#include <Manager.h>

Collaboration diagram for RTC::Manager:

[legend]

Classes
struct	ECFactoryPredicate

class	FactoryPredicate

struct	Finalized

struct	InstanceName

struct	ModuleFactories

class	ModulePredicate

Public Types
using	TaskId = coil::Timer<coil::PeriodicFunction>::TaskId

Public Member Functions
void	join ()
	Wait for Manager's termination.

LogStreamBuf &	getLogStreamBuf ()
	Get the log buffer.

std::string &	getLogLevel ()
	Get the log level of the configuration.

coil::Properties &	getConfig ()
	Get the manager configuration.

void	setModuleInitProc (ModuleInitProc proc)
	Set initial procedure.

bool	activateManager ()
	Activate the Manager.

void	runManager (bool no_block=false)
	Run the Manager.

TaskId	addTask (std::function< void(void)> fn, std::chrono::nanoseconds period)
	Add a task to the Manager timer.

void	invoke (std::function< void(void)> fn, std::chrono::nanoseconds delay=std::chrono::seconds::zero())
	Run a function on the Manager main thread.

ReturnCode_t	load (const std::string &fname, const std::string &initfunc)
	[CORBA interface] Load module

void	unload (const char *fname)
	Unload module.

void	unloadAll ()
	Unload all modules.

std::vector< coil::Properties >	getLoadedModules ()
	Get a list of loaded modules.

std::vector< coil::Properties >	getLoadableModules ()
	Get a list of loadable modules.

bool	registerFactory (coil::Properties &profile, RtcNewFunc new_func, RtcDeleteFunc delete_func)
	Register RT-Component Factory.

std::vector< coil::Properties >	getFactoryProfiles ()
	Get profiles of factories.

bool	registerECFactory (const char *name, ECNewFunc new_func, ECDeleteFunc delete_func)
	Register ExecutionContext Factory.

std::vector< std::string >	getModulesFactories ()
	Get the list of all Factories.

RTObject_impl *	createComponent (const char *comp_args)
	Create RT-Components.

ExecutionContextBase *	createContext (const char *ec_args)
	Create Context.

void	cleanupComponent (RTObject_impl *comp)
	Unregister RT-Components.

void	cleanupComponents ()
	This method deletes RT-Components.

void	notifyFinalized (RTObject_impl *comp)
	This method deletes RT-Components.

bool	registerComponent (RTObject_impl *comp)
	Register RT-Component directly without Factory.

bool	unregisterComponent (RTObject_impl *comp)
	Unregister RT-Components.

void	deleteComponent (RTObject_impl *comp)
	Unregister RT-Components that have been registered to Manager.

void	deleteComponent (const char *instance_name)
	Unregister RT-Components that have been registered to Manager.

RTObject_impl *	getComponent (const char *instance_name)
	Get RT-Component's pointer.

std::vector< RTObject_impl * >	getComponents ()
	Get all RT-Components registered in the Manager.

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

void	removeManagerActionListener (RTM::ManagerActionListener *listener)

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

void	removeModuleActionListener (RTM::ModuleActionListener *listener)

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

void	removeRtcLifecycleActionListener (RTM::RtcLifecycleActionListener *listener)

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

void	removeNamingActionListener (RTM::NamingActionListener *listener)

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

void	removeLocalServiceActionListener (RTM::LocalServiceActionListener *listener)

CORBA::ORB_ptr	theORB ()
	Get the pointer to ORB (ownership retained)

CORBA::ORB_ptr	getORB ()
	Get the pointer to ORB (ownership duplicated)

PortableServer::POA_ptr	thePOA ()
	Get a pointer to RootPOA held by Manager.

PortableServer::POA_ptr	getPOA ()
	Get a pointer to RootPOA held by Manager.

PortableServer::POAManager_ptr	thePOAManager ()
	Get POAManager that Manager has (ownership retained)

PortableServer::POAManager_ptr	getPOAManager ()
	Get POAManager that Manager has (ownership duplicated)

RTM::ManagerServant &	getManagerServant ()
	Getting ManagerServant.

bool	initLocalService ()
	LocalService initialization.

NamingManager *	getNaming ()
	Getting NamingManager.

Static Public Member Functions
static Manager *	init (int argc, char **argv)
	Initialize manager.

static Manager &	instance ()
	Get instance of the manager.

static void	terminate ()
	Terminate manager.

static void	removeTask (TaskId id)
	Remove the task from the Manager timer.

Protected Types
using	ComponentManager

using	FactoryManager
	ComponentFactory .

using	ECFactoryManager

Protected Member Functions
	Manager ()
	Protected Constructor.

	Manager (const Manager &)=delete

Manager &	operator= (const Manager &)=delete

void	initManager (int argc, char **argv)
	Manager internal initialization.

void	shutdown ()
	Shutdown Manager.

void	mainThread ()
	The main function of Manager main thread. .

void	initLogstreamFile ()

void	initLogstreamPlugins ()

void	initLogstreamOthers ()

bool	initLogger ()
	System logger initialization.

void	shutdownLogger ()
	System Logger finalization.

void	shutdownManagerServant ()
	Manager Servant finalization.

bool	initORB ()
	CORBA ORB initialization.

std::string	createORBOptions ()
	Create ORB command options.

void	createORBEndpoints (coil::vstring &endpoints)
	Create Endpoints.

void	createORBEndpointOption (std::string &opt, coil::vstring endpoints)
	Create a command optional line of Endpoint of ORB.

void	shutdownORB ()
	ORB finalization.

bool	initNaming ()
	NamingManager initialization.

void	shutdownNaming ()
	NamingManager finalization.

NamingManager &	getNamingManager ()
	Getting NamingManager.

void	shutdownComponents ()
	NamingManager finalization.

bool	procComponentArgs (const char *comp_arg, coil::Properties &comp_id, coil::Properties &comp_conf)
	Extracting component type/properties from the given string.

bool	procContextArgs (const char *ec_args, std::string &ec_id, coil::Properties &ec_conf)
	Extracting ExecutionContext's name/properties from the given string.

void	configureComponent (RTObject_impl *comp, const coil::Properties &prop)
	Configure RT-Component.

bool	initExecContext ()
	ExecutionContextManager initialization.

bool	initComposite ()
	PeriodicECSharedComposite initialization.

bool	initFactories ()
	Factories initialization.

void	initCpuAffinity ()

void	initPreConnection ()

void	initPreActivation ()

void	initPreCreation ()

void	invokeInitProc ()

void	publishPorts (RTObject_impl *comp)

void	subscribePorts (RTObject_impl *comp)

PortServiceList *	getPortsOnNameServers (const std::string &nsname, const std::string &kind)

void	connectDataPorts (PortService_ptr port, PortServiceList_var &target_ports)

void	connectServicePorts (PortService_ptr port, PortServiceList_var &target_ports)

bool	initManagerServant ()
	ManagerServant initialization.

bool	mergeProperty (coil::Properties &prop, const char *file_name)
	Merge property information.

std::string	formatString (const char *naming_format, coil::Properties &prop)
	Construct registration information when registering to Naming server.

void	setEndpointProperty (CORBA::Object_ptr objref)
	Setting endpoint info from corba.endpoints .

void	endpointPropertySwitch (const std::string &ipver, bool &ip, std::vector< int > &ip_list)
	Getting option info from corba.endpoint_property .

Protected Attributes
RTM::ManagerServant *	m_mgrservant {nullptr}
	The pointer to the ManagerServant .

CORBA::ORB_var	m_pORB
	The pointer to the ORB .

PortableServer::POA_var	m_pPOA
	The pointer to the POA .

PortableServer::POAManager_var	m_pPOAManager
	The pointer to the POAManager .

coil::Argv	m_argv
	The argument of ORB_init .

int	m_argvSize
	The argument of ORB_init .

ModuleInitProc	m_initProc {nullptr}
	User's initialization function's pointer .

coil::Properties	m_config
	Managaer's configuration Properties .

ModuleManager *	m_module {nullptr}
	The pointer to the ModuleManager .

NamingManager *	m_namingManager {nullptr}
	The pointer to the NamingManager .

coil::Timer< coil::DelayedFunction >	m_invoker
	Timer Object for delay call on the Manager thread .

coil::Timer< coil::PeriodicFunction >	m_scheduler
	Timer Object for delay call on the Manager thread .

std::thread	m_threadOrb
	ORB thread. .

std::thread	m_threadMain
	Manager main thread. .

std::list< coil::SignalAction >	m_signals
	An array for signals management .

bool	m_needsTimer {false}
	A flag that Manager use Timer or not. .

LogStreamBuf	m_logStreamBuf
	Logger buffer .

Logger	rtclog {&m_logStreamBuf}
	Logger stream .

std::vector< std::filebuf * >	m_logfiles
	Files for log output .

ComponentManager	m_compManager
	ComponentManager .

FactoryManager	m_factory
	ComponentManager .

ECFactoryManager	m_ecfactory
	ExecutionContext Manager .

std::vector< ExecutionContextBase * >	m_ecs
	ExecutionContext list .

Finalized	m_finalized

::RTM::ManagerActionListeners	m_listeners

Static Protected Attributes
static Manager *	manager
	The pointer to the Manager .

static std::mutex	mutex
	The mutex of the pointer to the Manager .

static std::atomic_flag	m_isRunning
	A flag to stop the main thread. .

Detailed Description

Manager class.

This is a manager class that manages various information such as components.

Since: 0.2.0

Member Typedef Documentation

◆ ComponentManager

using RTC::Manager::ComponentManager

protected

Initial value:

ObjectManager<std::string, RTObject_impl,

InstanceName>

ObjectManager

Class for managing objects.

Definition ObjectManager.h:52

◆ ECFactoryManager

using RTC::Manager::ECFactoryManager

protected

Initial value:

ObjectManager<const char*, ECFactoryBase,

ECFactoryPredicate>

◆ FactoryManager

using RTC::Manager::FactoryManager

protected

Initial value:

ObjectManager<const coil::Properties,

FactoryBase, FactoryPredicate>

ComponentFactory .

◆ TaskId

using RTC::Manager::TaskId = coil::Timer<coil::PeriodicFunction>::TaskId

Constructor & Destructor Documentation

◆ Manager() [1/2]

RTC::Manager::Manager ( )

protected

Protected Constructor.

Protected Constructor

◆ Manager() [2/2]

RTC::Manager::Manager ( const Manager & )

protecteddelete

Member Function Documentation

◆ activateManager()

bool RTC::Manager::activateManager ( )

Activate the Manager.

This operation do the following:

Activate CORBA POAManager
Activate Manager CORBA object
Bind object reference of the Manager to the nameserver

This operation should be invoked after Manager:init(), and before runManager().

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

◆ addLocalServiceActionListener()

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

◆ addManagerActionListener()

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

◆ addModuleActionListener()

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

◆ addNamingActionListener()

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

◆ addRtcLifecycleActionListener()

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

◆ addTask()

TaskId RTC::Manager::addTask	(	std::function< void(void)>	fn,
		std::chrono::nanoseconds	period )

Add a task to the Manager timer.

This operation add a function or functional object to Manger's timer. It run until removeTask(). DO NOT block (Ex. sleep) in the registerd function.

Parameters

fn	The Function run periodically.
period	Period of fn execution.

Returns: id: ID for removetask().

◆ cleanupComponent()

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

Unregister RT-Components.

Unregister specified RT-Component's instances from naming service.

Parameters

comp	Target RT-Components for the unregistration

◆ cleanupComponents()

void RTC::Manager::cleanupComponents ( )

This method deletes RT-Components.

This method deletes RT-Components registered by notifyFinalized().

◆ configureComponent()

void RTC::Manager::configureComponent	(	RTObject_impl *	comp,
		const coil::Properties &	prop )

protected

Configure RT-Component.

Read property files described each RT-Component's type and instance, and configure it to the component. Also, get each component's registered name when registering to NamingService and configure it.

Parameters

comp	Target RT-Component for the configuration

◆ connectDataPorts()

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

protected

Parameters

port
target_ports

◆ connectServicePorts()

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

protected

Parameters

port
target_ports

◆ createComponent()

RTObject_impl * RTC::Manager::createComponent ( const char * comp_args )

Create RT-Components.

Create specified RT-Component's instances via registered Factory. When its instances have been created successfully, the following processings are also executed.

Read and set configuration information that was set by external file.
Bind ExecutionContext and start operation.
Register to naming service.

Parameters

module_name Target RT-Component names for the creation

Returns: Created RT-Component's instances

◆ createContext()

ExecutionContextBase * RTC::Manager::createContext ( const char * ec_args )

Create Context.

Returns: Created Context's instances

◆ createORBEndpointOption()

void RTC::Manager::createORBEndpointOption	(	std::string &	opt,
		coil::vstring	endpoints )

protected

Create a command optional line of Endpoint of ORB.

Parameters

opt	ORB options
endpoint	Endpoints list

◆ createORBEndpoints()

void RTC::Manager::createORBEndpoints ( coil::vstring & endpoints )

protected

Create Endpoints.

Create Endpoints from the configuration.

Parameters

endpoints Endpoints list

◆ createORBOptions()

std::string RTC::Manager::createORBOptions ( )

protected

Create ORB command options.

Create ORB launch options from configuration information that has been set.

Returns: ORB launch options

◆ deleteComponent() [1/2]

void RTC::Manager::deleteComponent ( const char * instance_name )

Unregister RT-Components that have been registered to Manager.

Unregister RT-Components that have been registered to manager Remove specified RT-Component from naming service, terminate itself and release its instances.

Parameters

instance_name Target RT-Component's instances for the unregistration

◆ deleteComponent() [2/2]

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

Unregister RT-Components that have been registered to Manager.

Unregister RT-Components that have been registered to manager Remove specified RT-Component from naming service, terminate itself and release its instances.

Parameters

comp	Target RT-Component's instances for the unregistration

◆ endpointPropertySwitch()

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

protected

Getting option info from corba.endpoint_property .

◆ formatString()

std::string RTC::Manager::formatString	(	const char *	naming_format,
		coil::Properties &	prop )

protected

Construct registration information when registering to Naming server.

Construct information when registering to NameServer based on specified format and property information. Each format specification character means as follows:

% : Break of Context
n : Instance's name
t : Type name
m : Type name
v : Version
V : Vender
c : Category
h : Host name
M : Manager name
p : Process ID

Parameters

naming_format	Format specification for NamingService registration
prop	Property information that is used

Returns: Specification format conversion result

◆ getComponent()

RTObject_impl * RTC::Manager::getComponent ( const char * instance_name )

Get RT-Component's pointer.

Search RT-Component that has been registered to Manager by its specified name, and get it that matches.

Parameters

instance_name Target RT-Component's name for searching

Returns: Target RT-Component's instances that matches

◆ getComponents()

std::vector< RTObject_impl * > RTC::Manager::getComponents ( )

Get all RT-Components registered in the Manager.

Get all RT-Component's instances that have been registered to Manager.

Returns: List of all RT-Component's instances

◆ getConfig()

coil::Properties & RTC::Manager::getConfig ( )

inline

Get the manager configuration.

Get the manager configuration that has been set to manager.

Returns: Manager's configuration

References m_config.

◆ getFactoryProfiles()

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

Get profiles of factories.

Returns: profiles of factories

◆ getLoadableModules()

std::vector< coil::Properties > RTC::Manager::getLoadableModules ( )

Get a list of loadable modules.

Get loadable module list. (Currently, unimplemented on ModuleManager side)

Returns: Loadable module list

◆ getLoadedModules()

std::vector< coil::Properties > RTC::Manager::getLoadedModules ( )

Get a list of loaded modules.

Get module list that is currently loaded into manager.

Returns: Module list that has been loaded.

◆ getLogLevel()

std::string & RTC::Manager::getLogLevel ( )

inline

Get the log level of the configuration.

Returns: Log level of Manager's configuration

References m_config.

◆ getLogStreamBuf()

LogStreamBuf & RTC::Manager::getLogStreamBuf ( )

inline

Get the log buffer.

Get the log buffer that has been set to manager.

Returns: Log buffer to set to manager

References m_logStreamBuf.

◆ getManagerServant()

RTM::ManagerServant & RTC::Manager::getManagerServant ( )

Getting ManagerServant.

◆ getModulesFactories()

std::vector< std::string > RTC::Manager::getModulesFactories ( )

Get the list of all Factories.

Get the list of all factories that have been registered.

Returns: Registered factory list

◆ getNaming()

NamingManager * RTC::Manager::getNaming ( )

Getting NamingManager.

Returns: NamingManager

◆ getNamingManager()

NamingManager & RTC::Manager::getNamingManager ( )

protected

Getting NamingManager.

◆ getORB()

CORBA::ORB_ptr RTC::Manager::getORB ( )

Get the pointer to ORB (ownership duplicated)

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

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

Returns: ORB object

Referenced by CORBA_SeqUtil::refToVstring().

◆ getPOA()

PortableServer::POA_ptr RTC::Manager::getPOA ( )

Get a pointer to RootPOA held by Manager.

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

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

Returns: RootPOA object

◆ getPOAManager()

PortableServer::POAManager_ptr RTC::Manager::getPOAManager ( )

Get POAManager that Manager has (ownership duplicated)

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

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

Returns: POA manager

◆ getPortsOnNameServers()

PortServiceList * RTC::Manager::getPortsOnNameServers	(	const std::string &	nsname,
		const std::string &	kind )

protected

Parameters

comp

◆ init()

static Manager * RTC::Manager::init	(	int	argc,
		char **	argv )

static

Initialize manager.

This is the static member function to initialize the Manager. The Manager is initialized by given commandline arguments. To use the manager, this initialization member function init() must be called. The manager has two static functions to get the instance such as init() and instance(). Since initializing process is only performed by the init() function, the init() has to be called at the beginning of the lifecycle of the Manager.

*Initialization of manager

initManager: Argument processing, reading config file, initialization of subsystem
initLogger: Initialization of Logger
initORB: Initialization of ORB
initNaming: Initialization of NamingService
initExecutionContext: Initialization of ExecutionContext factory
initTimer: Initialization of Timer

Parameters

argc	The number of command line arguments.
argv	The array of the command line arguments.

Returns: Reference of the unique instance of Manager

◆ initComposite()

bool RTC::Manager::initComposite ( )

protected

PeriodicECSharedComposite initialization.

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

◆ initCpuAffinity()

void RTC::Manager::initCpuAffinity ( )

protected

◆ initExecContext()

bool RTC::Manager::initExecContext ( )

protected

ExecutionContextManager initialization.

Initialize each ExecutionContext that is used, and register each ExecutionContext creation Factory to ExecutionContextManager.

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

◆ initFactories()

bool RTC::Manager::initFactories ( )

protected

Factories initialization.

Initialize buffer factories, thread factories, publisher factories, provider factories, and consumer factories.

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

◆ initLocalService()

bool RTC::Manager::initLocalService ( )

LocalService initialization.

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

◆ initLogger()

bool RTC::Manager::initLogger ( )

protected

System logger initialization.

Initialize System logger. Initialize logger and set it according to the set information in configuration file,

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

◆ initLogstreamFile()

void RTC::Manager::initLogstreamFile ( )

protected

◆ initLogstreamOthers()

void RTC::Manager::initLogstreamOthers ( )

protected

◆ initLogstreamPlugins()

void RTC::Manager::initLogstreamPlugins ( )

protected

◆ initManager()

void RTC::Manager::initManager	(	int	argc,
		char **	argv )

protected

Manager internal initialization.

Execute Manager's internal initialization processing.

Set Manager configuration
Set log output file
Create termination processing thread
Create timer thread (when using timer)

Parameters

argc	Number of commandline arguments
argv	Commandline arguments

◆ initManagerServant()

bool RTC::Manager::initManagerServant ( )

protected

ManagerServant initialization.

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

◆ initNaming()

bool RTC::Manager::initNaming ( )

protected

NamingManager initialization.

Initialize NamingManager . However, operate nothing, if it is set to property that NamingManager is not used. Register default NamingServer that is set to property information, when NamingManager is used. Also, launch a timer that updates information automatically at specified cycle and register the method for the update to the timer, when it is set to update it reguraly.

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

◆ initORB()

bool RTC::Manager::initORB ( )

protected

CORBA ORB initialization.

Initialize ORB based on the configuration given by arguments.

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

◆ initPreActivation()

void RTC::Manager::initPreActivation ( )

protected

◆ initPreConnection()

void RTC::Manager::initPreConnection ( )

protected

◆ initPreCreation()

void RTC::Manager::initPreCreation ( )

protected

◆ instance()

static Manager & RTC::Manager::instance ( )

static

Get instance of the manager.

This is the static member function to get the instance of the Manager. Before calling this function, ensure that the initialization function "init()" is called.

Returns: The only instance reference of the manager

Referenced by CORBA_SeqUtil::refToVstring().

◆ invoke()

void RTC::Manager::invoke	(	std::function< void(void)>	fn,
		std::chrono::nanoseconds	delay = std::chrono::seconds::zero() )

Run a function on the Manager main thread.

The specified function run on the Manager main thread. DO NOT block the thread in the function.

Parameters

fn	The Function run on the Manager main thread.
delay	The delay time for the function execution.

◆ invokeInitProc()

void RTC::Manager::invokeInitProc ( )

protected

◆ join()

void RTC::Manager::join ( )

Wait for Manager's termination.

Wait for Manager's termination to synchronize.

◆ load()

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

[CORBA interface] Load module

Load specified module (shared library, DLL etc..), and invoke initialize function.

Parameters

fname	The module file name
initfunc	The initialize function name

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

◆ mainThread()

void RTC::Manager::mainThread ( )

protected

The main function of Manager main thread. .

◆ mergeProperty()

bool RTC::Manager::mergeProperty	(	coil::Properties &	prop,
		const char *	file_name )

protected

Merge property information.

Load property information that is configured in the specified file, and merge existing properties that has been configured.

Parameters

prop	Target properties for the merge
file_name	File name that property information is described

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

◆ notifyFinalized()

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

This method deletes RT-Components.

The deleted RT-Component is registered. The registered RT-Components are deleted by cleanupComponents().

Parameters

Deleted RT component

◆ operator=()

Manager & RTC::Manager::operator= ( const Manager & )

protecteddelete

◆ procComponentArgs()

bool RTC::Manager::procComponentArgs	(	const char *	comp_arg,
		coil::Properties &	comp_id,
		coil::Properties &	comp_conf )

protected

Extracting component type/properties from the given string.

This operation extracts component type name and its properties from the figen character string. The given string formats is the following.

[RTC type]?[key(0)]=[val(0)]&[key(1)]=[val(1)]...[key(n)]=[val(n)]

Returned value "comp_id" has keys of "vendor", "category", "implementation_id", "version", and returned as Properties type object. "comp_conf" is returned as Properties type object includeing component properties to be given to component.

Returns: comp_arg false will returned if no component type in arg

Parameters

comp_arg	character string to be processed
comp_type	extracted component type name
comp_prop	extracted component's properties

◆ procContextArgs()

bool RTC::Manager::procContextArgs	(	const char *	ec_args,
		std::string &	ec_id,
		coil::Properties &	ec_conf )

protected

Extracting ExecutionContext's name/properties from the given string.

This operation extracts ExecutionContext's name and its properties from the figen character string. The given string formats is the following.

[ExecutionContext's name]?[key(0)]=[val(0)]&[key(1)]=[val(1)]...[key(n)]=[val(n)]

"ec_conf" is returned as Properties type object includeing component properties to be given to component.

Returns: ec_arg false will returned if no ExecutionContext's name in arg

Parameters

ec_arg	character string to be processed
ec_type	extracted ExecutionContext's name
ec_prop	extracted ExecutionContext's properties

◆ publishPorts()

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

protected

Parameters

comp

◆ registerComponent()

bool RTC::Manager::registerComponent ( RTObject_impl * comp )

Register RT-Component directly without Factory.

Register specified RT-Component's instances not via Factory to Manager directly.

Parameters

comp	Target RT-Component's instances for the registration

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

◆ registerECFactory()

bool RTC::Manager::registerECFactory	(	const char *	name,
		ECNewFunc	new_func,
		ECDeleteFunc	delete_func )

Register ExecutionContext Factory.

Register Factory to create ExecutionContext's instances.

Parameters

name	ExecutionContext name for the creation
new_func	ExecutionContext creation function
delete_func	ExecutionContext destruction function

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

◆ registerFactory()

bool RTC::Manager::registerFactory	(	coil::Properties &	profile,
		RtcNewFunc	new_func,
		RtcDeleteFunc	delete_func )

Register RT-Component Factory.

Register Factory to create RT-Component's instances.

Parameters

profile	RT-Component profile
new_func	RT-Component creation function
delete_func	RT-Component destruction function

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

◆ removeLocalServiceActionListener()

void RTC::Manager::removeLocalServiceActionListener ( RTM::LocalServiceActionListener * listener )

◆ removeManagerActionListener()

void RTC::Manager::removeManagerActionListener ( RTM::ManagerActionListener * listener )

◆ removeModuleActionListener()

void RTC::Manager::removeModuleActionListener ( RTM::ModuleActionListener * listener )

◆ removeNamingActionListener()

void RTC::Manager::removeNamingActionListener ( RTM::NamingActionListener * listener )

◆ removeRtcLifecycleActionListener()

void RTC::Manager::removeRtcLifecycleActionListener ( RTM::RtcLifecycleActionListener * listener )

◆ removeTask()

static void RTC::Manager::removeTask ( TaskId id )

inlinestatic

Remove the task from the Manager timer.

This operation remove the specify function.

Parameters

id Task ID

◆ runManager()

void RTC::Manager::runManager ( bool no_block = false )

Run the Manager.

This operation processes the main event loop of the Manager. In this main loop, periodic task and etc. are performed. This operation also start CORBA's ORB event loop. As the default behavior, this operation is going to blocking mode and never returns until Manager::terminate() is called. When the given argument "no_block" is set to "true", this operation creates a thread to process the event loop internally, and it doesn't block and returns.

Parameters

no_block false: Blocking mode, true: non-blocking mode.

◆ setEndpointProperty()

void RTC::Manager::setEndpointProperty ( CORBA::Object_ptr objref )

protected

Setting endpoint info from corba.endpoints .

◆ setModuleInitProc()

void RTC::Manager::setModuleInitProc ( ModuleInitProc proc )

Set initial procedure.

This operation sets the initial procedure call to process module initialization, other user defined initialization and so on. The given procedure will be called at the proper timing after the manager initialization, activation and run.

Parameters

proc	A function pointer to the initial procedure call

◆ shutdown()

void RTC::Manager::shutdown ( )

protected

Shutdown Manager.

Terminate manager's processing. After terminating ORB, shutdown manager in sync.

◆ shutdownComponents()

void RTC::Manager::shutdownComponents ( )

protected

NamingManager finalization.

Get a list of RT-Components that have been registered to NamingManager, and shutdown all components.

◆ shutdownLogger()

void RTC::Manager::shutdownLogger ( )

protected

System Logger finalization.

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

◆ shutdownManagerServant()

void RTC::Manager::shutdownManagerServant ( )

protected

Manager Servant finalization.

◆ shutdownNaming()

void RTC::Manager::shutdownNaming ( )

protected

NamingManager finalization.

Finalize NamingManager. Unbind all registered elements and shutdown them.

◆ shutdownORB()

void RTC::Manager::shutdownORB ( )

protected

ORB finalization.

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

◆ subscribePorts()

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

protected

Parameters

comp

◆ terminate()

static void RTC::Manager::terminate ( )

static

Terminate manager.

Terminate manager's processing

◆ theORB()

CORBA::ORB_ptr RTC::Manager::theORB ( )

Get the pointer to ORB (ownership retained)

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

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

Returns: ORB object

◆ thePOA()

PortableServer::POA_ptr RTC::Manager::thePOA ( )

Get a pointer to RootPOA held by Manager.

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

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

Returns: RootPOA object

◆ thePOAManager()

PortableServer::POAManager_ptr RTC::Manager::thePOAManager ( )

Get POAManager that Manager has (ownership retained)

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

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

Returns: POA manager

◆ unload()

void RTC::Manager::unload ( const char * fname )

Unload module.

Parameters

fname The module file name

◆ unloadAll()

void RTC::Manager::unloadAll ( )

Unload all modules.

◆ unregisterComponent()

bool RTC::Manager::unregisterComponent ( RTObject_impl * comp )

Unregister RT-Components.

Unregister specified RT-Components

Parameters

comp	Target RT-Component's instances for the unregistration

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

Member Data Documentation

◆ m_argv

coil::Argv RTC::Manager::m_argv

protected

The argument of ORB_init .

◆ m_argvSize

int RTC::Manager::m_argvSize

protected

The argument of ORB_init .

◆ m_compManager

ComponentManager RTC::Manager::m_compManager

protected

ComponentManager .

◆ m_config

coil::Properties RTC::Manager::m_config

protected

Managaer's configuration Properties .

Referenced by getConfig(), and getLogLevel().

◆ m_ecfactory

ECFactoryManager RTC::Manager::m_ecfactory

protected

ExecutionContext Manager .

◆ m_ecs

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

protected

ExecutionContext list .

◆ m_factory

FactoryManager RTC::Manager::m_factory

protected

ComponentManager .

◆ m_finalized

Finalized RTC::Manager::m_finalized

protected

◆ m_initProc

ModuleInitProc RTC::Manager::m_initProc {nullptr}

protected

User's initialization function's pointer .

◆ m_invoker

coil::Timer<coil::DelayedFunction> RTC::Manager::m_invoker

protected

Timer Object for delay call on the Manager thread .

◆ m_isRunning

std::atomic_flag RTC::Manager::m_isRunning

staticprotected

A flag to stop the main thread. .

◆ m_listeners

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

protected

◆ m_logfiles

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

protected

Files for log output .

◆ m_logStreamBuf

LogStreamBuf RTC::Manager::m_logStreamBuf

protected

Logger buffer .

Referenced by getLogStreamBuf().

◆ m_mgrservant

RTM::ManagerServant* RTC::Manager::m_mgrservant {nullptr}

protected

The pointer to the ManagerServant .

◆ m_module

ModuleManager* RTC::Manager::m_module {nullptr}

protected

The pointer to the ModuleManager .

◆ m_namingManager

NamingManager* RTC::Manager::m_namingManager {nullptr}

protected

The pointer to the NamingManager .

◆ m_needsTimer

bool RTC::Manager::m_needsTimer {false}

protected

A flag that Manager use Timer or not. .

◆ m_pORB

CORBA::ORB_var RTC::Manager::m_pORB

protected

The pointer to the ORB .

◆ m_pPOA

PortableServer::POA_var RTC::Manager::m_pPOA

protected

The pointer to the POA .

◆ m_pPOAManager

PortableServer::POAManager_var RTC::Manager::m_pPOAManager

protected

The pointer to the POAManager .

◆ m_scheduler

coil::Timer<coil::PeriodicFunction> RTC::Manager::m_scheduler

protected

Timer Object for delay call on the Manager thread .

◆ m_signals

std::list<coil::SignalAction> RTC::Manager::m_signals

protected

An array for signals management .

◆ m_threadMain

std::thread RTC::Manager::m_threadMain

protected

Manager main thread. .

◆ m_threadOrb

std::thread RTC::Manager::m_threadOrb

protected

ORB thread. .

◆ manager

Manager* RTC::Manager::manager

staticprotected

The pointer to the Manager .

◆ mutex

std::mutex RTC::Manager::mutex

staticprotected

The mutex of the pointer to the Manager .

◆ rtclog

Logger RTC::Manager::rtclog {&m_logStreamBuf}

protected

Logger stream .

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

Manager.h

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ComponentManager

◆ ECFactoryManager

◆ FactoryManager

◆ TaskId

Constructor & Destructor Documentation

◆ Manager() [1/2]

◆ Manager() [2/2]

Member Function Documentation

◆ activateManager()

◆ addLocalServiceActionListener()

◆ addManagerActionListener()

◆ addModuleActionListener()

◆ addNamingActionListener()

◆ addRtcLifecycleActionListener()

◆ addTask()

◆ cleanupComponent()

◆ cleanupComponents()

◆ configureComponent()

◆ connectDataPorts()

◆ connectServicePorts()

◆ createComponent()

◆ createContext()

◆ createORBEndpointOption()

◆ createORBEndpoints()

◆ createORBOptions()

◆ deleteComponent() [1/2]

◆ deleteComponent() [2/2]

◆ endpointPropertySwitch()

◆ formatString()

◆ getComponent()

◆ getComponents()

◆ getConfig()

◆ getFactoryProfiles()

◆ getLoadableModules()

◆ getLoadedModules()

◆ getLogLevel()

◆ getLogStreamBuf()

◆ getManagerServant()

◆ getModulesFactories()

◆ getNaming()

◆ getNamingManager()

◆ getORB()

◆ getPOA()

◆ getPOAManager()

◆ getPortsOnNameServers()

◆ init()

◆ initComposite()

◆ initCpuAffinity()

◆ initExecContext()

◆ initFactories()

◆ initLocalService()

◆ initLogger()

◆ initLogstreamFile()

◆ initLogstreamOthers()

◆ initLogstreamPlugins()

◆ initManager()

◆ initManagerServant()

◆ initNaming()

◆ initORB()

◆ initPreActivation()

◆ initPreConnection()

◆ initPreCreation()

◆ instance()

◆ invoke()

◆ invokeInitProc()

◆ join()

◆ load()

◆ mainThread()

◆ mergeProperty()

◆ notifyFinalized()