ExecutionContextProfile.h

[詳解]

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

#include <coil/Mutex.h>
#include <coil/Guard.h>
#include <coil/Properties.h>
#include <coil/TimeValue.h>

#include <rtm/idl/RTCStub.h>
#include <rtm/SystemLogger.h>

#ifdef WIN32
#pragma warning( disable : 4290 )
#endif

namespace RTC_impl
{
  class ExecutionContextProfile
  {
    typedef coil::Guard<coil::Mutex> Guard;
  public:
    ExecutionContextProfile(RTC::ExecutionKind kind = RTC::PERIODIC);

    virtual ~ExecutionContextProfile(void);

    void setObjRef(RTC::ExecutionContextService_ptr ec_ptr);

    RTC::ExecutionContextService_ptr getObjRef(void) const;

    RTC::ReturnCode_t setRate(double rate);
    RTC::ReturnCode_t setPeriod(double period);
    RTC::ReturnCode_t setPeriod(coil::TimeValue period);

    double getRate(void) const;
    coil::TimeValue getPeriod(void) const;

    const char* getKindString(RTC::ExecutionKind kind) const;
    const char* getKindString() const
    {
      return getKindString(m_profile.kind);
    }

    RTC::ReturnCode_t setKind(RTC::ExecutionKind kind);

    RTC::ExecutionKind getKind(void) const;

    RTC::ReturnCode_t setOwner(RTC::LightweightRTObject_ptr comp);

    const RTC::RTObject_ptr getOwner() const;

    RTC::ReturnCode_t addComponent(RTC::LightweightRTObject_ptr comp);

    RTC::ReturnCode_t removeComponent(RTC::LightweightRTObject_ptr comp);

    const RTC::RTCList& getComponentList() const;

    void setProperties(coil::Properties& props);

    const coil::Properties getProperties() const;

    RTC::ExecutionContextProfile* getProfile(void);

    const RTC::ExecutionContextProfile& getProfile(void) const;

    void lock() const;

    void unlock() const;

  private:
    mutable RTC::Logger rtclog;
    RTC::ExecutionContextProfile m_profile;

    mutable coil::Mutex m_profileMutex;

    coil::TimeValue m_period;

    RTC::ExecutionContextService_var m_ref;

    class find_participant
    {
      RTC::RTObject_var m_comp;
    public:      
      find_participant(RTC::RTObject_ptr comp)
        : m_comp(RTC::RTObject::_duplicate(comp)) {}
      bool operator()(RTC::RTObject_ptr comp)
      {
        return m_comp->_is_equivalent(comp);
      }
    };
  }; // class ExecutionContextProfile
}; // namespace RTC

#ifdef WIN32
#pragma warning( default : 4290 )
#endif

#endif // RTC_EXECUTIONCONTEXTPROFILE_H