RT-Component class. More...

#include <RTObject.h>

Inheritance diagram for RTC::RTObject_impl:

Collaboration diagram for RTC::RTObject_impl:

[legend]

Classes
struct	deactivate_comps
	Functor to deactivate RTC. More...

struct	ec_copy
	Functor to copy ExecutionContext. More...

struct	ec_find
	Functor to find ExecutionContext. More...

struct	nv_name
	Functor to find NVList. More...

class	SdoServiceConsumerTerminator

struct	svc_name
	Functor to find from SDOService Profile List by id. More...

Public Types
typedef PreComponentActionListener	PreCompActionListener
	Adding PreComponentAction type listener. More...

typedef PreComponentActionListenerType	PreCompActionListenerType

typedef PostComponentActionListener	PostCompActionListener
	Adding PostComponentAction type listener. More...

typedef PostComponentActionListenerType	PostCompActionListenerType

typedef ExecutionContextActionListenerType	ECActionListenerType
	Adding ExecutionContextAction type listener. More...

typedef ExecutionContextActionListener	ECActionListener

Public Member Functions
	RTObject_impl (Manager *manager)
	Constructor. More...

	RTObject_impl (CORBA::ORB_ptr orb, PortableServer::POA_ptr poa)
	Constructor. More...

virtual	~RTObject_impl (void)
	Virtual destructor. More...

virtual ReturnCode_t	initialize () throw (CORBA::SystemException)
	[CORBA interface] Initialize the RTC that realizes this interface. More...

virtual ReturnCode_t	finalize () throw (CORBA::SystemException)
	[CORBA interface] Finalize the RTC for destruction More...

virtual ReturnCode_t	exit () throw (CORBA::SystemException)
	[CORBA interface]top the RTC's execution context(s) and finalize it along with its contents. More...

virtual CORBA::Boolean	is_alive (ExecutionContext_ptr exec_context) throw (CORBA::SystemException)
	[CORBA interface] Confirm whether RTC is the alive state More...

virtual ExecutionContext_ptr	get_context (UniqueId exec_handle) throw (CORBA::SystemException)
	[CORBA interface] Get ExecutionContext. More...

virtual ExecutionContextList *	get_owned_contexts () throw (CORBA::SystemException)
	[CORBA interface] Get ExecutionContextList. More...

virtual ExecutionContextList *	get_participating_contexts () throw (CORBA::SystemException)
	[CORBA interface] Get participating ExecutionContextList. More...

virtual ExecutionContextHandle_t	get_context_handle (ExecutionContext_ptr cxt) throw (CORBA::SystemException)
	[CORBA interface] Return a handle of a ExecutionContext More...

UniqueId	attach_context (ExecutionContext_ptr exec_context) throw (CORBA::SystemException)
	[CORBA interface] Attach ExecutionContext More...

UniqueId	bindContext (ExecutionContext_ptr exec_context)

ReturnCode_t	detach_context (UniqueId exec_handle) throw (CORBA::SystemException)
	[CORBA interface] Detach ExecutionContext. More...

virtual ComponentProfile *	get_component_profile () throw (CORBA::SystemException)
	[RTObject CORBA interface] Get RTC's profile More...

virtual PortServiceList *	get_ports () throw (CORBA::SystemException)
	[RTObject CORBA interface] Get Ports More...

virtual ReturnCode_t	on_initialize () throw (CORBA::SystemException)
	[RTObject CORBA interface] Get ExecutionContextAdmin More...

virtual ReturnCode_t	on_finalize () throw (CORBA::SystemException)
	[ComponentAction CORBA interface] Finalize RTC More...

virtual ReturnCode_t	on_startup (UniqueId exec_handle) throw (CORBA::SystemException)
	[ComponentAction CORBA interface] Startup RTC More...

virtual ReturnCode_t	on_shutdown (UniqueId exec_handle) throw (CORBA::SystemException)
	[ComponentAction CORBA interface] Shutdown RTC More...

virtual ReturnCode_t	on_activated (UniqueId exec_handle) throw (CORBA::SystemException)
	[ComponentAction CORBA interface] Activate RTC More...

virtual ReturnCode_t	on_deactivated (UniqueId exec_handle) throw (CORBA::SystemException)
	[ComponentAction CORBA interface] Deactivate RTC More...

virtual ReturnCode_t	on_aborting (UniqueId exec_handle) throw (CORBA::SystemException)
	[ComponentAction CORBA interface] Transition to Error State More...

virtual ReturnCode_t	on_error (UniqueId exec_handle) throw (CORBA::SystemException)
	[ComponentAction CORBA interface] Error Processing of RTC More...

virtual ReturnCode_t	on_reset (UniqueId exec_handle) throw (CORBA::SystemException)
	[ComponentAction CORBA interface] Resetting RTC More...

virtual ReturnCode_t	on_execute (UniqueId exec_handle) throw (CORBA::SystemException)
	[DataFlowComponentAction CORBA interface] Primary Periodic Operation of RTC More...

virtual ReturnCode_t	on_state_update (UniqueId exec_handle) throw (CORBA::SystemException)
	[DataFlowComponentAction CORBA interface] Secondary Periodic Operation of RTC More...

virtual ReturnCode_t	on_rate_changed (UniqueId exec_handle) throw (CORBA::SystemException)
	[DataFlowComponentAction CORBA interface] Notify rate changed More...

virtual SDOPackage::OrganizationList *	get_owned_organizations () throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get Organization list More...

virtual char *	get_sdo_id () throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get the SDO ID More...

virtual char *	get_sdo_type () throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get SDO type More...

virtual SDOPackage::DeviceProfile *	get_device_profile () throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get SDO DeviceProfile list More...

virtual SDOPackage::ServiceProfileList *	get_service_profiles () throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get SDO ServiceProfile More...

virtual SDOPackage::ServiceProfile *	get_service_profile (const char *id) throw (CORBA::SystemException, SDOPackage::InvalidParameter, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get specified ServiceProfile More...

virtual SDOPackage::SDOService_ptr	get_sdo_service (const char *id) throw (CORBA::SystemException, SDOPackage::InvalidParameter, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get specified SDO Service's reference More...

virtual SDOPackage::Configuration_ptr	get_configuration () throw (CORBA::SystemException, SDOPackage::InterfaceNotImplemented, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get Configuration object More...

virtual SDOPackage::Monitoring_ptr	get_monitoring () throw (CORBA::SystemException, SDOPackage::InterfaceNotImplemented, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get Monitoring object More...

virtual SDOPackage::OrganizationList *	get_organizations () throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get Organization list More...

virtual SDOPackage::NVList *	get_status_list () throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get SDO Status list More...

virtual CORBA::Any *	get_status (const char *name) throw (CORBA::SystemException, SDOPackage::InvalidParameter, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get SDO Status More...

const char *	getInstanceName ()
	[local interface] Get instance name More...

void	setInstanceName (const char *instance_name)
	[local interface] Set instance name More...

const char *	getTypeName ()
	[local interface] Get type name More...

const char *	getDescription ()
	[local interface] GetDescription More...

const char *	getVersion ()
	[local interface] Get version information More...

const char *	getVendor ()
	[local interface] Get vendor More...

const char *	getCategory ()
	[local interface] Get category information More...

std::vector< std::string >	getNamingNames ()
	[local interface] Get Naming Server information More...

void	setObjRef (const RTObject_ptr rtobj)
	[local interface] Set the object reference More...

RTObject_ptr	getObjRef () const
	[local interface] Get the object reference More...

void	setProperties (const coil::Properties &prop)
	[local interface] Set RTC property More...

coil::Properties &	getProperties ()
	[local interface] Get RTC property More...

template<typename VarType >
bool	bindParameter (const char param_name, VarType &var, const char def_val, bool(trans)(VarType &, const char )=coil::stringTo)
	Setup for configuration parameters. More...

ConfigAdmin &	getConfigService ()
	Getting configuration service. More...

void	updateParameters (const char *config_set)
	Update configuration parameters (by ID) More...

bool	addPort (PortBase &port)
	[local interface] Register Port More...

bool	addPort (PortService_ptr port)
	[local interface] Register Port More...

bool	addPort (CorbaPort &port)
	[local interface] Register Port More...

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

void	registerPort (PortService_ptr port)
	[local interface] Register Port More...

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

bool	addInPort (const char *name, InPortBase &inport)
	[local interface] Register DataInPort More...

const std::vector< InPortBase * > &	getInPorts () const

const std::vector< OutPortBase * > &	getOutPorts () const

void	registerInPort (const char *name, InPortBase &inport)
	[local interface] Register DataInPort More...

bool	addOutPort (const char *name, OutPortBase &outport)
	[local interface] Register DataOutPort More...

void	registerOutPort (const char *name, OutPortBase &outport)
	[local interface] Register DataOutPort More...

bool	removeInPort (InPortBase &port)
	[local interface] Unregister InPort More...

bool	removeOutPort (OutPortBase &port)
	[local interface] Unregister OutPort More...

bool	removePort (PortBase &port)
	[local interface] Unregister Port More...

bool	removePort (PortService_ptr port)
	[local interface] Unregister Port More...

bool	removePort (CorbaPort &port)
	[local interface] Unregister Port More...

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

void	deletePort (PortService_ptr port)
	[local interface] Unregister Port More...

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

void	deletePortByName (const char *port_name)
	[local interface] Delete Port by specifying its name More...

ExecutionContext_ptr	getExecutionContext (RTC::UniqueId ec_id)
	[local interface] Getting current execution context More...

double	getExecutionRate (RTC::UniqueId ec_id)
	[local interface] Getting current context' execution rate More...

ReturnCode_t	setExecutionRate (RTC::UniqueId ec_id, double rate)
	[local interface] Setting current context' execution rate More...

bool	isOwnExecutionContext (RTC::UniqueId ec_id)
	[local interface] Checking if the current context is own context More...

ReturnCode_t	deactivate (RTC::UniqueId ec_id)
	[local interface] Make transition to Inactive state More...

ReturnCode_t	activate (RTC::UniqueId ec_id)
	[local interface] Make transition to Active state More...

ReturnCode_t	reset (RTC::UniqueId ec_id)
	[local interface] Resetting and go to Inactive state More...

bool	addSdoServiceProvider (const SDOPackage::ServiceProfile &prof, SdoServiceProviderBase *provider)
	[local interface] Set a SDO service provider More...

bool	removeSdoServiceProvider (const char *id)
	[local interface] Remove a SDO service provider More...

bool	addSdoServiceConsumer (const SDOPackage::ServiceProfile &prof)
	[local interface] Set a SDO service provider More...

bool	removeSdoServiceConsumer (const char *id)
	[local interface] Remove a SDO service provider More...

void	removeSdoServiceConsumerStartThread (const char *id)
	[local interface] Remove a SDO service provider More...

bool	readAll ()
	Readout the value from All InPorts. More...

bool	writeAll ()
	The write() method of all OutPort is called. More...

void	setReadAll (bool read=true, bool completion=false)
	Set whether to execute the readAll() method. More...

void	setWriteAll (bool write=true, bool completion=false)
	Set whether to execute the writeAll() method. More...

void	finalizePorts ()
	Unregister All Ports. More...

void	finalizeContexts ()
	The ExecutionContextBase list is deleted. More...

void	addPreComponentActionListener (PreComponentActionListenerType listener_type, PreComponentActionListener *listener, bool autoclean=true)

template<class Listener >
PreComponentActionListener *	addPreComponentActionListener (PreCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id))

void	removePreComponentActionListener (PreComponentActionListenerType listener_type, PreComponentActionListener *listener)
	Removing PreComponentAction type listener. More...

void	addPostComponentActionListener (PostComponentActionListenerType listener_type, PostComponentActionListener *listener, bool autoclean=true)

template<class Listener >
PostComponentActionListener *	addPostComponentActionListener (PostCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id, ReturnCode_t ret))

void	removePostComponentActionListener (PostComponentActionListenerType listener_type, PostComponentActionListener *listener)
	Removing PostComponentAction type listener. More...

void	addPortActionListener (PortActionListenerType listener_type, PortActionListener *listener, bool autoclean=true)
	Adding PortAction type listener. More...

template<class Listener >
PortActionListener *	addPortActionListener (PortActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const RTC::PortProfile &))

void	removePortActionListener (PortActionListenerType listener_type, PortActionListener *listener)
	Removing PortAction type listener. More...

void	addExecutionContextActionListener (ECActionListenerType listener_type, ECActionListener *listener, bool autoclean=true)

template<class Listener >
ECActionListener *	addExecutionContextActionListener (ECActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId))

void	removeExecutionContextActionListener (ECActionListenerType listener_type, ECActionListener *listener)
	Removing ExecutionContextAction type listener. More...

void	addPortConnectListener (PortConnectListenerType listener_type, PortConnectListener *listener, bool autoclean=true)
	Adding PortConnect type listener. More...

template<class Listener >
PortConnectListener *	addPortConnectListener (PortConnectListenerType listener_type, Listener &obj, void(Listener::memfunc)(const char , ConnectorProfile &))

void	removePortConnectListener (PortConnectListenerType listener_type, PortConnectListener *listener)
	Removing PortConnect type listener. More...

void	addPortConnectRetListener (PortConnectRetListenerType listener_type, PortConnectRetListener *listener, bool autoclean=true)
	Adding PortConnectRet type listener. More...

template<class Listener >
PortConnectRetListener *	addPortConnectRetListener (PortConnectRetListenerType listener_type, Listener &obj, void(Listener::memfunc)(const char , ConnectorProfile &, ReturnCode_t))

void	removePortConnectRetListener (PortConnectRetListenerType listener_type, PortConnectRetListener *listener)
	Removing PortConnectRet type listener. More...

void	addConfigurationParamListener (ConfigurationParamListenerType type, ConfigurationParamListener *listener, bool autoclean=true)
	Adding ConfigurationParamListener. More...

template<class Listener >
ConfigurationParamListener *	addConfigurationParamListener (ConfigurationParamListenerType listener_type, Listener &obj, void(Listener::memfunc)(const char , const char *))

void	removeConfigurationParamListener (ConfigurationParamListenerType type, ConfigurationParamListener *listener)
	Removing ConfigurationParamListener. More...

void	addConfigurationSetListener (ConfigurationSetListenerType type, ConfigurationSetListener *listener, bool autoclean=true)
	Adding ConfigurationSetListener. More...

template<class Listener >
ConfigurationSetListener *	addConfigurationSetListener (ConfigurationSetListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const coil::Properties &config_set))

void	removeConfigurationSetListener (ConfigurationSetListenerType type, ConfigurationSetListener *listener)
	Removing ConfigurationSetListener. More...

void	addConfigurationSetNameListener (ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener, bool autoclean=true)
	Adding ConfigurationSetNameListener. More...

template<class Listener >
ConfigurationSetNameListener *	addConfigurationSetNameListener (ConfigurationSetNameListenerType type, Listener &obj, void(Listener::memfunc)(const char ))

void	removeConfigurationSetNameListener (ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener)
	Removing ConfigurationSetNameListener. More...

Protected Member Functions
virtual ReturnCode_t	onInitialize ()
	Callback function to initialize. More...

virtual ReturnCode_t	onFinalize ()
	Callback function to finalize. More...

virtual ReturnCode_t	onStartup (RTC::UniqueId exec_handle)
	Callback function for startup action. More...

virtual ReturnCode_t	onShutdown (RTC::UniqueId exec_handle)
	Callback function for shutdown action. More...

virtual ReturnCode_t	onActivated (RTC::UniqueId exec_handle)
	Callback function to activate. More...

virtual ReturnCode_t	onDeactivated (RTC::UniqueId exec_handle)
	Callback function to deactivate. More...

virtual ReturnCode_t	onExecute (RTC::UniqueId exec_handle)
	Callback function to execute periodically. More...

virtual ReturnCode_t	onAborting (RTC::UniqueId exec_handle)
	Callback function to abort. More...

virtual ReturnCode_t	onError (RTC::UniqueId exec_handle)
	Callback function for error handling. More...

virtual ReturnCode_t	onReset (RTC::UniqueId exec_handle)
	Callback function to reset. More...

virtual ReturnCode_t	onStateUpdate (RTC::UniqueId exec_handle)
	Callback function to update the state. More...

virtual ReturnCode_t	onRateChanged (RTC::UniqueId exec_handle)
	Callback function to change execution cycle. More...

void	shutdown ()
	Shutdown RTC. More...

void	preOnInitialize (UniqueId ec_id)

void	preOnFinalize (UniqueId ec_id)

void	preOnStartup (UniqueId ec_id)

void	preOnShutdown (UniqueId ec_id)

void	preOnActivated (UniqueId ec_id)

void	preOnDeactivated (UniqueId ec_id)

void	preOnAborting (UniqueId ec_id)

void	preOnError (UniqueId ec_id)

void	preOnReset (UniqueId ec_id)

void	preOnExecute (UniqueId ec_id)

void	preOnStateUpdate (UniqueId ec_id)

void	preOnRateChanged (UniqueId ec_id)

void	postOnInitialize (UniqueId ec_id, ReturnCode_t ret)

void	postOnFinalize (UniqueId ec_id, ReturnCode_t ret)

void	postOnStartup (UniqueId ec_id, ReturnCode_t ret)

void	postOnShutdown (UniqueId ec_id, ReturnCode_t ret)

void	postOnActivated (UniqueId ec_id, ReturnCode_t ret)

void	postOnDeactivated (UniqueId ec_id, ReturnCode_t ret)

void	postOnAborting (UniqueId ec_id, ReturnCode_t ret)

void	postOnError (UniqueId ec_id, ReturnCode_t ret)

void	postOnReset (UniqueId ec_id, ReturnCode_t ret)

void	postOnExecute (UniqueId ec_id, ReturnCode_t ret)

void	postOnStateUpdate (UniqueId ec_id, ReturnCode_t ret)

void	postOnRateChanged (UniqueId ec_id, ReturnCode_t ret)

void	onAddPort (const PortProfile &pprof)

void	onRemovePort (const PortProfile &pprof)

void	onAttachExecutionContext (UniqueId ec_id)

void	onDetachExecutionContext (UniqueId ec_id)

ReturnCode_t	getInheritedECOptions (coil::Properties &default_opts)

ReturnCode_t	getPrivateContextOptions (std::vector< coil::Properties > &ec_args)
	getting individual EC options from RTC's configuration file More...

ReturnCode_t	getGlobalContextOptions (coil::Properties &global_ec_props)
	getting global EC options from rtc.conf More...

ReturnCode_t	getContextOptions (std::vector< coil::Properties > &ec_args)
	getting EC options More...

ReturnCode_t	findExistingEC (coil::Properties &ec_arg, RTC::ExecutionContextBase *&ec)
	fiding existing EC from the factory More...

ReturnCode_t	createContexts (std::vector< coil::Properties > &ec_args)
	creating, initializing and binding context More...

Protected Attributes
Logger	rtclog
	Logger stream. More...

Manager *	m_pManager
	Manager object. More...

CORBA::ORB_var	m_pORB
	The pointer to the ORB. More...

PortableServer::POA_var	m_pPOA
	The pointer to the POA. More...

SDOPackage::OrganizationList	m_sdoOwnedOrganizations
	SDO owned organization list. More...

SDOPackage::Configuration_impl *	m_pSdoConfigImpl
	The pointer to the SDO Configuration Object. More...

SDOPackage::Configuration_var	m_pSdoConfig
	The pointer to the SDO Configuration Interface. More...

SDOPackage::OrganizationList	m_sdoOrganizations
	SDO organization. More...

SDOPackage::NVList	m_sdoStatus
	SDO Status. More...

ComponentProfile	m_profile
	ComponentProfile. More...

RTObject_var	m_objref
	Object reference. More...

PortAdmin	m_portAdmin
	List of Port Object reference. More...

std::vector< InPortBase * >	m_inports
	List of InPortBase*. More...

std::vector< OutPortBase * >	m_outports
	List of OutPortBase*. More...

ExecutionContextServiceList	m_ecMine
	List of owned ExecutionContextService. More...

std::vector< ExecutionContextBase * >	m_eclist
	List of ExecutionContextBase. More...

ExecutionContextServiceList	m_ecOther
	List of participating ExecutionContextService. More...

bool	m_created
	Created Status Flag. More...

bool	m_exiting
	RTC Finalize Status Flag. More...

coil::Properties	m_properties
	Alive Status Flag. More...

ConfigAdmin	m_configsets
	Configuration Administrator Object. More...

SdoServiceAdmin	m_sdoservice
	SDO Service Administrator Object. More...

bool	m_readAll
	flag for readAll() More...

bool	m_writeAll
	flag for writeAll() More...

bool	m_readAllCompletion
	flag for readAll() More...

bool	m_writeAllCompletion
	flag for writeAll() More...

ComponentActionListeners	m_actionListeners
	ComponentActionListener holder. More...

PortConnectListeners	m_portconnListeners
	PortConnectListener holder. More...

SdoServiceConsumerTerminator *	m_sdoconterm

Detailed Description

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.)

Since: 0.2.0

Member Typedef Documentation

typedef ExecutionContextActionListener RTC::RTObject_impl::ECActionListener

typedef ExecutionContextActionListenerType RTC::RTObject_impl::ECActionListenerType

Adding ExecutionContextAction type listener.

This operation adds certain listeners related to ComponentActions post events. The following listener types are available.

ADD_PORT: At adding ExecutionContext
REMOVE_PORT: At removing ExecutionContext

Listeners should have the following function operator().

ExecutionContextActionListener::operator()(UniqueId ec_id)

The ownership of the given listener object is transferred to this RTObject object in default. The given listener object will be destroied automatically in the RTObject's dtor or if the listener is deleted by removeExecutionContextActionListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters

listener_type	A listener type
listener	A pointer to a listener object
autoclean	A flag for automatic listener destruction

typedef PostComponentActionListener RTC::RTObject_impl::PostCompActionListener

Adding PostComponentAction type listener.

This operation adds certain listeners related to ComponentActions post events. The following listener types are available.

POST_ON_INITIALIZE: after onInitialize
POST_ON_FINALIZE: after onFinalize
POST_ON_STARTUP: after onStartup
POST_ON_SHUTDOWN: after onShutdown
POST_ON_ACTIVATED: after onActivated
POST_ON_DEACTIVATED: after onDeactivated
POST_ON_ABORTED: after onAborted
POST_ON_ERROR: after onError
POST_ON_RESET: after onReset
POST_ON_EXECUTE: after onExecute
POST_ON_STATE_UPDATE: after onStateUpdate

Listeners should have the following function operator().

PostComponentActionListener::operator()(UniqueId ec_id, ReturnCode_t ret)

The ownership of the given listener object is transferred to this RTObject object in default. The given listener object will be destroied automatically in the RTObject's dtor or if the listener is deleted by removePostComponentActionListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters

listener_type	A listener type
listener	A pointer to a listener object
autoclean	A flag for automatic listener destruction

typedef PostComponentActionListenerType RTC::RTObject_impl::PostCompActionListenerType

typedef PreComponentActionListener RTC::RTObject_impl::PreCompActionListener

Adding PreComponentAction type listener.

This operation adds certain listeners related to ComponentActions pre events. The following listener types are available.

PRE_ON_INITIALIZE: before onInitialize
PRE_ON_FINALIZE: before onFinalize
PRE_ON_STARTUP: before onStartup
PRE_ON_SHUTDOWN: before onShutdown
PRE_ON_ACTIVATED: before onActivated
PRE_ON_DEACTIVATED: before onDeactivated
PRE_ON_ABORTED: before onAborted
PRE_ON_ERROR: before onError
PRE_ON_RESET: before onReset
PRE_ON_EXECUTE: before onExecute
PRE_ON_STATE_UPDATE: before onStateUpdate

Listeners should have the following function operator().

PreComponentActionListener::operator()(UniqueId ec_id)

The ownership of the given listener object is transferred to this RTObject object in default. The given listener object will be destroied automatically in the RTObject's dtor or if the listener is deleted by removePreComponentActionListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters

listener_type	A listener type
listener	A pointer to a listener object
autoclean	A flag for automatic listener destruction

typedef PreComponentActionListenerType RTC::RTObject_impl::PreCompActionListenerType

Constructor & Destructor Documentation

RTC::RTObject_impl::RTObject_impl ( Manager * manager )

Constructor.

Constructor

Parameters

manager Manager object

RTC::RTObject_impl::RTObject_impl	(	CORBA::ORB_ptr	orb,
		PortableServer::POA_ptr	poa
	)

Constructor.

Constructor

Parameters

orb	ORB
poa	POA

virtual RTC::RTObject_impl::~RTObject_impl ( void )

virtual

Virtual destructor.

Member Function Documentation

ReturnCode_t RTC::RTObject_impl::activate ( RTC::UniqueId ec_id )

[local interface] Make transition to Active state

This function makes transition from Inactive to Active state. This function is assumed to be called from the following functions.

The argument of this function should be the first argument (UniqueId ec_id) of the above function.

Parameters

ec_id The above functions' first argument "exec_handle."

Returns: Return code

void RTC::RTObject_impl::addConfigurationParamListener	(	ConfigurationParamListenerType	type,
		ConfigurationParamListener *	listener,
		bool	autoclean = `true`
	)

Adding ConfigurationParamListener.

This function adds a listener object which is called when update(const char* config_set, const char* config_param) is called. In the type argument, currently only ON_UPDATE_CONFIG_PARAM is allowed.

Parameters

type	ConfigurationParamListenerType value ON_UPDATE_CONFIG_PARAM is only allowed.
listener	ConfigurationParamListener listener object.
autoclean	a flag whether if the listener object autocleaned.

template<class Listener >

ConfigurationParamListener* RTC::RTObject_impl::addConfigurationParamListener	(	ConfigurationParamListenerType	listener_type,
		Listener &	obj,
		void(Listener::)(const char , const char *)	memfunc
	)

inline

void RTC::RTObject_impl::addConfigurationSetListener	(	ConfigurationSetListenerType	type,
		ConfigurationSetListener *	listener,
		bool	autoclean = `true`
	)

Adding ConfigurationSetListener.

This function add a listener object which is called when ConfigurationSet is updated. Available events are the followings.

Parameters

type	ConfigurationSetListenerType value
listener	ConfigurationSetListener listener object.
autoclean	a flag whether if the listener object autocleaned.

template<class Listener >

ConfigurationSetListener* RTC::RTObject_impl::addConfigurationSetListener	(	ConfigurationSetListenerType	listener_type,
		Listener &	obj,
		void(Listener::*)(const coil::Properties &config_set)	memfunc
	)

inline

void RTC::RTObject_impl::addConfigurationSetNameListener	(	ConfigurationSetNameListenerType	type,
		ConfigurationSetNameListener *	listener,
		bool	autoclean = `true`
	)

Adding ConfigurationSetNameListener.

This function add a listener object which is called when ConfigurationSetName is updated. Available events are the followings.

ON_UPDATE_CONFIG_SET: A ConfigurationSet has been updated.
ON_REMOVE_CONFIG_SET: A ConfigurationSet has been deleted.
ON_ACTIVATE_CONFIG_SET: A ConfigurationSet has been activated.

Parameters

type	ConfigurationSetNameListenerType value
listener	ConfigurationSetNameListener listener object.
autoclean	a flag whether if the listener object autocleaned.

template<class Listener >

ConfigurationSetNameListener* RTC::RTObject_impl::addConfigurationSetNameListener	(	ConfigurationSetNameListenerType	type,
		Listener &	obj,
		void(Listener::)(const char )	memfunc
	)

inline

void RTC::RTObject_impl::addExecutionContextActionListener	(	ECActionListenerType	listener_type,
		ECActionListener *	listener,
		bool	autoclean = `true`
	)

template<class Listener >

ECActionListener* RTC::RTObject_impl::addExecutionContextActionListener	(	ECActionListenerType	listener_type,
		Listener &	obj,
		void(Listener::*)(UniqueId)	memfunc
	)

inline

bool RTC::RTObject_impl::addInPort	(	const char *	name,
		InPortBase &	inport
	)

[local interface] Register DataInPort

This operation registers DataInPort held by this RTC. Set "port.dataport" and "tcp_any" to property of Port, and create instances of DataInPort and register it.

Parameters

name	Port name
inport	DataInPort which is registered to the RTC

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

bool RTC::RTObject_impl::addOutPort	(	const char *	name,
		OutPortBase &	outport
	)

[local interface] Register DataOutPort

This operation registers DataOutPor held by this RTC. Set "port.dataport" and "tcp_any" to property of Port, and then create instances of DataOutPort and register it.

Parameters

name	Port name
outport	DataOutPort which is registered to the RTC

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

bool RTC::RTObject_impl::addPort ( PortBase & port )

[local interface] Register Port

This operation registers a Port held by this RTC. In order to enable access to the Port from outside of RTC, the Port must be registered by this operation. The Port that is registered by this operation would be identified by PortProfile.name in the inside of RTC. Therefore, the Port should have unique PortProfile.name in the RTC. The registering Port would be activated properly, and the reference and the object reference would be stored in lists in RTC.

Parameters

port	Port which is registered to the RTC

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

bool RTC::RTObject_impl::addPort ( PortService_ptr port )

[local interface] Register Port

This operation registers a Port held by this RTC. In order to enable access to the Port from outside of RTC, the Port must be registered by this operation. The Port that is registered by this operation would be identified by PortProfile.name in the inside of RTC. Therefore, the Port should have unique PortProfile.name in the RTC. The registering Port would be activated properly, and the reference and the object reference would be stored in lists in RTC.

Parameters

port	Port which is registered to the RTC

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

bool RTC::RTObject_impl::addPort ( CorbaPort & port )

[local interface] Register Port

This operation registers a Port held by this RTC. In order to enable access to the Port from outside of RTC, the Port must be registered by this operation. The Port that is registered by this operation would be identified by PortProfile.name in the inside of RTC. Therefore, the Port should have unique PortProfile.name in the RTC. The registering Port would be activated properly, and the reference and the object reference would be stored in lists in RTC.

Parameters

port	Port which is registered to the RTC

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

void RTC::RTObject_impl::addPortActionListener	(	PortActionListenerType	listener_type,
		PortActionListener *	listener,
		bool	autoclean = `true`
	)

Adding PortAction type listener.

This operation adds certain listeners related to ComponentActions post events. The following listener types are available.

ADD_PORT: At adding Port
REMOVE_PORT: At removing Port

Listeners should have the following function operator().

PortActionListener::operator()(RTC::PortProfile pprof)

The ownership of the given listener object is transferred to this RTObject object in default. The given listener object will be destroied automatically in the RTObject's dtor or if the listener is deleted by removePortActionListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters

listener_type	A listener type
listener	A pointer to a listener object
autoclean	A flag for automatic listener destruction

template<class Listener >

PortActionListener* RTC::RTObject_impl::addPortActionListener	(	PortActionListenerType	listener_type,
		Listener &	obj,
		void(Listener::*)(const RTC::PortProfile &)	memfunc
	)

inline

void RTC::RTObject_impl::addPortConnectListener	(	PortConnectListenerType	listener_type,
		PortConnectListener *	listener,
		bool	autoclean = `true`
	)

Adding PortConnect type listener.

This operation adds certain listeners related to Port's connect actions. The following listener types are available.

ON_NOTIFY_CONNECT: right after entering into notify_connect()
ON_NOTIFY_DISCONNECT: right after entering into notify_disconnect()
ON_UNSUBSCRIBE_INTERFACES: unsubscribing IF in notify_disconnect()

Listeners should have the following function operator().

PortConnectListener::operator()(const char*, ConnectorProfile)

The ownership of the given listener object is transferred to this RTObject object in default. The given listener object will be destroied automatically in the RTObject's dtor or if the listener is deleted by removePortConnectListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters

listener_type	A listener type
listener	A pointer to a listener object
autoclean	A flag for automatic listener destruction

template<class Listener >

PortConnectListener* RTC::RTObject_impl::addPortConnectListener	(	PortConnectListenerType	listener_type,
		Listener &	obj,
		void(Listener::)(const char , ConnectorProfile &)	memfunc
	)

inline

void RTC::RTObject_impl::addPortConnectRetListener	(	PortConnectRetListenerType	listener_type,
		PortConnectRetListener *	listener,
		bool	autoclean = `true`
	)

Adding PortConnectRet type listener.

This operation adds certain listeners related to Port's connect actions. The following listener types are available.

ON_CONNECT_NEXTPORT: after cascade-call in notify_connect()
ON_SUBSCRIBE_INTERFACES: after IF subscribing in notify_connect()
ON_CONNECTED: completed nofity_connect() connection process
ON_DISCONNECT_NEXT: after cascade-call in notify_disconnect()
ON_DISCONNECTED: completed notify_disconnect() disconnection process

Listeners should have the following function operator().

PortConnectRetListener::operator()(const char*, ConnectorProfile)

The ownership of the given listener object is transferred to this RTObject object in default. The given listener object will be destroied automatically in the RTObject's dtor or if the listener is deleted by removePortConnectRetListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters

listener_type	A listener type
listener	A pointer to a listener object
autoclean	A flag for automatic listener destruction

template<class Listener >

PortConnectRetListener* RTC::RTObject_impl::addPortConnectRetListener	(	PortConnectRetListenerType	listener_type,
		Listener &	obj,
		void(Listener::)(const char , ConnectorProfile &, ReturnCode_t)	memfunc
	)

inline

void RTC::RTObject_impl::addPostComponentActionListener	(	PostComponentActionListenerType	listener_type,
		PostComponentActionListener *	listener,
		bool	autoclean = `true`
	)

template<class Listener >

PostComponentActionListener* RTC::RTObject_impl::addPostComponentActionListener	(	PostCompActionListenerType	listener_type,
		Listener &	obj,
		void(Listener::*)(UniqueId ec_id, ReturnCode_t ret)	memfunc
	)

inline

void RTC::RTObject_impl::addPreComponentActionListener	(	PreComponentActionListenerType	listener_type,
		PreComponentActionListener *	listener,
		bool	autoclean = `true`
	)

template<class Listener >

PreComponentActionListener* RTC::RTObject_impl::addPreComponentActionListener	(	PreCompActionListenerType	listener_type,
		Listener &	obj,
		void(Listener::*)(UniqueId ec_id)	memfunc
	)

inline

bool RTC::RTObject_impl::addSdoServiceConsumer ( const SDOPackage::ServiceProfile & prof )

[local interface] Set a SDO service provider

bool RTC::RTObject_impl::addSdoServiceProvider	(	const SDOPackage::ServiceProfile &	prof,
		SdoServiceProviderBase *	provider
	)

[local interface] Set a SDO service provider

UniqueId RTC::RTObject_impl::attach_context	(	ExecutionContext_ptr	exec_context	)
throw	(	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

UniqueId RTC::RTObject_impl::bindContext ( ExecutionContext_ptr exec_context )

template<typename VarType >

bool RTC::RTObject_impl::bindParameter	(	const char *	param_name,
		VarType &	var,
		const char *	def_val,
		bool()(VarType &, const char )	trans = `coil::stringTo`
	)

inline

Setup for configuration parameters.

Bind configuration parameter to its variable. Specify the data type of configuration parameter as <VarType>.

Parameters

param_name	Configuration parameter name
var	Variables to store configuration parameter
def_val	Default value of configuration parameter
trans	Function to transform configuration parameter type into string format

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

References RTC_TRACE.

ReturnCode_t RTC::RTObject_impl::createContexts ( std::vector< coil::Properties > & ec_args )

protected

creating, initializing and binding context

ReturnCode_t RTC::RTObject_impl::deactivate ( RTC::UniqueId ec_id )

[local interface] Make transition to Inactive state

This function makes transition from Active to Inactive state. This function is assumed to be called from the following functions.

The argument of this function should be the first argument (UniqueId ec_id) of the above function.

Parameters

ec_id The above functions' first argument "exec_handle."

Returns: Return code

void RTC::RTObject_impl::deletePort ( PortBase & port )

[local interface] Unregister Port

This operation unregisters a Port held by this RTC.

Parameters

port	Port which is unregistered

void RTC::RTObject_impl::deletePort ( PortService_ptr port )

[local interface] Unregister Port

This operation unregisters a Port held by this RTC.

Parameters

port	Port which is unregistered

void RTC::RTObject_impl::deletePort ( CorbaPort & port )

[local interface] Unregister Port

This operation unregisters a Port held by this RTC.

Parameters

port	Port which is unregistered

void RTC::RTObject_impl::deletePortByName ( const char * port_name )

[local interface] Delete Port by specifying its name

Delete Port which RTC has by specifying its name.

Parameters

port_name Name of Port which is deleted

ReturnCode_t RTC::RTObject_impl::detach_context	(	UniqueId	exec_handle	)
throw	(	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

exec_handle Detaching ExecutionContext Handle

Returns: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::exit	(		)
throw	(	CORBA::SystemException
	)

virtual

[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

Reimplemented in RTC::PeriodicECSharedComposite.

virtual ReturnCode_t RTC::RTObject_impl::finalize	(		)
throw	(	CORBA::SystemException
	)

virtual

[CORBA interface] Finalize the RTC 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

void RTC::RTObject_impl::finalizeContexts ( )

The ExecutionContextBase list is deleted.

void RTC::RTObject_impl::finalizePorts ( )

Unregister All Ports.

This operation deactivates the all Ports and deletes the all Port's registrations in the RTC

ReturnCode_t RTC::RTObject_impl::findExistingEC	(	coil::Properties &	ec_arg,
		RTC::ExecutionContextBase *&	ec
	)

protected

fiding existing EC from the factory

virtual ComponentProfile* RTC::RTObject_impl::get_component_profile	(		)
throw	(	CORBA::SystemException
	)

virtual

[RTObject CORBA interface] Get RTC's profile

This operation returns the ComponentProfile of the RTC.

Returns: ComponentProfile

virtual SDOPackage::Configuration_ptr RTC::RTObject_impl::get_configuration	(		)
throw	(	CORBA::SystemException,
		SDOPackage::InterfaceNotImplemented,
		SDOPackage::NotAvailable,
		SDOPackage::InternalError
	)

virtual

[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.

Exceptions

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.

virtual ExecutionContext_ptr RTC::RTObject_impl::get_context	(	UniqueId	exec_handle	)
throw	(	CORBA::SystemException
	)

virtual

[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

exec_handle ExecutionContext handle

Returns: ExecutionContext

virtual ExecutionContextHandle_t RTC::RTObject_impl::get_context_handle	(	ExecutionContext_ptr	cxt	)
throw	(	CORBA::SystemException
	)

virtual

[CORBA interface] Return a handle of a ExecutionContext

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

virtual SDOPackage::DeviceProfile* RTC::RTObject_impl::get_device_profile	(		)
throw	(	CORBA::SystemException,
		SDOPackage::NotAvailable,
		SDOPackage::InternalError
	)

virtual

[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.

Exceptions

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.

virtual SDOPackage::Monitoring_ptr RTC::RTObject_impl::get_monitoring	(		)
throw	(	CORBA::SystemException,
		SDOPackage::InterfaceNotImplemented,
		SDOPackage::NotAvailable,
		SDOPackage::InternalError
	)

virtual

[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.

Exceptions

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.

virtual SDOPackage::OrganizationList* RTC::RTObject_impl::get_organizations	(		)
throw	(	CORBA::SystemException,
		SDOPackage::NotAvailable,
		SDOPackage::InternalError
	)

virtual

[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.

Exceptions

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.

virtual ExecutionContextList* RTC::RTObject_impl::get_owned_contexts	(		)
throw	(	CORBA::SystemException
	)

virtual

[CORBA interface] Get ExecutionContextList.

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

Returns: ExecutionContext List

virtual SDOPackage::OrganizationList* RTC::RTObject_impl::get_owned_organizations	(		)
throw	(	CORBA::SystemException,
		SDOPackage::NotAvailable,
		SDOPackage::InternalError
	)

virtual

[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

Exceptions

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.

virtual ExecutionContextList* RTC::RTObject_impl::get_participating_contexts	(		)
throw	(	CORBA::SystemException
	)

virtual

[CORBA interface] Get participating ExecutionContextList.

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

Returns: ExecutionContext List

virtual PortServiceList* RTC::RTObject_impl::get_ports	(		)
throw	(	CORBA::SystemException
	)

virtual

[RTObject CORBA interface] Get Ports

This operation returns the reference of ports held by RTC.

Returns: PortServiceList

virtual char* RTC::RTObject_impl::get_sdo_id	(		)
throw	(	CORBA::SystemException,
		SDOPackage::NotAvailable,
		SDOPackage::InternalError
	)

virtual

[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.

Exceptions

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.

virtual SDOPackage::SDOService_ptr RTC::RTObject_impl::get_sdo_service	(	const char *	id	)
throw	(	CORBA::SystemException,
		SDOPackage::InvalidParameter,
		SDOPackage::NotAvailable,
		SDOPackage::InternalError
	)

virtual

[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.

Exceptions

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.

virtual char* RTC::RTObject_impl::get_sdo_type	(		)
throw	(	CORBA::SystemException,
		SDOPackage::NotAvailable,
		SDOPackage::InternalError
	)

virtual

[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.

Exceptions

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.

virtual SDOPackage::ServiceProfile* RTC::RTObject_impl::get_service_profile	(	const char *	id	)
throw	(	CORBA::SystemException,
		SDOPackage::InvalidParameter,
		SDOPackage::NotAvailable,
		SDOPackage::InternalError
	)

virtual

[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.

Exceptions

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.

virtual SDOPackage::ServiceProfileList* RTC::RTObject_impl::get_service_profiles	(		)
throw	(	CORBA::SystemException,
		SDOPackage::NotAvailable,
		SDOPackage::InternalError
	)

virtual

[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.

Exceptions

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.

virtual CORBA::Any* RTC::RTObject_impl::get_status	(	const char *	name	)
throw	(	CORBA::SystemException,
		SDOPackage::InvalidParameter,
		SDOPackage::NotAvailable,
		SDOPackage::InternalError
	)

virtual

[SDO interface] Get SDO Status

Parameters

name	One of the parameters defining the "status" of an SDO.

Returns: The value of the specified status parameter.

Exceptions

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.

virtual SDOPackage::NVList* RTC::RTObject_impl::get_status_list	(		)
throw	(	CORBA::SystemException,
		SDOPackage::NotAvailable,
		SDOPackage::InternalError
	)

virtual

[SDO interface] Get SDO Status list

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

Returns: The actual status of an SDO.

Exceptions

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.

const char* RTC::RTObject_impl::getCategory ( )

inline

[local interface] Get category information

Get the category information that has been set in ComponentProfile.

Returns: Category information

References RTC_TRACE.

ConfigAdmin& RTC::RTObject_impl::getConfigService ( )

inline

Getting configuration service.

This operation returns configuration service object. By using this service, user can manipulate configuration parameters. Mainly the following operations are supported.

unbindParameter(): Unbinding parameters
update(): Updateing parameters
update(set_name): Updating a specific configuration set
update(set_name, param_name): Updating specific parameter in a set
isExist(): Checking existence of a parameter
isChanged(): Check if a parameter was updated
changedParameters(): Getting changed parameter list
getActiveId(): Getting active configuration set name
haveConfig(config_id): Checking if having a specified configuration set
getConfigurationSets(): getting all the configuration sets
getConfigurationSet(set_id): Getting a configuration set

Callback related member functions

addConfigurationParamListener(): Adding listener
removeConfigurationParamListener(): Removing listener
addConfigurationSetListener(): Adding listener
removeConfigurationSetListener(): Removing listener
addConfigurationSetNameListener(): Adding listener
removeConfigurationSetNameListener(): Removing listener

See details in the ConfigAdmin class reference

Returns: ConfigAdmin object

ReturnCode_t RTC::RTObject_impl::getContextOptions ( std::vector< coil::Properties > & ec_args )

protected

getting EC options

const char* RTC::RTObject_impl::getDescription ( )

inline

[local interface] GetDescription

Get the Description has been set in ComponentProfile.

Returns: Description

References RTC_TRACE.

ExecutionContext_ptr RTC::RTObject_impl::getExecutionContext ( RTC::UniqueId ec_id )

[local interface] Getting current execution context

This function is the local version of get_context(). completely same as get_context() function. This function is assumed to be called from the following functions.

The argument of this function should be the first argument (UniqueId ec_id) of the above functions.

Parameters

ec_id The above functions' first argument "exec_handle."

double RTC::RTObject_impl::getExecutionRate ( RTC::UniqueId ec_id )

[local interface] Getting current context' execution rate

This function returns current execution rate in this context. If this context's kind is not PERIODC, behavior is not defined. This function is assumed to be called from the following functions.

The argument of this function should be the first argument (UniqueId ec_id) of the above functions.

Parameters

ec_id The above functions' first argument "exec_handle."

ReturnCode_t RTC::RTObject_impl::getGlobalContextOptions ( coil::Properties & global_ec_props )

protected

getting global EC options from rtc.conf

ReturnCode_t RTC::RTObject_impl::getInheritedECOptions ( coil::Properties & default_opts )

protected

const std::vector<InPortBase*>& RTC::RTObject_impl::getInPorts ( ) const

inline

const char* RTC::RTObject_impl::getInstanceName ( )

inline

[local interface] Get instance name

Return the instance name that has been set in ComponentProfile.

Returns: Instance name

References RTC_TRACE.

std::vector<std::string> RTC::RTObject_impl::getNamingNames ( )

[local interface] Get Naming Server information

Get Naming Server information that has been set.

Returns: Naming Server list

RTObject_ptr RTC::RTObject_impl::getObjRef ( ) const

[local interface] Get the object reference

Get CORBA object reference that has been set

Returns: The object reference

const std::vector<OutPortBase*>& RTC::RTObject_impl::getOutPorts ( ) const

inline

References CORBA_RTCUtil::activate(), CORBA_RTCUtil::deactivate(), and CORBA_RTCUtil::reset().

ReturnCode_t RTC::RTObject_impl::getPrivateContextOptions ( std::vector< coil::Properties > & ec_args )

protected

getting individual EC options from RTC's configuration file

coil::Properties& RTC::RTObject_impl::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.

const char* RTC::RTObject_impl::getTypeName ( )

inline

[local interface] Get type name

Get the type name has been set in ComponentProfile.

Returns: Type name

References RTC_TRACE.

const char* RTC::RTObject_impl::getVendor ( )

inline

[local interface] Get vendor

Get the vendor information that has been set in ComponentProfile.

Returns: Vendor information

References RTC_TRACE.

const char* RTC::RTObject_impl::getVersion ( )

inline

[local interface] Get version information

Get the version information that has been set in ComponentProfile.

Returns: Version information

References RTC_TRACE.

virtual ReturnCode_t RTC::RTObject_impl::initialize	(		)
throw	(	CORBA::SystemException
	)

virtual

[CORBA interface] Initialize 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

virtual CORBA::Boolean RTC::RTObject_impl::is_alive	(	ExecutionContext_ptr	exec_context	)
throw	(	CORBA::SystemException
	)

virtual

[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

bool RTC::RTObject_impl::isOwnExecutionContext ( RTC::UniqueId ec_id )

[local interface] Checking if the current context is own context

This function checks if the current context is own execution context. This function is assumed to be called from the following functions.

The argument of this function should be the first argument (UniqueId ec_id) of the above functions.

Parameters

ec_id The above functions' first argument "exec_handle."

Returns: true: Own context, false: other's context

virtual ReturnCode_t RTC::RTObject_impl::on_aborting	(	UniqueId	exec_handle	)
throw	(	CORBA::SystemException
	)

virtual

[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

exec_handle ID of ExecutionContext that transited to the state

Returns: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::on_activated	(	UniqueId	exec_handle	)
throw	(	CORBA::SystemException
	)

virtual

[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

exec_handle ID of activation ExecutionContext

Returns: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::on_deactivated	(	UniqueId	exec_handle	)
throw	(	CORBA::SystemException
	)

virtual

[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

exec_handle ID of deactivation ExecutionContext

Returns: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::on_error	(	UniqueId	exec_handle	)
throw	(	CORBA::SystemException
	)

virtual

[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

exec_handle ID of target ExecutionContext

Returns: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::on_execute	(	UniqueId	exec_handle	)
throw	(	CORBA::SystemException
	)

virtual

[DataFlowComponentAction CORBA interface] Primary 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 first execution pass. As a result of this operation, onExecute() callback function is invoked.

Constraints

The execution context of the given context shall be PERIODIC.

Parameters

exec_handle ID of target ExecutionContext for Primary Periodic Operation

Returns: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::on_finalize	(		)
throw	(	CORBA::SystemException
	)

virtual

[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

virtual ReturnCode_t RTC::RTObject_impl::on_initialize	(		)
throw	(	CORBA::SystemException
	)

virtual

[RTObject CORBA interface] Get ExecutionContextAdmin

This operation returns a list containing an ExecutionContextAdmin for every ExecutionContext owned by the RTC.

Returns: ExecutionContextService List

[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

virtual ReturnCode_t RTC::RTObject_impl::on_rate_changed	(	UniqueId	exec_handle	)
throw	(	CORBA::SystemException
	)

virtual

[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

exec_handle ID of target ExecutionContext for Operation

Returns: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::on_reset	(	UniqueId	exec_handle	)
throw	(	CORBA::SystemException
	)

virtual

[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

exec_handle ID of target ExecutionContext for the reset

Returns: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::on_shutdown	(	UniqueId	exec_handle	)
throw	(	CORBA::SystemException
	)

virtual

[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

exec_handle ID of ExecutionContext that transited to the state

Returns: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::on_startup	(	UniqueId	exec_handle	)
throw	(	CORBA::SystemException
	)

virtual

[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

exec_handle ID of ExecutionContext that transited to the state

Returns: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::on_state_update	(	UniqueId	exec_handle	)
throw	(	CORBA::SystemException
	)

virtual

[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

exec_handle ID of target ExecutionContext for Secondary Periodic Operation

Returns: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::onAborting ( RTC::UniqueId exec_handle )

protectedvirtual

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

exec_handle ID of the participant ExecutionContext

Returns: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::onActivated ( RTC::UniqueId exec_handle )

protectedvirtual

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

exec_handle ID of the participant ExecutionContext

Returns: The return code of ReturnCode_t type

Reimplemented in RTC::PeriodicECSharedComposite.

void RTC::RTObject_impl::onAddPort ( const PortProfile & pprof )

inlineprotected

References RTC::ADD_PORT.

void RTC::RTObject_impl::onAttachExecutionContext ( UniqueId ec_id )

inlineprotected

References RTC::EC_ATTACHED.

virtual ReturnCode_t RTC::RTObject_impl::onDeactivated ( RTC::UniqueId exec_handle )

protectedvirtual

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

exec_handle ID of the participant ExecutionContext

Returns: The return code of ReturnCode_t type

Reimplemented in RTC::PeriodicECSharedComposite.

void RTC::RTObject_impl::onDetachExecutionContext ( UniqueId ec_id )

inlineprotected

References RTC::EC_DETACHED.

virtual ReturnCode_t RTC::RTObject_impl::onError ( RTC::UniqueId exec_handle )

protectedvirtual

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

exec_handle ID of the participant ExecutionContext

Returns: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::onExecute ( RTC::UniqueId exec_handle )

protectedvirtual

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

exec_handle ID of the participant ExecutionContext

Returns: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::onFinalize ( )

protectedvirtual

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

Reimplemented in RTC::PeriodicECSharedComposite.

virtual ReturnCode_t RTC::RTObject_impl::onInitialize ( )

protectedvirtual

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

Reimplemented in RTC::PeriodicECSharedComposite.

virtual ReturnCode_t RTC::RTObject_impl::onRateChanged ( RTC::UniqueId exec_handle )

protectedvirtual

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

exec_handle ID of the participant ExecutionContext

Returns: The return code of ReturnCode_t type

void RTC::RTObject_impl::onRemovePort ( const PortProfile & pprof )

inlineprotected

References RTC::REMOVE_PORT.

virtual ReturnCode_t RTC::RTObject_impl::onReset ( RTC::UniqueId exec_handle )

protectedvirtual

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

exec_handle ID of the participant ExecutionContext

Returns: The return code of ReturnCode_t type

Reimplemented in RTC::PeriodicECSharedComposite.

virtual ReturnCode_t RTC::RTObject_impl::onShutdown ( RTC::UniqueId exec_handle )

protectedvirtual

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

exec_handle ID of the participant ExecutionContext

Returns: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::onStartup ( RTC::UniqueId exec_handle )

protectedvirtual

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

exec_handle ID of the participant ExecutionContext

Returns: The return code of ReturnCode_t type

virtual ReturnCode_t RTC::RTObject_impl::onStateUpdate ( RTC::UniqueId exec_handle )

protectedvirtual

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

exec_handle ID of the participant ExecutionContext

Returns: The return code of ReturnCode_t type

void RTC::RTObject_impl::postOnAborting	(	UniqueId	ec_id,
		ReturnCode_t	ret
	)

inlineprotected

References RTC::POST_ON_ABORTING.

void RTC::RTObject_impl::postOnActivated	(	UniqueId	ec_id,
		ReturnCode_t	ret
	)

inlineprotected

References RTC::POST_ON_ACTIVATED.

void RTC::RTObject_impl::postOnDeactivated	(	UniqueId	ec_id,
		ReturnCode_t	ret
	)

inlineprotected

References RTC::POST_ON_DEACTIVATED.

void RTC::RTObject_impl::postOnError	(	UniqueId	ec_id,
		ReturnCode_t	ret
	)

inlineprotected

References RTC::POST_ON_ERROR.

void RTC::RTObject_impl::postOnExecute	(	UniqueId	ec_id,
		ReturnCode_t	ret
	)

inlineprotected

References RTC::POST_ON_EXECUTE.

void RTC::RTObject_impl::postOnFinalize	(	UniqueId	ec_id,
		ReturnCode_t	ret
	)

inlineprotected

References RTC::POST_ON_FINALIZE.

void RTC::RTObject_impl::postOnInitialize	(	UniqueId	ec_id,
		ReturnCode_t	ret
	)

inlineprotected

References RTC::POST_ON_INITIALIZE.

void RTC::RTObject_impl::postOnRateChanged	(	UniqueId	ec_id,
		ReturnCode_t	ret
	)

inlineprotected

References RTC::POST_ON_RATE_CHANGED.

void RTC::RTObject_impl::postOnReset	(	UniqueId	ec_id,
		ReturnCode_t	ret
	)

inlineprotected

References RTC::POST_ON_RESET.

void RTC::RTObject_impl::postOnShutdown	(	UniqueId	ec_id,
		ReturnCode_t	ret
	)

inlineprotected

References RTC::POST_ON_SHUTDOWN.

void RTC::RTObject_impl::postOnStartup	(	UniqueId	ec_id,
		ReturnCode_t	ret
	)

inlineprotected

References RTC::POST_ON_STARTUP.

void RTC::RTObject_impl::postOnStateUpdate	(	UniqueId	ec_id,
		ReturnCode_t	ret
	)

inlineprotected

References RTC::POST_ON_STATE_UPDATE.

void RTC::RTObject_impl::preOnAborting ( UniqueId ec_id )

inlineprotected

References RTC::PRE_ON_ABORTING.

void RTC::RTObject_impl::preOnActivated ( UniqueId ec_id )

inlineprotected

References RTC::PRE_ON_ACTIVATED.

void RTC::RTObject_impl::preOnDeactivated ( UniqueId ec_id )

inlineprotected

References RTC::PRE_ON_DEACTIVATED.

void RTC::RTObject_impl::preOnError ( UniqueId ec_id )

inlineprotected

References RTC::PRE_ON_ERROR.

void RTC::RTObject_impl::preOnExecute ( UniqueId ec_id )

inlineprotected

References RTC::PRE_ON_EXECUTE.

void RTC::RTObject_impl::preOnFinalize ( UniqueId ec_id )

inlineprotected

References RTC::PRE_ON_FINALIZE.

void RTC::RTObject_impl::preOnInitialize ( UniqueId ec_id )

inlineprotected

References RTC::PRE_ON_INITIALIZE.

void RTC::RTObject_impl::preOnRateChanged ( UniqueId ec_id )

inlineprotected

References RTC::PRE_ON_RATE_CHANGED.

void RTC::RTObject_impl::preOnReset ( UniqueId ec_id )

inlineprotected

References RTC::PRE_ON_RESET.

void RTC::RTObject_impl::preOnShutdown ( UniqueId ec_id )

inlineprotected

References RTC::PRE_ON_SHUTDOWN.

void RTC::RTObject_impl::preOnStartup ( UniqueId ec_id )

inlineprotected

References RTC::PRE_ON_STARTUP.

void RTC::RTObject_impl::preOnStateUpdate ( UniqueId ec_id )

inlineprotected

References RTC::PRE_ON_STATE_UPDATE.

bool RTC::RTObject_impl::readAll ( )

Readout the value from All InPorts.

This operation read the value from all InPort registered in the RTC.

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

void RTC::RTObject_impl::registerInPort	(	const char *	name,
		InPortBase &	inport
	)

[local interface] Register DataInPort

This operation registers DataInPort held by this RTC. Set "port.dataport" and "tcp_any" to property of Port, and create instances of DataInPort and register it.

Parameters

name	Port name
inport	DataInPort which is registered to the RTC

void RTC::RTObject_impl::registerOutPort	(	const char *	name,
		OutPortBase &	outport
	)

[local interface] Register DataOutPort

This operation registers DataOutPor held by this RTC. Set "port.dataport" and "tcp_any" to property of Port, and then create instances of DataOutPort and register it.

Parameters

name	Port name
outport	DataOutPort which is registered to the RTC

void RTC::RTObject_impl::registerPort ( PortBase & port )

[local interface] Register Port

This operation registers a Port held by this RTC. In order to enable access to the Port from outside of RTC, the Port must be registered by this operation. The Port that is registered by this operation would be identified by PortProfile.name in the inside of RTC. Therefore, the Port should have unique PortProfile.name in the RTC. The registering Port would be activated properly, and the reference and the object reference would be stored in lists in RTC.

Parameters

port	Port which is registered to the RTC

void RTC::RTObject_impl::registerPort ( PortService_ptr port )

[local interface] Register Port

This operation registers a Port held by this RTC. In order to enable access to the Port from outside of RTC, the Port must be registered by this operation. The Port that is registered by this operation would be identified by PortProfile.name in the inside of RTC. Therefore, the Port should have unique PortProfile.name in the RTC. The registering Port would be activated properly, and the reference and the object reference would be stored in lists in RTC.

Parameters

port	Port which is registered to the RTC

void RTC::RTObject_impl::registerPort ( CorbaPort & port )

[local interface] Register Port

This operation registers a Port held by this RTC. In order to enable access to the Port from outside of RTC, the Port must be registered by this operation. The Port that is registered by this operation would be identified by PortProfile.name in the inside of RTC. Therefore, the Port should have unique PortProfile.name in the RTC. The registering Port would be activated properly, and the reference and the object reference would be stored in lists in RTC.

Parameters

port	Port which is registered to the RTC

void RTC::RTObject_impl::removeConfigurationParamListener	(	ConfigurationParamListenerType	type,
		ConfigurationParamListener *	listener
	)

Removing ConfigurationParamListener.

This function removes a listener object which is added by addConfigurationParamListener() function.

Parameters

type	ConfigurationParamListenerType value ON_UPDATE_CONFIG_PARAM is only allowed.
listener	a pointer to ConfigurationParamListener listener object.

void RTC::RTObject_impl::removeConfigurationSetListener	(	ConfigurationSetListenerType	type,
		ConfigurationSetListener *	listener
	)

Removing ConfigurationSetListener.

This function removes a listener object which is added by addConfigurationSetListener() function.

Parameters

type	ConfigurationSetListenerType value
listener	a pointer to ConfigurationSetListener listener object.

void RTC::RTObject_impl::removeConfigurationSetNameListener	(	ConfigurationSetNameListenerType	type,
		ConfigurationSetNameListener *	listener
	)

Removing ConfigurationSetNameListener.

This function removes a listener object which is added by addConfigurationSetNameListener() function.

Parameters

type	ConfigurationSetNameListenerType value ON_UPDATE_CONFIG_PARAM is only allowed.
listener	a pointer to ConfigurationSetNameListener listener object.

void RTC::RTObject_impl::removeExecutionContextActionListener	(	ECActionListenerType	listener_type,
		ECActionListener *	listener
	)

Removing ExecutionContextAction type listener.

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

bool RTC::RTObject_impl::removeInPort ( InPortBase & port )

[local interface] Unregister InPort

This operation unregisters a InPort held by this RTC.

Parameters

port	Port which is unregistered

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

bool RTC::RTObject_impl::removeOutPort ( OutPortBase & port )

[local interface] Unregister OutPort

This operation unregisters a OutPort held by this RTC.

Parameters

port	Port which is unregistered

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

bool RTC::RTObject_impl::removePort ( PortBase & port )

[local interface] Unregister Port

This operation unregisters a Port held by this RTC.

Parameters

port	Port which is unregistered

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

bool RTC::RTObject_impl::removePort ( PortService_ptr port )

[local interface] Unregister Port

This operation unregisters a Port held by this RTC.

Parameters

port	Port which is unregistered

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

bool RTC::RTObject_impl::removePort ( CorbaPort & port )

[local interface] Unregister Port

This operation unregisters a Port held by this RTC.

Parameters

port	Port which is unregistered

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

void RTC::RTObject_impl::removePortActionListener	(	PortActionListenerType	listener_type,
		PortActionListener *	listener
	)

Removing PortAction type listener.

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

void RTC::RTObject_impl::removePortConnectListener	(	PortConnectListenerType	listener_type,
		PortConnectListener *	listener
	)

Removing PortConnect type listener.

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

void RTC::RTObject_impl::removePortConnectRetListener	(	PortConnectRetListenerType	listener_type,
		PortConnectRetListener *	listener
	)

Removing PortConnectRet type listener.

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

void RTC::RTObject_impl::removePostComponentActionListener	(	PostComponentActionListenerType	listener_type,
		PostComponentActionListener *	listener
	)

Removing PostComponentAction type listener.

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

void RTC::RTObject_impl::removePreComponentActionListener	(	PreComponentActionListenerType	listener_type,
		PreComponentActionListener *	listener
	)

Removing PreComponentAction type listener.

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

bool RTC::RTObject_impl::removeSdoServiceConsumer ( const char * id )

[local interface] Remove a SDO service provider

void RTC::RTObject_impl::removeSdoServiceConsumerStartThread ( const char * id )

[local interface] Remove a SDO service provider

bool RTC::RTObject_impl::removeSdoServiceProvider ( const char * id )

[local interface] Remove a SDO service provider

ReturnCode_t RTC::RTObject_impl::reset ( RTC::UniqueId ec_id )

[local interface] Resetting and go to Inactive state

This function reset RTC and makes transition from Error to Inactive state. This function is assumed to be called from the following functions.

onError()

The argument of this function should be the first argument (UniqueId ec_id) of the above function.

Parameters

ec_id The above functions' first argument "exec_handle."

Returns: Return code

ReturnCode_t RTC::RTObject_impl::setExecutionRate	(	RTC::UniqueId	ec_id,
		double	rate
	)

[local interface] Setting current context' execution rate

This function sets a execution rate in the context. If this context's kind is not PERIODC, behavior is not defined. This function is assumed to be called from the following functions.

The argument of this function should be the first argument (UniqueId ec_id) of the above functions.

Parameters

ec_id	The above functions' first argument "exec_handle."
rate	Execution rate in [Hz].

void RTC::RTObject_impl::setInstanceName ( const char * instance_name )

[local interface] Set instance name

Set the instance name specified in ComponentProfile.

Parameters

instance_name Instance name

void RTC::RTObject_impl::setObjRef ( const RTObject_ptr rtobj )

[local interface] Set the object reference

Set RTC's CORBA object reference.

Parameters

rtobj The object reference

void RTC::RTObject_impl::setProperties ( const coil::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.

void RTC::RTObject_impl::setReadAll	(	bool	read = `true`,
		bool	completion = `false`
	)

Set whether to execute the readAll() method.

Parameters

read(default:true)	(readAll() is called:true, readAll() isn't called:false)
completion(default:false)	All InPort::read() calls are completed.:true, If one InPort::read() is False, return false.:false
completion(default:false)

void RTC::RTObject_impl::setWriteAll	(	bool	write = `true`,
		bool	completion = `false`
	)

Set whether to execute the writeAll() method.

Parameters

write(default:true)	(writeAll() is called:true, writeAll() isn't called:false)
completion(default:false)	All OutPort::write() calls are completed.:true, If one OutPort::write() is False, return false.:false

void RTC::RTObject_impl::shutdown ( )

protected

Shutdown RTC.

This operation ececutes RTC's termination. This unregisters all Ports, deactivates corresponding CORBA objects and shuts down RTC.

void RTC::RTObject_impl::updateParameters ( const char * config_set )

Update configuration parameters (by ID)

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

bool RTC::RTObject_impl::writeAll ( )

The write() method of all OutPort is called.

This operation call the write() method of all OutPort registered in the RTC.

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

Member Data Documentation

ComponentActionListeners RTC::RTObject_impl::m_actionListeners

protected

ComponentActionListener holder.

Holders of ComponentActionListeners

ConfigAdmin RTC::RTObject_impl::m_configsets

protected

Configuration Administrator Object.

bool RTC::RTObject_impl::m_created

protected

Created Status Flag.

std::vector<ExecutionContextBase*> RTC::RTObject_impl::m_eclist

protected

List of ExecutionContextBase.

ExecutionContextServiceList RTC::RTObject_impl::m_ecMine

protected

List of owned ExecutionContextService.

ExecutionContextServiceList RTC::RTObject_impl::m_ecOther

protected

List of participating ExecutionContextService.

bool RTC::RTObject_impl::m_exiting

protected

RTC Finalize Status Flag.

std::vector<InPortBase*> RTC::RTObject_impl::m_inports

protected

List of InPortBase*.

RTObject_var RTC::RTObject_impl::m_objref

protected

Object reference.

std::vector<OutPortBase*> RTC::RTObject_impl::m_outports

protected

List of OutPortBase*.

Manager* RTC::RTObject_impl::m_pManager

protected

Manager object.

CORBA::ORB_var RTC::RTObject_impl::m_pORB

protected

The pointer to the ORB.

PortAdmin RTC::RTObject_impl::m_portAdmin

protected

List of Port Object reference.

PortConnectListeners RTC::RTObject_impl::m_portconnListeners

protected

PortConnectListener holder.

Holders of PortConnectListeners

PortableServer::POA_var RTC::RTObject_impl::m_pPOA

protected

The pointer to the POA.

ComponentProfile RTC::RTObject_impl::m_profile

protected

ComponentProfile.

coil::Properties RTC::RTObject_impl::m_properties

protected

Alive Status Flag.

RTC's Property

SDOPackage::Configuration_var RTC::RTObject_impl::m_pSdoConfig

protected

The pointer to the SDO Configuration Interface.

SDOPackage::Configuration_impl* RTC::RTObject_impl::m_pSdoConfigImpl

protected

The pointer to the SDO Configuration Object.

bool RTC::RTObject_impl::m_readAll

protected

flag for readAll()

bool RTC::RTObject_impl::m_readAllCompletion

protected

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().

SdoServiceConsumerTerminator* RTC::RTObject_impl::m_sdoconterm

protected

SDOPackage::OrganizationList RTC::RTObject_impl::m_sdoOrganizations

protected

SDO organization.

SDOPackage::OrganizationList RTC::RTObject_impl::m_sdoOwnedOrganizations

protected

SDO owned organization list.

SdoServiceAdmin RTC::RTObject_impl::m_sdoservice

protected

SDO Service Administrator Object.

SDOPackage::NVList RTC::RTObject_impl::m_sdoStatus

protected

SDO Status.

bool RTC::RTObject_impl::m_writeAll

protected

flag for writeAll()

bool RTC::RTObject_impl::m_writeAllCompletion

protected

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().

Logger RTC::RTObject_impl::rtclog

mutableprotected

Logger stream.

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

RTObject.h

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