RTC::Manager Class Reference

#include <Manager.h>

Classes
struct	ECFactoryPredicate
class	FactoryPredicate
struct	Finalized
struct	InstanceName
struct	ModuleFactories
class	ModulePredicate
class	OrbRunner
	OrbRunner class. More...
struct	Term
class	Terminator
	Terminator class. More...
Public Member Functions
void	terminate ()
	Terminate manager.
void	shutdown ()
	Shutdown Manager.
void	join ()
	Wait for Manager's termination.
LogStreamBuf &	getLogStreamBuf ()
	Get the log buffer.
std::string &	getLogLevel ()
	Get the log level of the configuration.
coil::Properties &	getConfig ()
	Get the manager configuration.
void	setModuleInitProc (ModuleInitProc proc)
	Set initial procedure.
bool	activateManager ()
	Activate the Manager.
void	runManager (bool no_block=false)
	Run the Manager.
void	load (const char fname, const char initfunc)
	[CORBA interface] Load module
void	unload (const char *fname)
	Unload module.
void	unloadAll ()
std::vector< coil::Properties >	getLoadedModules ()
	Get a list of loaded modules.
std::vector< coil::Properties >	getLoadableModules ()
	Get a list of loadable modules.
bool	registerFactory (coil::Properties &profile, RtcNewFunc new_func, RtcDeleteFunc delete_func)
	Register RT-Component Factory.
std::vector< coil::Properties >	getFactoryProfiles ()
	Get profiles of factories.
bool	registerECFactory (const char *name, ECNewFunc new_func, ECDeleteFunc delete_func)
	Register ExecutionContext Factory.
std::vector< std::string >	getModulesFactories ()
	Get the list of all Factories.
RTObject_impl *	createComponent (const char *comp_args)
	Create RT-Components.
ExecutionContextBase *	createContext (const char *ec_args)
	Create Context.
void	cleanupComponent (RTObject_impl *comp)
	Unregister RT-Components.
void	cleanupComponents ()
	This method deletes RT-Components.
void	notifyFinalized (RTObject_impl *comp)
	This method deletes RT-Components.
bool	registerComponent (RTObject_impl *comp)
	Register RT-Component directly without Factory.
bool	unregisterComponent (RTObject_impl *comp)
	Unregister RT-Components.
void	deleteComponent (RTObject_impl *comp)
	Unregister RT-Components that have been registered to Manager.
void	deleteComponent (const char *instance_name)
	Unregister RT-Components that have been registered to Manager.
RTObject_impl *	getComponent (const char *instance_name)
	Get RT-Component's pointer.
std::vector< RTObject_impl * >	getComponents ()
	Get all RT-Components registered in the Manager.
CORBA::ORB_ptr	getORB ()
	Get the pointer to ORB.
PortableServer::POA_ptr	getPOA ()
	Get a pointer to RootPOA held by Manager.
PortableServer::POAManager_ptr	getPOAManager ()
	Get POAManager that Manager has.
Static Public Member Functions
static Manager *	init (int argc, char **argv)
	Initialize manager.
static Manager &	instance ()
	Get instance of the manager.
Protected Types
typedef ObjectManager < std::string, RTObject_impl, InstanceName >	ComponentManager
typedef ObjectManager< const coil::Properties, FactoryBase, FactoryPredicate >	FactoryManager
	ComponentFactory.
typedef ObjectManager< const char *, ECFactoryBase, ECFactoryPredicate >	ECFactoryManager
Protected Member Functions
	Manager ()
	Protected Constructor.
	Manager (const Manager &manager)
	Protected Copy Constructor.
void	initManager (int argc, char **argv)
	Manager internal initialization.
void	shutdownManager ()
	Shutdown Manager.
void	shutdownOnNoRtcs ()
	Shutdown Manager.
bool	initLogger ()
	System logger initialization.
void	shutdownLogger ()
	System Logger finalization.
bool	initORB ()
	CORBA ORB initialization.
std::string	createORBOptions ()
	Create ORB command options.
void	createORBEndpoints (coil::vstring &endpoints)
	Create Endpoints.
void	createORBEndpointOption (std::string &opt, coil::vstring &endpoint)
	Create a command optional line of Endpoint of ORB.
void	shutdownORB ()
	ORB finalization.
bool	initNaming ()
	NamingManager initialization.
void	shutdownNaming ()
	NamingManager finalization.
void	shutdownComponents ()
	NamingManager finalization.
bool	procComponentArgs (const char *comp_arg, coil::Properties &comp_id, coil::Properties &comp_conf)
	Extracting component type/properties from the given string.
bool	procContextArgs (const char *ec_args, std::string &ec_id, coil::Properties &ec_conf)
	Extracting ExecutionContext's name/properties from the given string.
void	configureComponent (RTObject_impl *comp, const coil::Properties &prop)
	Configure RT-Component.
bool	initExecContext ()
	ExecutionContextManager initialization.
bool	initComposite ()
	PeriodicECSharedComposite initialization.
bool	initFactories ()
	Factories initialization.
bool	initTimer ()
	Timer initialization.
bool	initManagerServant ()
	ManagerServant initialization.
bool	mergeProperty (coil::Properties &prop, const char *file_name)
	Merge property information.
std::string	formatString (const char *naming_format, coil::Properties &prop)
	Construct registration information when registering to Naming server.
Protected Attributes
RTM::ManagerServant *	m_mgrservant
	The pointer to the ManagerServant.
CORBA::ORB_var	m_pORB
	The pointer to the ORB.
PortableServer::POA_var	m_pPOA
	The pointer to the POA.
PortableServer::POAManager_var	m_pPOAManager
	The pointer to the POAManager.
ModuleInitProc	m_initProc
	User's initialization function's pointer.
coil::Properties	m_config
	Managaer's configuration Properties.
ModuleManager *	m_module
	The pointer to the ModuleManager.
NamingManager *	m_namingManager
	The pointer to the NamingManager.
coil::Timer *	m_timer
	Timer Object.
LogStreamBuf	m_logStreamBuf
	Logger buffer.
Logger	rtclog
	Logger stream.
std::vector< std::filebuf * >	m_logfiles
	Files for log output.
ComponentManager	m_compManager
	ComponentManager.
FactoryManager	m_factory
	ComponentManager.
ECFactoryManager	m_ecfactory
	ExecutionContext Manager.
std::vector < ExecutionContextBase * >	m_ecs
	ExecutionContext list.
OrbRunner *	m_runner
	The pointer to ORB helper class.
Terminator *	m_terminator
	The pointer to ORB termination helper class.
Term	m_terminate
	Synchronous flag for manager termination.
Finalized	m_finalized
Static Protected Attributes
static Manager *	manager
	The pointer to the Manager.
static Mutex	mutex
	The mutex of the pointer to the Manager.

Detailed Description

Manager class.

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

Since:: 0.2.0

Member Typedef Documentation

typedef ObjectManager<std::string, RTObject_impl, InstanceName> RTC::Manager::ComponentManager [protected]

typedef ObjectManager<const char*, ECFactoryBase, ECFactoryPredicate> RTC::Manager::ECFactoryManager [protected]

typedef ObjectManager<const coil::Properties, FactoryBase, FactoryPredicate> RTC::Manager::FactoryManager [protected]

ComponentFactory.

Constructor & Destructor Documentation

RTC::Manager::Manager ( ) [protected]

Protected Constructor.

Protected Constructor

RTC::Manager::Manager ( const Manager & manager ) [protected]

Protected Copy Constructor.

Protected Copy Constructor

Parameters:

manager

Manager object of copy source

Member Function Documentation

bool RTC::Manager::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)

void RTC::Manager::cleanupComponent ( RTObject_impl * comp )

Unregister RT-Components.

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

Parameters:

comp

Target RT-Components for the unregistration

void RTC::Manager::cleanupComponents ( )

This method deletes RT-Components.

This method deletes RT-Components registered by notifyFinalized().

void RTC::Manager::configureComponent	(	RTObject_impl *	comp,
		const coil::Properties &	prop
	)			`[protected]`

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

RTObject_impl* RTC::Manager::createComponent ( const char * 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:

module_name

Target RT-Component names for the creation

Returns:: Created RT-Component's instances

ExecutionContextBase* RTC::Manager::createContext ( const char * ec_args )

Create Context.

Returns:: Created Context's instances

void RTC::Manager::createORBEndpointOption	(	std::string &	opt,
		coil::vstring &	endpoint
	)			`[protected]`

Create a command optional line of Endpoint of ORB.

Parameters:

	opt	ORB options
	endpoint	Endpoints list

void RTC::Manager::createORBEndpoints ( coil::vstring & endpoints ) [protected]

Create Endpoints.

Create Endpoints from the configuration.

Parameters:

endpoints

Endpoints list

std::string RTC::Manager::createORBOptions ( ) [protected]

Create ORB command options.

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

Returns:: ORB launch options

void RTC::Manager::deleteComponent ( const char * instance_name )

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:

instance_name

Target RT-Component's instances for the unregistration

void RTC::Manager::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

std::string RTC::Manager::formatString	(	const char *	naming_format,
		coil::Properties &	prop
	)			`[protected]`

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:

	naming_format	Format specification for NamingService registration
	prop	Property information that is used

Returns:: Specification format conversion result

RTObject_impl* RTC::Manager::getComponent ( const char * instance_name )

Get RT-Component's pointer.

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

Parameters:

instance_name

Target RT-Component's name for searching

Returns:: Target RT-Component's instances that matches

std::vector<RTObject_impl*> RTC::Manager::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

coil::Properties& RTC::Manager::getConfig ( ) [inline]

Get the manager configuration.

Get the manager configuration that has been set to manager.

Returns:: Manager's configuration

References m_config.

std::vector<coil::Properties> RTC::Manager::getFactoryProfiles ( )

Get profiles of factories.

Returns:: profiles of factories

std::vector<coil::Properties> RTC::Manager::getLoadableModules ( )

Get a list of loadable modules.

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

Returns:: Loadable module list

std::vector<coil::Properties> RTC::Manager::getLoadedModules ( )

Get a list of loaded modules.

Get module list that is currently loaded into manager.

Returns:: Module list that has been loaded.

std::string& RTC::Manager::getLogLevel ( ) [inline]

Get the log level of the configuration.

Returns:: Log level of Manager's configuration

References m_config.

LogStreamBuf& RTC::Manager::getLogStreamBuf ( ) [inline]

Get the log buffer.

Get the log buffer that has been set to manager.

Returns:: Log buffer to set to manager

References m_logStreamBuf.

std::vector<std::string> RTC::Manager::getModulesFactories ( )

Get the list of all Factories.

Get the list of all factories that have been registered.

Returns:: Registered factory list

CORBA::ORB_ptr RTC::Manager::getORB ( )

Get the pointer to ORB.

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

Returns:: ORB object

PortableServer::POA_ptr RTC::Manager::getPOA ( )

Get a pointer to RootPOA held by Manager.

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

Returns:: RootPOA object

PortableServer::POAManager_ptr RTC::Manager::getPOAManager ( )

Get POAManager that Manager has.

Get POAMAnager that has been set to Manager.

Returns:: POA manager

static Manager* RTC::Manager::init	(	int	argc,
		char **	argv
	)			`[static]`

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:

	argc	The number of command line arguments.
	argv	The array of the command line arguments.

Returns:: Reference of the unique instance of Manager

bool RTC::Manager::initComposite ( ) [protected]

PeriodicECSharedComposite initialization.

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

bool RTC::Manager::initExecContext ( ) [protected]

ExecutionContextManager initialization.

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

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

bool RTC::Manager::initFactories ( ) [protected]

Factories initialization.

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

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

bool RTC::Manager::initLogger ( ) [protected]

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)

void RTC::Manager::initManager	(	int	argc,
		char **	argv
	)			`[protected]`

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:

	argc	Number of commandline arguments
	argv	Commandline arguments

bool RTC::Manager::initManagerServant ( ) [protected]

ManagerServant initialization.

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

bool RTC::Manager::initNaming ( ) [protected]

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)

bool RTC::Manager::initORB ( ) [protected]

CORBA ORB initialization.

Initialize ORB based on the configuration given by arguments.

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

bool RTC::Manager::initTimer ( ) [protected]

Timer initialization.

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

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

static Manager& RTC::Manager::instance ( ) [static]

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

Referenced by CORBA_SeqUtil::refToVstring(), and RTC::Manager::Terminator::svc().

void RTC::Manager::join ( )

Wait for Manager's termination.

Wait for Manager's termination to synchronize.

void RTC::Manager::load	(	const char *	fname,
		const char *	initfunc
	)

[CORBA interface] Load module

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

Parameters:

	fname	The module file name
	initfunc	The initialize function name

bool RTC::Manager::mergeProperty	(	coil::Properties &	prop,
		const char *	file_name
	)			`[protected]`

Merge property information.

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

Parameters:

	prop	Target properties for the merge
	file_name	File name that property information is described

Returns:: Merge result (Successful:true, Failed:false)

void RTC::Manager::notifyFinalized ( RTObject_impl * comp )

This method deletes RT-Components.

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

Parameters:

Deleted

RT component

bool RTC::Manager::procComponentArgs	(	const char *	comp_arg,
		coil::Properties &	comp_id,
		coil::Properties &	comp_conf
	)			`[protected]`

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.

Returns:: comp_arg false will returned if no component type in arg

Parameters:

	comp_arg	character string to be processed
	comp_type	extracted component type name
	comp_prop	extracted component's properties

bool RTC::Manager::procContextArgs	(	const char *	ec_args,
		std::string &	ec_id,
		coil::Properties &	ec_conf
	)			`[protected]`

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.

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

Parameters:

	ec_arg	character string to be processed
	ec_type	extracted ExecutionContext's name
	ec_prop	extracted ExecutionContext's properties

bool RTC::Manager::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)

bool RTC::Manager::registerECFactory	(	const char *	name,
		ECNewFunc	new_func,
		ECDeleteFunc	delete_func
	)

Register ExecutionContext Factory.

Register Factory to create ExecutionContext's instances.

Parameters:

	name	ExecutionContext name for the creation
	new_func	ExecutionContext creation function
	delete_func	ExecutionContext destruction function

Returns:: Registration result (Successful:true, Failed:false)

bool RTC::Manager::registerFactory	(	coil::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)

void RTC::Manager::runManager ( bool no_block = false )

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:

no_block

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

void RTC::Manager::setModuleInitProc ( ModuleInitProc proc )

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:

proc

A function pointer to the initial procedure call

void RTC::Manager::shutdown ( )

Shutdown Manager.

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

Referenced by RTC::Manager::Terminator::svc().

void RTC::Manager::shutdownComponents ( ) [protected]

NamingManager finalization.

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

void RTC::Manager::shutdownLogger ( ) [protected]

System Logger finalization.