RTC::Manager Class Reference

Manager class. More...

#include <Manager.h>

Collaboration diagram for RTC::Manager:

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. More...
void	shutdown ()
	Shutdown Manager. More...
void	join ()
	Wait for Manager's termination. More...
LogStreamBuf &	getLogStreamBuf ()
	Get the log buffer. More...
std::string &	getLogLevel ()
	Get the log level of the configuration. More...
coil::Properties &	getConfig ()
	Get the manager configuration. More...
void	setModuleInitProc (ModuleInitProc proc)
	Set initial procedure. More...
bool	activateManager ()
	Activate the Manager. More...
void	runManager (bool no_block=false)
	Run the Manager. More...
ReturnCode_t	load (const std::string &fname, const std::string &initfunc)
	[CORBA interface] Load module More...
void	unload (const char *fname)
	Unload module. More...
void	unloadAll ()
	Unload all modules. More...
std::vector< coil::Properties >	getLoadedModules ()
	Get a list of loaded modules. More...
std::vector< coil::Properties >	getLoadableModules ()
	Get a list of loadable modules. More...
bool	registerFactory (coil::Properties &profile, RtcNewFunc new_func, RtcDeleteFunc delete_func)
	Register RT-Component Factory. More...
std::vector< coil::Properties >	getFactoryProfiles ()
	Get profiles of factories. More...
bool	registerECFactory (const char *name, ECNewFunc new_func, ECDeleteFunc delete_func)
	Register ExecutionContext Factory. More...
std::vector< std::string >	getModulesFactories ()
	Get the list of all Factories. More...
RTObject_impl *	createComponent (const char *comp_args)
	Create RT-Components. More...
ExecutionContextBase *	createContext (const char *ec_args)
	Create Context. More...
void	cleanupComponent (RTObject_impl *comp)
	Unregister RT-Components. More...
void	cleanupComponents ()
	This method deletes RT-Components. More...
void	notifyFinalized (RTObject_impl *comp)
	This method deletes RT-Components. More...
bool	registerComponent (RTObject_impl *comp)
	Register RT-Component directly without Factory. More...
bool	unregisterComponent (RTObject_impl *comp)
	Unregister RT-Components. More...
void	deleteComponent (RTObject_impl *comp)
	Unregister RT-Components that have been registered to Manager. More...
void	deleteComponent (const char *instance_name)
	Unregister RT-Components that have been registered to Manager. More...
RTObject_impl *	getComponent (const char *instance_name)
	Get RT-Component's pointer. More...
std::vector< RTObject_impl * >	getComponents ()
	Get all RT-Components registered in the Manager. More...
void	addManagerActionListener (RTM::ManagerActionListener *listener, bool autoclean=true)
void	removeManagerActionListener (RTM::ManagerActionListener *listener)
void	addModuleActionListener (RTM::ModuleActionListener *listener, bool autoclean=true)
void	removeModuleActionListener (RTM::ModuleActionListener *listener)
void	addRtcLifecycleActionListener (RTM::RtcLifecycleActionListener *listener, bool autoclean=true)
void	removeRtcLifecycleActionListener (RTM::RtcLifecycleActionListener *listener)
void	addNamingActionListener (RTM::NamingActionListener *listener, bool autoclean=true)
void	removeNamingActionListener (RTM::NamingActionListener *listener)
void	addLocalServiceActionListener (RTM::LocalServiceActionListener *listener, bool autoclean=true)
void	removeLocalServiceActionListener (RTM::LocalServiceActionListener *listener)
CORBA::ORB_ptr	theORB ()
	Get the pointer to ORB (ownership retained) More...
CORBA::ORB_ptr	getORB ()
	Get the pointer to ORB (ownership duplicated) More...
PortableServer::POA_ptr	thePOA ()
	Get a pointer to RootPOA held by Manager. More...
PortableServer::POA_ptr	getPOA ()
	Get a pointer to RootPOA held by Manager. More...
PortableServer::POAManager_ptr	thePOAManager ()
	Get POAManager that Manager has (ownership retained) More...
PortableServer::POAManager_ptr	getPOAManager ()
	Get POAManager that Manager has (ownership duplicated) More...
RTM::ManagerServant &	getManagerServant ()
	Getting ManagerServant. More...
bool	initLocalService ()
	LocalService initialization. More...
NamingManager *	getNaming ()
	Getting NamingManager. More...

Static Public Member Functions
static Manager *	init (int argc, char **argv)
	Initialize manager. More...
static Manager &	instance ()
	Get instance of the manager. More...

Protected Types
typedef ObjectManager< std::string, RTObject_impl, InstanceName >	ComponentManager
typedef ObjectManager< const coil::Properties, FactoryBase, FactoryPredicate >	FactoryManager
	ComponentFactory. More...
typedef ObjectManager< const char *, ECFactoryBase, ECFactoryPredicate >	ECFactoryManager

Protected Member Functions
	Manager ()
	Protected Constructor. More...
	Manager (const Manager &manager)
	Protected Copy Constructor. More...
void	initManager (int argc, char **argv)
	Manager internal initialization. More...
void	shutdownManager ()
	Shutdown Manager. More...
void	shutdownOnNoRtcs ()
	Shutdown Manager. More...
void	initLogstreamFile ()
void	initLogstreamPlugins ()
void	initLogstreamOthers ()
bool	initLogger ()
	System logger initialization. More...
void	shutdownLogger ()
	System Logger finalization. More...
bool	initORB ()
	CORBA ORB initialization. More...
std::string	createORBOptions ()
	Create ORB command options. More...
void	createORBEndpoints (coil::vstring &endpoints)
	Create Endpoints. More...
void	createORBEndpointOption (std::string &opt, coil::vstring &endpoint)
	Create a command optional line of Endpoint of ORB. More...
void	shutdownORB ()
	ORB finalization. More...
bool	initNaming ()
	NamingManager initialization. More...
void	shutdownNaming ()
	NamingManager finalization. More...
NamingManager &	getNamingManager ()
	Getting NamingManager. More...
void	shutdownComponents ()
	NamingManager finalization. More...
bool	procComponentArgs (const char *comp_arg, coil::Properties &comp_id, coil::Properties &comp_conf)
	Extracting component type/properties from the given string. More...
bool	procContextArgs (const char *ec_args, std::string &ec_id, coil::Properties &ec_conf)
	Extracting ExecutionContext's name/properties from the given string. More...
void	configureComponent (RTObject_impl *comp, const coil::Properties &prop)
	Configure RT-Component. More...
bool	initExecContext ()
	ExecutionContextManager initialization. More...
bool	initComposite ()
	PeriodicECSharedComposite initialization. More...
bool	initFactories ()
	Factories initialization. More...
void	initCpuAffinity ()
void	initPreConnection ()
void	initPreActivation ()
void	initPreCreation ()
void	invokeInitProc ()
void	publishPorts (RTObject_impl *comp)
void	subscribePorts (RTObject_impl *comp)
PortServiceList_var	getPortsOnNameServers (std::string nsname, std::string kind)
void	connectDataPorts (PortService_ptr port, PortServiceList_var &target_ports)
void	connectServicePorts (PortService_ptr port, PortServiceList_var &target_ports)
bool	initTimer ()
	Timer initialization. More...
bool	initManagerServant ()
	ManagerServant initialization. More...
bool	mergeProperty (coil::Properties &prop, const char *file_name)
	Merge property information. More...
std::string	formatString (const char *naming_format, coil::Properties &prop)
	Construct registration information when registering to Naming server. More...
void	setEndpointProperty (CORBA::Object_ptr objref)
	Setting endpoint info from corba.endpoints. More...
void	endpointPropertySwitch (const std::string &ipver, bool &ip, std::vector< int > &ip_list)
	Getting option info from corba.endpoint_property. More...

Protected Attributes
RTM::ManagerServant *	m_mgrservant
	The pointer to the ManagerServant. More...
CORBA::ORB_var	m_pORB
	The pointer to the ORB. More...
PortableServer::POA_var	m_pPOA
	The pointer to the POA. More...
PortableServer::POAManager_var	m_pPOAManager
	The pointer to the POAManager. More...
ModuleInitProc	m_initProc
	User's initialization function's pointer. More...
coil::Properties	m_config
	Managaer's configuration Properties. More...
ModuleManager *	m_module
	The pointer to the ModuleManager. More...
NamingManager *	m_namingManager
	The pointer to the NamingManager. More...
coil::Timer *	m_timer
	Timer Object. More...
LogStreamBuf	m_logStreamBuf
	Logger buffer. More...
Logger	rtclog
	Logger stream. More...
std::vector< std::filebuf * >	m_logfiles
	Files for log output. More...
ComponentManager	m_compManager
	ComponentManager. More...
FactoryManager	m_factory
	ComponentManager. More...
ECFactoryManager	m_ecfactory
	ExecutionContext Manager. More...
std::vector< ExecutionContextBase * >	m_ecs
	ExecutionContext list. More...
OrbRunner *	m_runner
	The pointer to ORB helper class. More...
Terminator *	m_terminator
	The pointer to ORB termination helper class. More...
Term	m_terminate
	Synchronous flag for manager termination. More...
Finalized	m_finalized
::RTM::ManagerActionListeners	m_listeners

Static Protected Attributes
static Manager *	manager
	The pointer to the Manager. More...
static Mutex	mutex
	The mutex of the pointer to the Manager. More...

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::addLocalServiceActionListener	(	RTM::LocalServiceActionListener *	listener,
		bool	autoclean = true
	)

void RTC::Manager::addManagerActionListener	(	RTM::ManagerActionListener *	listener,
		bool	autoclean = true
	)

void RTC::Manager::addModuleActionListener	(	RTM::ModuleActionListener *	listener,
		bool	autoclean = true
	)

void RTC::Manager::addNamingActionListener	(	RTM::NamingActionListener *	listener,
		bool	autoclean = true
	)

void RTC::Manager::addRtcLifecycleActionListener	(	RTM::RtcLifecycleActionListener *	listener,
		bool	autoclean = true
	)

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

void RTC::Manager::connectDataPorts ( PortService_ptr  port, PortServiceList_var &  target_ports  )

protected

Parameters

port
target_ports

void RTC::Manager::connectServicePorts ( PortService_ptr  port, PortServiceList_var &  target_ports  )

protected

Parameters

port
target_ports

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

(

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

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::endpointPropertySwitch ( const std::string &  ipver, bool &  ip, std::vector< int > &  ip_list  )

protected

Getting option info from corba.endpoint_property.

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

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

(

)

Get profiles of factories.

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.

Get the log level of the configuration.

Returns

Log level of Manager's configuration

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

RTM::ManagerServant& RTC::Manager::getManagerServant

(

)

Getting ManagerServant.

Returns

ManagerServant

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

NamingManager* RTC::Manager::getNaming

(

)

Getting NamingManager.

Returns

NamingManager

NamingManager& RTC::Manager::getNamingManager ( )

protected

Getting NamingManager.

CORBA::ORB_ptr RTC::Manager::getORB

(

)

Get the pointer to ORB (ownership duplicated)

Get the pointer to ORB that has been set to Manager. The ownership is copied (the reference count is incremented.), calling side also obtains reference ownership. The obtained reference must be released after use. Usually it is recommended that return value are assigned to _var type variables are wonership would be released automatically.

{ CORBA::ORB_var orb = Manager::instance().getORB(); orb->string_to_object(<IOR string>); } // ORB's reference in orb is released here.

Returns

ORB object

Referenced by CORBA_SeqUtil::refToVstring().

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. The ownership is copied (the reference count is incremented.), calling side also obtains reference ownership. The obtained reference must be released after use. Usually it is recommended that return value are assigned to _var type variables are wonership would be released automatically.

{ PortableServer::POA_var poa = Manager::instance().getPOA();; poa->servant_to_id(m_servant); } // POA's reference in orb is released here.

Returns

RootPOA object

PortableServer::POAManager_ptr RTC::Manager::getPOAManager

(

)

Get POAManager that Manager has (ownership duplicated)

Get POAMAnager that has been set to Manager. The ownership is copied (the reference count is incremented.), calling side also obtains reference ownership. The obtained reference must be released after use. Usually it is recommended that return value are assigned to _var type variables are wonership would be released automatically.

{ PortableServer::POAManager_var poam; poam = = Manager::instance().getPOAManager(); poam->activate(); } // POAManager's reference in orb is released here.

Returns

POA manager

PortServiceList_var RTC::Manager::getPortsOnNameServers ( std::string  nsname, std::string  kind  )

protected

Parameters

comp

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)

void RTC::Manager::initCpuAffinity ( )

protected

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::initLocalService

(

)

LocalService initialization.

Returns

Timer 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::initLogstreamFile ( )

protected

void RTC::Manager::initLogstreamOthers ( )

protected

void RTC::Manager::initLogstreamPlugins ( )

protected

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)

void RTC::Manager::initPreActivation ( )

protected

void RTC::Manager::initPreConnection ( )

protected

void RTC::Manager::initPreCreation ( )

protected

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().

void RTC::Manager::invokeInitProc ( )

protected

void RTC::Manager::join

(

)

Wait for Manager's termination.

Wait for Manager's termination to synchronize.

ReturnCode_t RTC::Manager::load	(	const std::string &	fname,
		const std::string &	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

Returns

Return code RTC::RTC_OK Normal return RTC::RTC_ERROR Load failed, or unknown error RTC::PRECONDITION_NOT_MET Not allowed operation by conf RTC::BAD_PARAMETER Invalid parameter

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

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

protected

Parameters

comp

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::removeLocalServiceActionListener

(

RTM::LocalServiceActionListener *

listener

)

void RTC::Manager::removeManagerActionListener

(

RTM::ManagerActionListener *

listener

)

void RTC::Manager::removeModuleActionListener

(

RTM::ModuleActionListener *

listener

)

void RTC::Manager::removeNamingActionListener

(

RTM::NamingActionListener *

listener

)

void RTC::Manager::removeRtcLifecycleActionListener

(

RTM::RtcLifecycleActionListener *

listener

)

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::setEndpointProperty ( CORBA::Object_ptr  objref )

protected

Setting endpoint info from corba.endpoints.

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.

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.

Finalize System Logger. If log information stored in the buffer exists, output information to the log file forcibly and close it.

void RTC::Manager::shutdownManager ( )

protected

Shutdown Manager.

Shutdown Manager (However, not implemented now)

void RTC::Manager::shutdownNaming ( )

protected

NamingManager finalization.

Finalize NamingManager. Unbind all registered elements and shutdown them.

void RTC::Manager::shutdownOnNoRtcs ( )

protected

Shutdown Manager.

This method shutdowns Manager as follows.

• "Manager.shutdown_on_nortcs" of configuration is YES.
• The component is not registered.

void RTC::Manager::shutdownORB ( )

protected

ORB finalization.

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

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

protected

Parameters

comp

void RTC::Manager::terminate

(

)

Terminate manager.

Terminate manager's processing

CORBA::ORB_ptr RTC::Manager::theORB

(

)

Get the pointer to ORB (ownership retained)

Get the pointer to ORB that has been set to Manager. The ownership of ORB is retained. If the returned value is assigned to _var variable, getORB() operation must be used. This operation is provided for the following use.

Manager::instance().theORB()->string_to_object(<IOR string>);

Returns

ORB object

PortableServer::POA_ptr RTC::Manager::thePOA

(

)

Get a pointer to RootPOA held by Manager.

Get the pointer to RootPOA that has been set to Manager. The ownership of POA is retained. If the returned value is assigned to _var variable, getPOA() operation must be used. This operation is provided for the following use.

Manager::instance().getPOA()->servant_to_id(m_servant);

Returns

RootPOA object

PortableServer::POAManager_ptr RTC::Manager::thePOAManager

(

)

Get POAManager that Manager has (ownership retained)

Get POAMAnager that has been set to Manager. The ownership of POAManager is retained. If the returned value is assigned to _var variable, getPOAManager() operation must be used. This operation is provided for the following use.

Manager::instance().thePOAManager()->activate();

Returns

POA manager

void RTC::Manager::unload

(

const char *

fname

)

Unload module.

Unload module.

Parameters

fname

The module file name

void RTC::Manager::unloadAll

(

)

Unload all modules.

Unload all modules.

bool RTC::Manager::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)

Member Data Documentation

ComponentManager RTC::Manager::m_compManager

protected

ComponentManager.

coil::Properties RTC::Manager::m_config

protected

Managaer's configuration Properties.

ECFactoryManager RTC::Manager::m_ecfactory

protected

ExecutionContext Manager.

std::vector<ExecutionContextBase*> RTC::Manager::m_ecs

protected

ExecutionContext list.

FactoryManager RTC::Manager::m_factory

protected

ComponentManager.

Finalized RTC::Manager::m_finalized

protected

ModuleInitProc RTC::Manager::m_initProc

protected

User's initialization function's pointer.

::RTM::ManagerActionListeners RTC::Manager::m_listeners

protected

std::vector<std::filebuf*> RTC::Manager::m_logfiles

protected

Files for log output.

LogStreamBuf RTC::Manager::m_logStreamBuf

protected

Logger buffer.

RTM::ManagerServant* RTC::Manager::m_mgrservant

protected

The pointer to the ManagerServant.

ModuleManager* RTC::Manager::m_module

protected

The pointer to the ModuleManager.

NamingManager* RTC::Manager::m_namingManager

protected

The pointer to the NamingManager.

CORBA::ORB_var RTC::Manager::m_pORB

protected

The pointer to the ORB.

PortableServer::POA_var RTC::Manager::m_pPOA

protected

The pointer to the POA.

PortableServer::POAManager_var RTC::Manager::m_pPOAManager

protected

The pointer to the POAManager.

OrbRunner* RTC::Manager::m_runner

protected

The pointer to ORB helper class.

Term RTC::Manager::m_terminate

protected

Synchronous flag for manager termination.

Flag used to take synchronization by join().

Terminator* RTC::Manager::m_terminator

protected

The pointer to ORB termination helper class.

coil::Timer* RTC::Manager::m_timer

protected

Timer Object.

Manager* RTC::Manager::manager

staticprotected

The pointer to the Manager.

Mutex RTC::Manager::mutex

staticprotected

The mutex of the pointer to the Manager.

Logger RTC::Manager::rtclog

protected

Logger stream.

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The documentation for this class was generated from the following file:

• Manager.h