Handle
Returns:: The return code of ReturnCode_t type
Throws:: org.omg.CORBA.SystemException

on_initialize

public ReturnCode_t on_initialize()

[ComponentAction CORBA interface] Initialize RTC

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.

Returns:: The return code of ReturnCode_t type

on_finalize

public ReturnCode_t on_finalize()

[ComponentAction CORBA interface] Finalize RTC

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.

Returns:: The return code of ReturnCode_t type

on_startup

public ReturnCode_t on_startup(int ec_id)

[ComponentAction CORBA interface] Startup RTC

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.

Parameters:: ec_id - ID of ExecutionContext that transited to the state
Returns:: The return code of ReturnCode_t type

on_shutdown

public ReturnCode_t on_shutdown(int ec_id)

[ComponentAction CORBA interface] Shutdown RTC

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.

Parameters:: ec_id - ID of ExecutionContext that transited to the state
Returns:: The return code of ReturnCode_t type

on_activated

public ReturnCode_t on_activated(int ec_id)

[ComponentAction CORBA interface] Activate RTC

The RTC has been activated in the given execution context. As a result of this operation, onActivated() callback function is called.

Parameters:: ec_id - ID of activation ExecutionContext
Returns:: The return code of ReturnCode_t type

on_deactivated

public ReturnCode_t on_deactivated(int ec_id)

[ComponentAction CORBA interface] Deactivate RTC

The RTC has been deactivated in the given execution context. As a result of this operation, onDeactivated() callback function is called.

Parameters:: ec_id - ID of deactivation ExecutionContext
Returns:: The return code of ReturnCode_t type

on_aborting

public ReturnCode_t on_aborting(int ec_id)

[ComponentAction CORBA interface] Transition to Error State

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.

Parameters:: ec_id - ID of ExecutionContext that transited to the state
Returns:: The return code of ReturnCode_t type

on_error

public ReturnCode_t on_error(int ec_id)

[ComponentAction CORBA interface] Error Processing of RTC

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,

If the ExecutionKind is PERIODIC, this operation shall be invoked in sorted order at the rate of the context instead of DataFlowComponentAction::on_execute and on_state_update.
If the ExecutionKind is EVENT_DRIVEN, this operation shall be invoked whenever FsmParticipantAction::on_action would otherwise have been invoked.

As a result of this operation, onError() callback function is invoked.

Parameters:: ec_id - ID of target ExecutionContext
Returns:: The return code of ReturnCode_t type

on_reset

public ReturnCode_t on_reset(int ec_id)

[ComponentAction CORBA interface] Resetting RTC

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.

Parameters:: ec_id - ID of target ExecutionContext for the reset
Returns:: The return code of ReturnCode_t type

on_execute

public ReturnCode_t on_execute(int ec_id)

[DataFlowComponentAction CORBA interface] Primary Periodic Operation of RTC

The component is called during the state of Avtive.

Parameters:: ec_id - ID of ExecutionContext
Returns:: Execution result

on_state_update

public ReturnCode_t on_state_update(int ec_id)

[DataFlowComponentAction CORBA interface] Secondary Periodic Operation of RTC

This operation will be invoked periodically at the rate of the given execution context as long as the following conditions hold:

The RTC is Active.
The given execution context is Running

This callback occurs during the second execution pass. As a result of this operation, onStateUpdate() callback function is invoked. Constraints

The execution context of the given context shall be PERIODIC.

Parameters:: ec_id - ID of target ExecutionContext for Secondary Periodic Operation
Returns:: The return code of ReturnCode_t type

on_rate_changed

public ReturnCode_t on_rate_changed(int ec_id)

[DataFlowComponentAction CORBA interface] Notify rate changed

This operation is a notification that the rate of the indicated execution context has changed. As a result of this operation, onRateChanged() callback function is called. Constraints

The execution context of the given context shall be PERIODIC.

Parameters:: ec_id - ID of target ExecutionContext for Operation
Returns:: The return code of ReturnCode_t type

get_owned_organizations

public Organization[] get_owned_organizations()
                                       throws NotAvailable

[SDO interface] Get Organization list

SDOSystemElement can be the owner of zero or more organizations. If the SDOSystemElement owns one or more Organizations, this operation returns the list of Organizations that the SDOSystemElement owns. If it does not own any Organization, it returns empty list.

Returns:: Owned Organization List
Throws:: SDONotExists - The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.); NotAvailable - The target SDO is reachable but cannot respond.; InternalError - The target SDO cannot execute the operation completely due to some internal error.

get_sdo_id

public java.lang.String get_sdo_id()
                            throws NotAvailable,
                                   InternalError

[SDO interface] Get the SDO ID

This operation returns id of the SDO. This operation throws SDOException with one of the following types.

Returns:: id of the SDO defined in the resource data model.
Throws:: SDONotExists - The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.); NotAvailable - The target SDO is reachable but cannot respond.; InternalError - The target SDO cannot execute the operation completely due to some internal error.

get_sdo_type

public java.lang.String get_sdo_type()
                              throws NotAvailable,
                                     InternalError

[SDO interface] Get SDO type

This operation returns sdoType of the SDO. This operation throws SDOException with one of the following types.

Returns:: Type of the SDO defined in the resource data model.
Throws:: SDONotExists - The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.); NotAvailable - The target SDO is reachable but cannot respond.; InternalError - The target SDO cannot execute the operation completely due to some internal error.

get_device_profile

public DeviceProfile get_device_profile()
                                 throws NotAvailable,
                                        InternalError

[SDO interface] Get SDO DeviceProfile list

This operation returns the DeviceProfile of the SDO. If the SDO does not represent any hardware device, then a DeviceProfile with empty values are returned. This operation throws SDOException with one of the following types.

Returns:: The DeviceProfile of the SDO.
Throws:: SDONotExists - The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.); NotAvailable - The target SDO is reachable but cannot respond.; InternalError - The target SDO cannot execute the operation completely due to some internal error.

get_service_profiles

public ServiceProfile[] get_service_profiles()
                                      throws NotAvailable,
                                             InternalError

[SDO interface] Get SDO ServiceProfile

This operation returns a list of ServiceProfiles that the SDO has. If the SDO does not provide any service, then an empty list is returned. This operation throws SDOException with one of the following types.

Returns:: List of ServiceProfiles of all the services the SDO is providing.
Throws:: SDONotExists - The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.); NotAvailable - The target SDO is reachable but cannot respond.; InternalError - The target SDO cannot execute the operation completely due to some internal error.

get_service_profile

public ServiceProfile get_service_profile(java.lang.String id)
                                   throws InvalidParameter,
                                          NotAvailable,
                                          InternalError

[SDO interface] Get specified ServiceProfile

This operation returns the ServiceProfile that is specified by the argument "id."

Parameters:: id - The identifier referring to one of the ServiceProfiles.
Returns:: The profile of the specified service.
Throws:: InvalidParameter - The ServiceProfile that is specified by the argument 'id' does not exist or if 'id' is 'null.'; SDONotExists - The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.); NotAvailable - The target SDO is reachable but cannot respond.; InternalError - The target SDO cannot execute the operation completely due to some internal error.

get_sdo_service

public SDOService get_sdo_service(java.lang.String id)
                           throws InvalidParameter,
                                  NotAvailable,
                                  InternalError

[SDO interface] Get specified SDO Service's reference

This operation returns an object implementing an SDO's service that is identified by the identifier specified as an argument. Different services provided by an SDO are distinguished with different identifiers. See OMG SDO specification Section 2.2.8, "ServiceProfile," on page 2-12 for more details.

Parameters:: id - The identifier referring to one of the SDO Service
Returns:: The reference requested to SDO Service.
Throws:: InvalidParameter - Argument “id” is null, or if the ServiceProfile that is specified by argument "id" does not exist.; SDONotExists - The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.); NotAvailable - The target SDO is reachable but cannot respond.; InternalError - The target SDO cannot execute the operation completely due to some internal error.

get_configuration

public Configuration get_configuration()
                                throws InterfaceNotImplemented,
                                       NotAvailable,
                                       InternalError

[SDO interface] Get Configuration object

This operation returns an object implementing the Configuration interface. The Configuration interface is one of the interfaces that each SDO maintains. The interface is used to configure the attributes defined in DeviceProfile, ServiceProfile, and Organization. See OMG SDO specification Section 2.3.5, "Configuration Interface," on page 2-24 for more details about the Configuration interface.

Returns:: The Configuration interface of an SDO.
Throws:: InterfaceNotImplemented - The target SDO has no Configuration interface.; SDONotExists - The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.); NotAvailable - The target SDO is reachable but cannot respond.; InternalError - The target SDO cannot execute the operation completely due to some internal error.

get_monitoring

public Monitoring get_monitoring()
                          throws InterfaceNotImplemented,
                                 NotAvailable,
                                 InternalError

[SDO interface] Get Monitoring object

This operation returns an object implementing the Monitoring interface. The Monitoring interface is one of the interfaces that each SDO maintains. The interface is used to monitor the properties of an SDO. See OMG SDO specification Section 2.3.7, "Monitoring Interface," on page 2-35 for more details about the Monitoring interface.

Returns:: The Monitoring interface of an SDO.
Throws:: InterfaceNotImplemented - The target SDO has no Configuration interface.; SDONotExists - The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.); NotAvailable - The target SDO is reachable but cannot respond.; InternalError - The target SDO cannot execute the operation completely due to some internal error.

get_organizations

public Organization[] get_organizations()
                                 throws NotAvailable,
                                        InternalError

[SDO interface] Get Organization list

An SDO belongs to zero or more organizations. If the SDO belongs to one or more organizations, this operation returns the list of organizations that the SDO belongs to. An empty list is returned if the SDO does not belong to any Organizations.

Returns:: The list of Organizations that the SDO belong to.
Throws:: SDONotExists - The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.); NotAvailable - The target SDO is reachable but cannot respond.; InternalError - The target SDO cannot execute the operation completely due to some internal error.

get_status_list

public NameValue[] get_status_list()
                            throws NotAvailable,
                                   InternalError

[SDO interface] Get SDO Status list

This operation returns an NVlist describing the status of an SDO.

Returns:: The actual status of an SDO.
Throws:: SDONotExists - The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.); NotAvailable - The target SDO is reachable but cannot respond.; InternalError - The target SDO cannot execute the operation completely due to some internal error.

get_status

public org.omg.CORBA.Any get_status(java.lang.String name)
                             throws InvalidParameter,
                                    NotAvailable,
                                    InternalError

[SDO interface] Get SDO Status

This operation returns the value of the specified status parameter.

Parameters:: name - One of the parameters defining the "status" of an SDO.
Returns:: The value of the specified status parameter.
Throws:: SDONotExists - The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.); NotAvailable - The target SDO is reachable but cannot respond.; InvalidParameter - The parameter defined by "name" is null or does not exist.; InternalError - The target SDO cannot execute the operation completely due to some internal error.

getInstanceName

public final java.lang.String getInstanceName()

[local interface] Get instance name

Return the instance name that has been set in ComponentProfile.

Returns:: Instance name

setInstanceName

public void setInstanceName(java.lang.String instance_name)

[local interface] Set instance name

Set the instance name specified in ComponentProfile.

Parameters:: instance_name - Instance name

getTypeName

public final java.lang.String getTypeName()

[local interface] Get type name

Get the type name has been set in ComponentProfile.

Returns:: Type name

getCategory

public final java.lang.String getCategory()

[local interface] Get category information

Get the category information that has been set in ComponentProfile.

Returns:: Category information

getNamingNames

public java.lang.String[] getNamingNames()

[local interface] Get Naming Server information

Get Naming Server information that has been set.

Returns:: Naming Server list

setObjRef

public void setObjRef(RTObject rtobj)

[local interface] Set the object reference

Set RTC's CORBA object reference.

Parameters:: rtobj - The object reference

getObjRef

public final RTObject getObjRef()

[local interface] Get the object reference

Get CORBA object reference that has been set

Returns:: The object reference

setProperties

public void setProperties(Properties prop)

[local interface] Set RTC property

This operation sets the properties to the RTC. The given property values should include information for ComponentProfile. Generally, this operation is designed to be called from Manager, when RTC is initialized

Parameters:: prop - Property for RTC.

syncAttributesByProperties

protected void syncAttributesByProperties()
                                   throws java.lang.Exception

Sets property

Throws:: java.lang.Exception

getProperties

public Properties getProperties()

[local interface] Get RTC property

This operation returns the properties of the RTC. Empty property would be returned, if RTC has no property.

Returns:: Property for RTC.

bindParameter

public boolean bindParameter(java.lang.String param_name,
                             ValueHolder var,
                             java.lang.String def_val)

Setup for configuration parameters

Bind configuration parameter to its variable. Specify the data type of configuration parameter as \.

Parameters:: param_name - Configuration parameter name; var - Variables to store configuration parameter; def_val - Default value of configuration parameter
Returns:: Setup result (Successful:true, Failed:false)

updateParameters

public void updateParameters(java.lang.String config_set)

Update configuration parameters

Update configuration parameter value by the value that set to a configuration set of specified ID.

Parameters:: config_set - The target configuration set's ID for setup