ManagerServant.h

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

#include <iostream>
#include <coil/Mutex.h>
#include <coil/Guard.h>
#include <rtm/idl/ManagerSkel.h>
#include <rtm/Manager.h>
#include <rtm/SystemLogger.h>

namespace RTM
{
  class ManagerServant
    : public virtual POA_RTM::Manager,
      public virtual PortableServer::RefCountServantBase
  {
  public:
    // standard constructor
    ManagerServant();

    virtual ~ManagerServant(void);

    RTC::ReturnCode_t load_module(const char* pathname, const char* initfunc);

    RTC::ReturnCode_t unload_module(const char* pathname);

    RTM::ModuleProfileList* get_loadable_modules();

    RTM::ModuleProfileList* get_loaded_modules();

    // component 関連
    RTM::ModuleProfileList* get_factory_profiles();

    RTC::RTObject_ptr create_component(const char* module_name);

    RTC::ReturnCode_t delete_component(const char* instance_name);

    RTC::RTCList* get_components();

    RTC::ComponentProfileList* get_component_profiles();

    // manager 基本
    RTM::ManagerProfile* get_profile();

    RTM::NVList* get_configuration();

    RTC::ReturnCode_t set_configuration(const char* name, const char* value);

    ::CORBA::Boolean is_master();

    RTM::ManagerList* get_master_managers();

    RTC::ReturnCode_t add_master_manager(RTM::Manager_ptr mgr);

    RTC::ReturnCode_t remove_master_manager(RTM::Manager_ptr mgr);

    RTM::ManagerList* get_slave_managers();

    RTC::ReturnCode_t add_slave_manager(RTM::Manager_ptr mgr);

    RTC::ReturnCode_t remove_slave_manager(RTM::Manager_ptr mgr);

    RTC::ReturnCode_t fork();
    RTC::ReturnCode_t shutdown();
    RTC::ReturnCode_t restart();

    RTC::RTCList* get_components_by_name(const char* name);

    CORBA::Object_ptr get_service(const char* name);

    RTM::Manager_ptr getObjRef() const;

    bool createINSManager();

    RTM::Manager_ptr findManager(const std::string& host_port);

    RTM::Manager_ptr findManagerByName(const std::string mgr_name);

    RTM::Manager_ptr findManagerFromList(const std::string name,
                                         RTM::ManagerList& mlist);

    RTC::RTObject_ptr
    createComponentByManagerName(const std::string module_name);

    /*
     * @if jp
     * @brief 指定アドレスのマネージャでRTCを起動する
     *
     * comp&manager_address=localhost:2810 のようにRTC名
     * &manager_address=マネージャのホスト名、ポート番号を指定する
     *
     * @param module_name 起動するRTC、マネージャのホストアドレス
     * @return 生成されたRTCのオブジェクト参照
     *
     * @else
     * @brief Launch a RTC on the specified IP/Port address manager
     *
     * @param module_name Given parameter to create RTC
     * @return created RTObject object reference
     *
     * @endif
     */
    RTC::RTObject_ptr
    createComponentByAddress(const std::string module_name);
    /*
    * @if jp
    * @brief マスターマネージャの有無を確認してリストを更新する
    *
    *
    *
    * @else
    * @brief 
    *
    *
    * @endif
    */
    void updateMasterManager();
    std::string getParameterByModulename(const std::string param_name, std::string &module_name);
    bool isProcessIDManager(std::string mgrname);

  private:
    typedef coil::Guard<coil::Mutex> Guard;
    ::RTC::Logger rtclog;

    ::RTC::Manager& m_mgr;

    ::RTM::Manager_var m_objref;

    ::RTM::ManagerList m_masters;

    ::coil::Mutex m_masterMutex;

    ::RTM::ManagerList m_slaves;

    ::coil::Mutex m_slaveMutex;

    CORBA::Boolean m_isMaster;

    class is_equiv
    {
      RTM::Manager_var m_mgr;
    public:

      is_equiv(RTM::Manager_ptr mgr)
        : m_mgr(RTM::Manager::_duplicate(mgr)) {}
      bool operator()(RTM::Manager_ptr mgr)
      {
        return m_mgr->_is_equivalent(mgr);
      }
    };



  };

  class CompParam
  {
  public:
      CompParam(std::string module_name);
      static const unsigned int prof_list_size = 6;
      static const char* prof_list[prof_list_size];
      std::string vendor();
      std::string category();
      std::string impl_id();
      std::string language();
      std::string version();
  private:
      std::string m_type;
      std::string m_vendor;
      std::string m_category;
      std::string m_impl_id;
      std::string m_language;
      std::string m_version;

      
  };
}; // namespace RTM
#endif // RTM_MANAGERSERVANT_H