OpenRTM-aist
1.2.1
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RT-Component class. More...
#include <RTObject.h>
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 |
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.)
Adding ExecutionContextAction type listener.
This operation adds certain listeners related to ComponentActions post events. The following listener types are available.
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.
listener_type | A listener type |
listener | A pointer to a listener object |
autoclean | A flag for automatic listener destruction |
Adding PostComponentAction type listener.
This operation adds certain listeners related to ComponentActions post events. The following listener types are available.
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.
listener_type | A listener type |
listener | A pointer to a listener object |
autoclean | A flag for automatic listener destruction |
Adding PreComponentAction type listener.
This operation adds certain listeners related to ComponentActions pre events. The following listener types are available.
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.
listener_type | A listener type |
listener | A pointer to a listener object |
autoclean | A flag for automatic listener destruction |
RTC::RTObject_impl::RTObject_impl | ( | Manager * | manager | ) |
RTC::RTObject_impl::RTObject_impl | ( | CORBA::ORB_ptr | orb, |
PortableServer::POA_ptr | poa | ||
) |
Constructor.
Constructor
orb | ORB |
poa | POA |
|
virtual |
Virtual destructor.
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.
ec_id | The above functions' first argument "exec_handle." |
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.
type | ConfigurationParamListenerType value ON_UPDATE_CONFIG_PARAM is only allowed. |
listener | ConfigurationParamListener listener object. |
autoclean | a flag whether if the listener object autocleaned. |
|
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.
type | ConfigurationSetListenerType value |
listener | ConfigurationSetListener listener object. |
autoclean | a flag whether if the listener object autocleaned. |
|
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.
type | ConfigurationSetNameListenerType value |
listener | ConfigurationSetNameListener listener object. |
autoclean | a flag whether if the listener object autocleaned. |
|
inline |
void RTC::RTObject_impl::addExecutionContextActionListener | ( | ECActionListenerType | listener_type, |
ECActionListener * | listener, | ||
bool | autoclean = true |
||
) |
|
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.
name | Port name |
inport | DataInPort which is registered to the RTC |
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.
name | Port name |
outport | DataOutPort which is registered to the RTC |
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.
port | Port which is registered to the RTC |
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.
port | Port which is registered to the RTC |
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.
port | Port which is registered to the RTC |
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.
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.
listener_type | A listener type |
listener | A pointer to a listener object |
autoclean | A flag for automatic listener destruction |
|
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.
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.
listener_type | A listener type |
listener | A pointer to a listener object |
autoclean | A flag for automatic listener destruction |
|
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.
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.
listener_type | A listener type |
listener | A pointer to a listener object |
autoclean | A flag for automatic listener destruction |
|
inline |
void RTC::RTObject_impl::addPostComponentActionListener | ( | PostComponentActionListenerType | listener_type, |
PostComponentActionListener * | listener, | ||
bool | autoclean = true |
||
) |
|
inline |
void RTC::RTObject_impl::addPreComponentActionListener | ( | PreComponentActionListenerType | listener_type, |
PreComponentActionListener * | listener, | ||
bool | autoclean = true |
||
) |
|
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.
exec_context | Participating ExecutionContext |
UniqueId RTC::RTObject_impl::bindContext | ( | ExecutionContext_ptr | exec_context | ) |
|
inline |
Setup for configuration parameters.
Bind configuration parameter to its variable. Specify the data type of configuration parameter as <VarType>.
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 |
References RTC_TRACE.
|
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.
ec_id | The above functions' first argument "exec_handle." |
void RTC::RTObject_impl::deletePort | ( | PortBase & | port | ) |
[local interface] Unregister Port
This operation unregisters a Port held by this RTC.
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.
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.
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.
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
exec_handle | Detaching ExecutionContext Handle |
|
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
Reimplemented in RTC::PeriodicECSharedComposite.
|
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
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
|
protected |
fiding existing EC from the factory
|
virtual |
|
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.
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 |
[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.
exec_handle | ExecutionContext handle |
|
virtual |
[CORBA interface] Return a handle of a ExecutionContext
This operation returns a handle that is associated with the given execution context.
|
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.
|
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.
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 |
[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.
|
virtual |
[CORBA interface] Get ExecutionContextList.
This operation returns a list of all execution contexts owned by this RTC.
|
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.
|
virtual |
[CORBA interface] Get participating ExecutionContextList.
This operation returns a list of all execution contexts in which this RTC participates.
|
virtual |
[RTObject CORBA interface] Get Ports
This operation returns the reference of ports held by RTC.
|
virtual |
|
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.
id | The identifier referring to one of the SDO Service |
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 |
|
virtual |
[SDO interface] Get specified ServiceProfile
This operation returns the ServiceProfile that is specified by the argument "id."
id | The identifier referring to one of the ServiceProfiles. |
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 |
[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.
|
virtual |
[SDO interface] Get SDO Status
name | One of the parameters defining the "status" of an SDO. |
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 |
|
inline |
[local interface] Get category information
Get the category information that has been set in ComponentProfile.
References RTC_TRACE.
|
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.
Callback related member functions
See details in the ConfigAdmin class reference
|
protected |
getting EC options
|
inline |
[local interface] GetDescription
Get the Description has been set in ComponentProfile.
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.
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.
ec_id | The above functions' first argument "exec_handle." |
|
protected |
getting global EC options from rtc.conf
|
protected |
|
inline |
|
inline |
[local interface] Get instance name
Return the instance name that has been set in ComponentProfile.
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.
RTObject_ptr RTC::RTObject_impl::getObjRef | ( | ) | const |
[local interface] Get the object reference
Get CORBA object reference that has been set
|
inline |
References CORBA_RTCUtil::activate(), CORBA_RTCUtil::deactivate(), and CORBA_RTCUtil::reset().
|
protected |
getting individual EC options from RTC's configuration file
coil::Properties& RTC::RTObject_impl::getProperties | ( | ) |
|
inline |
[local interface] Get type name
Get the type name has been set in ComponentProfile.
References RTC_TRACE.
|
inline |
[local interface] Get vendor
Get the vendor information that has been set in ComponentProfile.
References RTC_TRACE.
|
inline |
[local interface] Get version information
Get the version information that has been set in ComponentProfile.
References RTC_TRACE.
|
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
|
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.
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.
ec_id | The above functions' first argument "exec_handle." |
|
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.
exec_handle | ID of ExecutionContext that transited to the state |
|
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.
exec_handle | ID of activation ExecutionContext |
|
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.
exec_handle | ID of deactivation ExecutionContext |
|
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,
exec_handle | ID of target ExecutionContext |
|
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:
Constraints
exec_handle | ID of target ExecutionContext for Primary Periodic Operation |
|
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.
|
virtual |
[RTObject CORBA interface] Get ExecutionContextAdmin
This operation returns a list containing an ExecutionContextAdmin for every ExecutionContext owned by the RTC.
[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.
|
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
exec_handle | ID of target ExecutionContext for Operation |
|
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.
exec_handle | ID of target ExecutionContext for the reset |
|
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.
exec_handle | ID of ExecutionContext that transited to the state |
|
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.
exec_handle | ID of ExecutionContext that transited to the state |
|
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:
Constraints
exec_handle | ID of target ExecutionContext for Secondary Periodic Operation |
|
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.
exec_handle | ID of the participant ExecutionContext |
|
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.
exec_handle | ID of the participant ExecutionContext |
Reimplemented in RTC::PeriodicECSharedComposite.
|
inlineprotected |
References RTC::ADD_PORT.
|
inlineprotected |
References RTC::EC_ATTACHED.
|
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.
exec_handle | ID of the participant ExecutionContext |
Reimplemented in RTC::PeriodicECSharedComposite.
|
inlineprotected |
References RTC::EC_DETACHED.
|
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.
exec_handle | ID of the participant ExecutionContext |
|
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.
exec_handle | ID of the participant ExecutionContext |
|
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.
Reimplemented in RTC::PeriodicECSharedComposite.
|
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.
Reimplemented in RTC::PeriodicECSharedComposite.
|
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.
exec_handle | ID of the participant ExecutionContext |
|
inlineprotected |
References RTC::REMOVE_PORT.
|
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.
exec_handle | ID of the participant ExecutionContext |
Reimplemented in RTC::PeriodicECSharedComposite.
|
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.
exec_handle | ID of the participant ExecutionContext |
|
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.
exec_handle | ID of the participant ExecutionContext |
|
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.
exec_handle | ID of the participant ExecutionContext |
|
inlineprotected |
References RTC::POST_ON_ABORTING.
|
inlineprotected |
References RTC::POST_ON_ACTIVATED.
|
inlineprotected |
References RTC::POST_ON_DEACTIVATED.
|
inlineprotected |
References RTC::POST_ON_ERROR.
|
inlineprotected |
References RTC::POST_ON_EXECUTE.
|
inlineprotected |
References RTC::POST_ON_FINALIZE.
|
inlineprotected |
References RTC::POST_ON_INITIALIZE.
|
inlineprotected |
References RTC::POST_ON_RATE_CHANGED.
|
inlineprotected |
References RTC::POST_ON_RESET.
|
inlineprotected |
References RTC::POST_ON_SHUTDOWN.
|
inlineprotected |
References RTC::POST_ON_STARTUP.
|
inlineprotected |
References RTC::POST_ON_STATE_UPDATE.
|
inlineprotected |
References RTC::PRE_ON_ABORTING.
|
inlineprotected |
References RTC::PRE_ON_ACTIVATED.
|
inlineprotected |
References RTC::PRE_ON_DEACTIVATED.
|
inlineprotected |
References RTC::PRE_ON_ERROR.
|
inlineprotected |
References RTC::PRE_ON_EXECUTE.
|
inlineprotected |
References RTC::PRE_ON_FINALIZE.
|
inlineprotected |
References RTC::PRE_ON_INITIALIZE.
|
inlineprotected |
References RTC::PRE_ON_RATE_CHANGED.
|
inlineprotected |
References RTC::PRE_ON_RESET.
|
inlineprotected |
References RTC::PRE_ON_SHUTDOWN.
|
inlineprotected |
References RTC::PRE_ON_STARTUP.
|
inlineprotected |
References RTC::PRE_ON_STATE_UPDATE.
bool RTC::RTObject_impl::readAll | ( | ) |
void RTC::RTObject_impl::registerInPort | ( | const char * | name, |
InPortBase & | inport | ||
) |
void RTC::RTObject_impl::registerOutPort | ( | const char * | name, |
OutPortBase & | outport | ||
) |
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.
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.
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.
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.
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.
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.
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.
listener_type | A listener type |
listener | A pointer to a listener object |
bool RTC::RTObject_impl::removeInPort | ( | InPortBase & | port | ) |
bool RTC::RTObject_impl::removeOutPort | ( | OutPortBase & | port | ) |
bool RTC::RTObject_impl::removePort | ( | PortBase & | port | ) |
[local interface] Unregister Port
This operation unregisters a Port held by this RTC.
port | Port which is unregistered |
bool RTC::RTObject_impl::removePort | ( | PortService_ptr | port | ) |
[local interface] Unregister Port
This operation unregisters a Port held by this RTC.
port | Port which is unregistered |
bool RTC::RTObject_impl::removePort | ( | CorbaPort & | port | ) |
[local interface] Unregister Port
This operation unregisters a Port held by this RTC.
port | Port which is unregistered |
void RTC::RTObject_impl::removePortActionListener | ( | PortActionListenerType | listener_type, |
PortActionListener * | listener | ||
) |
Removing PortAction type listener.
This operation removes a specified listener.
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.
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.
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.
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.
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.
The argument of this function should be the first argument (UniqueId ec_id) of the above function.
ec_id | The above functions' first argument "exec_handle." |
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.
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.
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.
rtobj | The object reference |
void RTC::RTObject_impl::setProperties | ( | const coil::Properties & | prop | ) |
void RTC::RTObject_impl::setReadAll | ( | bool | read = true , |
bool | completion = false |
||
) |
Set whether to execute the readAll() method.
Set whether to execute the readAll() method.
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.
Set whether to execute the writeAll() method.
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 |
|
protected |
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.
config_set | The target configuration set's ID for setup |
bool RTC::RTObject_impl::writeAll | ( | ) |
|
protected |
ComponentActionListener holder.
Holders of ComponentActionListeners
|
protected |
Configuration Administrator Object.
|
protected |
Created Status Flag.
|
protected |
List of ExecutionContextBase.
|
protected |
List of owned ExecutionContextService.
|
protected |
List of participating ExecutionContextService.
|
protected |
RTC Finalize Status Flag.
|
protected |
List of InPortBase*.
|
protected |
Object reference.
|
protected |
List of OutPortBase*.
|
protected |
The pointer to the ORB.
|
protected |
List of Port Object reference.
|
protected |
PortConnectListener holder.
Holders of PortConnectListeners
|
protected |
The pointer to the POA.
|
protected |
ComponentProfile.
|
protected |
Alive Status Flag.
RTC's Property
|
protected |
The pointer to the SDO Configuration Interface.
|
protected |
The pointer to the SDO Configuration Object.
|
protected |
flag for readAll()
|
protected |
|
protected |
|
protected |
SDO organization.
|
protected |
SDO owned organization list.
|
protected |
SDO Service Administrator Object.
|
protected |
SDO Status.
|
protected |
flag for writeAll()
|
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().