CORBA_RTCUtil.h

Go to the documentation of this file.

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

#include <rtm/RTC.h>
#include <rtm/NVUtil.h>
#include <rtm/CORBA_SeqUtil.h>
#include <rtm/RTObject.h>


namespace CORBA_RTCUtil
{
  coil::Properties get_component_profile(const RTC::RTObject_ptr rtc);
  bool is_existing(const RTC::RTObject_ptr rtc);
  bool is_alive_in_default_ec(const RTC::RTObject_ptr rtc);


  RTC::ExecutionContext_var get_actual_ec(const RTC::RTObject_ptr rtc,
                                          RTC::UniqueId ec_id = 0);

  RTC::UniqueId get_ec_id(const RTC::RTObject_ptr rtc,
                          const RTC::ExecutionContext_ptr ec);

  RTC::ReturnCode_t activate(RTC::RTObject_ptr rtc, RTC::UniqueId ec_id = 0);

  RTC::ReturnCode_t deactivate(RTC::RTObject_ptr rtc, RTC::UniqueId ec_id = 0);

  RTC::ReturnCode_t reset(RTC::RTObject_ptr rtc, RTC::UniqueId ec_id = 0);



  bool get_state(RTC::LifeCycleState  &state, const RTC::RTObject_ptr rtc, RTC::UniqueId ec_id = 0);


  bool is_in_inactive(const RTC::RTObject_ptr rtc, RTC::UniqueId ec_id = 0);


  bool is_in_active(const RTC::RTObject_ptr rtc, RTC::UniqueId ec_id = 0);


  bool is_in_error(const RTC::RTObject_ptr rtc, RTC::UniqueId ec_id = 0);



  CORBA::Double get_default_rate(const RTC::RTObject_ptr rtc);


  RTC::ReturnCode_t set_default_rate(RTC::RTObject_ptr rtc,
                                     const CORBA::Double rate);


  CORBA::Double get_current_rate(const RTC::RTObject_ptr rtc,
                                 RTC::UniqueId ec_id);

  RTC::ReturnCode_t set_current_rate(RTC::RTObject_ptr rtc,
                                     RTC::UniqueId ec_id,
                                     const CORBA::Double rate);


  RTC::ReturnCode_t add_rtc_to_default_ec(const RTC::RTObject_ptr localcomp,
                                          const RTC::RTObject_ptr othercomp);


  RTC::ReturnCode_t remove_rtc_to_default_ec(const RTC::RTObject_ptr localcomp,
                                             const RTC::RTObject_ptr othercomp);


  const RTC::RTCList get_participants_rtc(const RTC::RTObject_ptr rtc);



  coil::vstring get_port_names(const RTC::RTObject_ptr rtc);


  coil::vstring get_inport_names(const RTC::RTObject_ptr rtc);


  coil::vstring get_outport_names(const RTC::RTObject_ptr rtc);


  coil::vstring get_svcport_names(const RTC::RTObject_ptr rtc);


  coil::vstring get_connector_names(const RTC::PortService_ptr port);


  coil::vstring get_connector_names(const RTC::RTObject_ptr rtc,
                                    const std::string port_name);

  coil::vstring get_connector_ids(const RTC::PortService_ptr port);


  coil::vstring get_connector_ids(const RTC::RTObject_ptr rtc,
                                  const std::string port_name);


  RTC::ConnectorProfile_var create_connector(const std::string name,
                                             const coil::Properties prop_arg,
                                             const RTC::PortService_ptr port0,
                                             const RTC::PortService_ptr port1);

  bool already_connected(const RTC::PortService_ptr localport,
                         const RTC::PortService_ptr otherport);

  RTC::ReturnCode_t connect(const std::string name,
                            const coil::Properties prop,
                            const RTC::PortService_ptr port0,
                            const RTC::PortService_ptr port1);


  RTC::ReturnCode_t disconnect(RTC::ConnectorProfile connector_prof);


  RTC::ReturnCode_t disconnect_connector_name(const RTC::PortService_ptr port_ref, const std::string conn_name);



  RTC::ReturnCode_t disconnect_connector_name(const std::string port_name,
                                              const std::string conn_name);


  RTC::ReturnCode_t
  disconnect_connector_id(const RTC::PortService_ptr port_ref,
                          const std::string conn_id);


  RTC::ReturnCode_t disconnect_connector_id(const std::string port_name,
                                            const std::string conn_id);

  RTC::ReturnCode_t disconnect_all(const RTC::PortService_ptr port_ref);


  RTC::ReturnCode_t disconnect_all(const std::string port_name);

  RTC::PortService_var get_port_by_url(std::string port_name);

  RTC::ReturnCode_t disconnect_name(const RTC::PortService_ptr localport,
                                    const std::string othername);
  RTC::ReturnCode_t connect_multi(const std::string name,
    const coil::Properties prop,
    const RTC::PortService_ptr port,
    RTC::PortServiceList_var& target_ports);
  struct find_port
  {
    const std::string m_name;
    find_port(const std::string name) : m_name(name) {};
  bool operator()(RTC::PortService_var p);
  };

  RTC::PortService_var get_port_by_name(const RTC::RTObject_ptr rtc,
                                        std::string name);

  RTC::ReturnCode_t connect_by_name(std::string name, coil::Properties prop,
                                    RTC::RTObject_ptr rtc0,
                                    const std::string portName0,
                                    RTC::RTObject_ptr rtc1,
                                    const std::string portName1);

  coil::Properties get_configuration(const RTC::RTObject_ptr rtc, const std::string conf_name);


  std::string get_parameter_by_key(const RTC::RTObject_ptr rtc,
                                   const std::string confset_name,
                                   const std::string value_name);

  std::string get_active_configuration_name(const RTC::RTObject_ptr rtc);



  coil::Properties get_active_configuration(const RTC::RTObject_ptr rtc);


  bool set_configuration(const RTC::RTObject_ptr rtc, const std::string confset_name, const std::string value_name, const std::string value);



  bool set_active_configuration(const RTC::RTObject_ptr rtc, const std::string value_name, const std::string value);


  bool set_configuration_parameter(SDOPackage::Configuration_ptr conf,
                                   SDOPackage::ConfigurationSet* confset,
                                   const std::string value_name,
                                   const std::string value);


}; // namespace CORBA_SeqUtil
#endif // CORBA_SEQUTIL_H