RT-Component class. More...

#include <RTObject.h>

Inheritance diagram for RTC::RTObject_impl:

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Collaboration diagram for RTC::RTObject_impl:

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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
using	PreCompActionListener = PreComponentActionListener
	Adding PreComponentAction type listener.

using	PreCompActionListenerType = PreComponentActionListenerType

using	PostCompActionListener = PostComponentActionListener
	Adding PostComponentAction type listener.

using	PostCompActionListenerType = PostComponentActionListenerType

using	ECActionListenerType = ExecutionContextActionListenerType
	Adding ExecutionContextAction type listener.

using	ECActionListener = ExecutionContextActionListener

Public Member Functions
	RTObject_impl (Manager *manager)
	Constructor.

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

	~RTObject_impl () override
	Virtual destructor.

ReturnCode_t	initialize () override
	[CORBA interface] Initialize the RTC that realizes this interface.

ReturnCode_t	finalize () override
	[CORBA interface] Finalize the RTC for destruction

ReturnCode_t	exit () override
	[CORBA interface]top the RTC's execution context(s) and finalize it along with its contents.

CORBA::Boolean	is_alive (ExecutionContext_ptr exec_context) override
	[CORBA interface] Confirm whether RTC is the alive state

ExecutionContext_ptr	get_context (UniqueId ec_id) override
	[CORBA interface] Get ExecutionContext.

ExecutionContextList *	get_owned_contexts () override
	[CORBA interface] Get ExecutionContextList.

ExecutionContextList *	get_participating_contexts () override
	[CORBA interface] Get participating ExecutionContextList.

ExecutionContextHandle_t	get_context_handle (ExecutionContext_ptr cxt) override
	[CORBA interface] Return a handle of a ExecutionContext

UniqueId	attach_context (ExecutionContext_ptr exec_context) override
	[CORBA interface] Attach ExecutionContext

UniqueId	bindContext (ExecutionContext_ptr exec_context)

ReturnCode_t	detach_context (UniqueId ec_id) override
	[CORBA interface] Detach ExecutionContext.

ComponentProfile *	get_component_profile () override
	[RTObject CORBA interface] Get RTC's profile

PortServiceList *	get_ports () override
	[RTObject CORBA interface] Get Ports

ReturnCode_t	on_initialize () override
	[ComponentAction CORBA interface] Initialize RTC

ReturnCode_t	on_finalize () override
	[ComponentAction CORBA interface] Finalize RTC

ReturnCode_t	on_startup (UniqueId ec_id) override
	[ComponentAction CORBA interface] Startup RTC

ReturnCode_t	on_shutdown (UniqueId ec_id) override
	[ComponentAction CORBA interface] Shutdown RTC

ReturnCode_t	on_activated (UniqueId ec_id) override
	[ComponentAction CORBA interface] Activate RTC

ReturnCode_t	on_deactivated (UniqueId ec_id) override
	[ComponentAction CORBA interface] Deactivate RTC

ReturnCode_t	on_aborting (UniqueId ec_id) override
	[ComponentAction CORBA interface] Transition to Error State

ReturnCode_t	on_error (UniqueId ec_id) override
	[ComponentAction CORBA interface] Error Processing of RTC

ReturnCode_t	on_reset (UniqueId ec_id) override
	[ComponentAction CORBA interface] Resetting RTC

ReturnCode_t	on_execute (UniqueId ec_id) override
	[DataFlowComponentAction CORBA interface] Primary Periodic Operation of RTC

ReturnCode_t	on_state_update (UniqueId ec_id) override
	[DataFlowComponentAction CORBA interface] Secondary Periodic Operation of RTC

ReturnCode_t	on_rate_changed (UniqueId ec_id) override
	[DataFlowComponentAction CORBA interface] Notify rate changed

SDOPackage::OrganizationList *	get_owned_organizations () override
	[SDO interface] Get Organization list

char *	get_sdo_id () override
	[SDO interface] Get the SDO ID

char *	get_sdo_type () override
	[SDO interface] Get SDO type

SDOPackage::DeviceProfile *	get_device_profile () override
	[SDO interface] Get SDO DeviceProfile list

SDOPackage::ServiceProfileList *	get_service_profiles () override
	[SDO interface] Get SDO ServiceProfile

SDOPackage::ServiceProfile *	get_service_profile (const char *id) override
	[SDO interface] Get specified ServiceProfile

SDOPackage::SDOService_ptr	get_sdo_service (const char *id) override
	[SDO interface] Get specified SDO Service's reference

SDOPackage::Configuration_ptr	get_configuration () override
	[SDO interface] Get Configuration object

SDOPackage::Monitoring_ptr	get_monitoring () override
	[SDO interface] Get Monitoring object

SDOPackage::OrganizationList *	get_organizations () override
	[SDO interface] Get Organization list

SDOPackage::NVList *	get_status_list () override
	[SDO interface] Get SDO Status list

CORBA::Any *	get_status (const char *name) override
	[SDO interface] Get SDO Status

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

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

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

const char *	getDescription ()
	[local interface] GetDescription

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

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

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

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

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

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

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

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

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.

ConfigAdmin &	getConfigService ()
	Getting configuration service.

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

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

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

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

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

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

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

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

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

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

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

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

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

bool	removeInPort (InPortBase &inport)
	[local interface] Unregister InPort

bool	removeOutPort (OutPortBase &outport)
	[local interface] Unregister OutPort

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

bool	readAll ()
	Readout the value from All InPorts.

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

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

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

void	finalizePorts ()
	Unregister All Ports.

void	finalizeContexts ()
	The ExecutionContextBase list is deleted.

void	setINSObjRef (RTC::LightweightRTObject_ptr obj)

void	addPreComponentActionListener (PreCompActionListenerType listener_type, PreCompActionListener *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.

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.

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

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.

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.

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

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.

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

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.

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

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.

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

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.

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

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

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

void	addPreFsmActionListener (PreFsmActionListenerType listener_type, PreFsmActionListener *listener, bool autoclean=true)
	Adding PreFsmAction type listener.

template<class Listener >
PreFsmActionListener *	addPreFsmActionListener (PreFsmActionListenerType listener_type, Listener &obj, void(Listener::memfunc)(const char state))

void	removePreFsmActionListener (PreFsmActionListenerType listener_type, PreFsmActionListener *listener)
	Removing PreFsmAction type listener.

void	addPostFsmActionListener (PostFsmActionListenerType listener_type, PostFsmActionListener *listener, bool autoclean=true)
	Adding PostFsmAction type listener.

template<class Listener >
PostFsmActionListener *	addPostFsmActionListener (PostFsmActionListenerType listener_type, Listener &obj, void(Listener::memfunc)(const char state, ReturnCode_t ret))

void	removePostFsmActionListener (PostFsmActionListenerType listener_type, PostFsmActionListener *listener)
	Removing PostFsmAction type listener.

void	addFsmProfileListener (FsmProfileListenerType listener_type, FsmProfileListener *listener, bool autoclean=true)
	Adding FsmProfile type listener.

template<class Listener >
FsmProfileListener *	addFsmProfileListener (FsmProfileListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const RTC::PortProfile &))

void	removeFsmProfileListener (FsmProfileListenerType listener_type, FsmProfileListener *listener)
	Removing FsmProfile type listener.

void	addFsmStructureListener (FsmStructureListenerType listener_type, FsmStructureListener *listener, bool autoclean=true)
	Adding FsmStructure type listener.

template<class Listener >
FsmStructureListener *	addFsmStructureListener (FsmStructureListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const RTC::PortProfile &))

void	removeFsmStructureListener (FsmStructureListenerType listener_type, FsmStructureListener *listener)
	Removing FsmStructure type listener.

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)

void	preOnFsmInit (const char *state)

void	preOnFsmEntry (const char *state)

void	preOnFsmDo (const char *state)

void	preOnFsmExit (const char *state)

void	preOnFsmStateChange (const char *state)

void	postOnFsmInit (const char *state, ReturnCode_t ret)

void	postOnFsmEntry (const char *state, ReturnCode_t ret)

void	postOnFsmDo (const char *state, ReturnCode_t ret)

void	postOnFsmExit (const char *state, ReturnCode_t ret)

void	postOnFsmStateChange (const char *state, ReturnCode_t ret)

Static Public Member Functions
static bool	isOwnExecutionContext (RTC::UniqueId ec_id)
	[local interface] Checking if the current context is own context

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

virtual ReturnCode_t	onFinalize ()
	Callback function to finalize.

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

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

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

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

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

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

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

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

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

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

void	shutdown ()
	Shutdown RTC This operation ececutes RTC's termination. This unregisters all Ports, deactivates corresponding CORBA objects and shuts down RTC. This is called from onlu finlize().

ReturnCode_t	initMineEC ()
	Initialize my EC This function initializes mine ECs. This is called from only initialize().

void	startMineEC ()
	Starting my EC This function start mine ECs. This is called from only initialize().

void	finalizeMineEC ()
	Finalize my EC This function finalize mine ECs. This is called from only exit().

void	finalizeOtherEC ()
	Finalize my EC This function detaching the RTC from others' ECs. This is called from only exit().

ReturnCode_t	getInheritedECOptions (coil::Properties &default_opts)
	Get inherited EC options This function getting inherited EC options. This is called from only initMineEC().

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

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

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

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

void	initSdoService ()
	initialize SDO service stuff This function calles SdoService's initialize().

Static Protected Member Functions
static ReturnCode_t	findExistingEC (coil::Properties &ec_arg, RTC::ExecutionContextBase *&ec)
	fiding existing EC from the factory

Protected Attributes
Logger	rtclog
	Logger stream .

Manager *	m_pManager
	Manager object .

CORBA::ORB_var	m_pORB
	The pointer to the ORB .

PortableServer::POA_var	m_pPOA
	The pointer to the POA .

SDOPackage::OrganizationList	m_sdoOwnedOrganizations
	SDO owned organization list .

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

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

SDOPackage::OrganizationList	m_sdoOrganizations
	SDO organization .

SDOPackage::NVList	m_sdoStatus
	SDO Status .

ComponentProfile	m_profile
	ComponentProfile .

RTObject_var	m_objref
	Object reference .

PortAdmin	m_portAdmin
	List of Port Object reference .

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

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

ExecutionContextServiceList	m_ecMine
	List of owned ExecutionContextService .

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

ExecutionContextServiceList	m_ecOther
	List of participating ExecutionContextService .

bool	m_created
	Created Status Flag .

bool	m_exiting
	RTC Finalize Status Flag .

coil::Properties	m_properties
	RTC's Property .

ConfigAdmin	m_configsets
	Configuration Administrator Object .

SdoServiceAdmin	m_sdoservice
	SDO Service Administrator Object .

bool	m_readAll
	flag for readAll()

bool	m_writeAll
	flag for writeAll()

bool	m_readAllCompletion
	flag for readAll()

bool	m_writeAllCompletion
	flag for writeAll()

ComponentActionListeners	m_actionListeners
	ComponentActionListener holder.

PortConnectListeners	m_portconnListeners
	PortConnectListener holder.

FsmActionListeners	m_fsmActionListeners
	ComponentActionListener holder.

RTC::LightweightRTObject_var	m_insref

SdoServiceConsumerTerminator *	m_sdoconterm

Detailed Description

RT-Component class.

This is a class to be a base of each RT-Component. This is a implementation class of lightweightRTComponent in Robotic Technology Component specification. This provides a implementation of ComponentAction interface that offers the the component's function and the implementation of LightweightRTObject for management of the component's lifecycle. When users actually create the components, they should use each subclass corresponding to Execution Semantics.
(In current implementation, since only Periodic Sampled Data Processing is supported, this class inherits dataFlowComponent directly.)

Since: 0.2.0

Member Typedef Documentation

◆ ECActionListener

using RTC::RTObject_impl::ECActionListener = ExecutionContextActionListener

◆ ECActionListenerType

using RTC::RTObject_impl::ECActionListenerType = ExecutionContextActionListenerType

Adding ExecutionContextAction type listener.

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

ADD_PORT: At adding ExecutionContext
REMOVE_PORT: At removing ExecutionContext

Listeners should have the following function operator().

ExecutionContextActionListener::operator()(UniqueId ec_id)

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

Parameters

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

◆ PostCompActionListener

using RTC::RTObject_impl::PostCompActionListener = PostComponentActionListener

Adding PostComponentAction type listener.

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

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

Listeners should have the following function operator().

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

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

Parameters

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

◆ PostCompActionListenerType

using RTC::RTObject_impl::PostCompActionListenerType = PostComponentActionListenerType

◆ PreCompActionListener

using RTC::RTObject_impl::PreCompActionListener = PreComponentActionListener

Adding PreComponentAction type listener.

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

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

Listeners should have the following function operator().

PreComponentActionListener::operator()(UniqueId ec_id)

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

Parameters

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

◆ PreCompActionListenerType

using RTC::RTObject_impl::PreCompActionListenerType = PreComponentActionListenerType

Constructor & Destructor Documentation

◆ RTObject_impl() [1/2]

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

explicit

Constructor.

Constructor

Parameters

manager Manager object

◆ RTObject_impl() [2/2]

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

Constructor.

Constructor

Parameters

orb	ORB
poa	POA

◆ ~RTObject_impl()

RTC::RTObject_impl::~RTObject_impl ( )

override

Virtual destructor.

Member Function Documentation

◆ activate()

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.

onStartup()
onDeactivated()

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

Parameters

ec_id The above functions' first argument "exec_handle."

Returns: Return code

◆ addConfigurationParamListener() [1/2]

template<class Listener >

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

inline

References addConfigurationParamListener().

◆ addConfigurationParamListener() [2/2]

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

Adding ConfigurationParamListener.

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

Parameters

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

Referenced by addConfigurationParamListener().

◆ addConfigurationSetListener() [1/2]

template<class Listener >

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

inline

References addConfigurationSetListener().

◆ addConfigurationSetListener() [2/2]

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

Adding ConfigurationSetListener.

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

Parameters

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

Referenced by addConfigurationSetListener().

◆ addConfigurationSetNameListener() [1/2]

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

Adding ConfigurationSetNameListener.

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

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

Parameters

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

Referenced by addConfigurationSetNameListener().

◆ addConfigurationSetNameListener() [2/2]

template<class Listener >

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

inline

References addConfigurationSetNameListener().

◆ addExecutionContextActionListener() [1/2]

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

Referenced by addExecutionContextActionListener().

◆ addExecutionContextActionListener() [2/2]

template<class Listener >

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

inline

References addExecutionContextActionListener().

◆ addFsmProfileListener() [1/2]

void RTC::RTObject_impl::addFsmProfileListener	(	FsmProfileListenerType	listener_type,
		FsmProfileListener *	listener,
		bool	autoclean = true )

Adding FsmProfile type listener.

This operation adds certain listeners that is called when setting/getting FsmProfile and stae/transition/event add/remove to/from the FSM itself.

The following listener types are available.

SET_FSM_PROFILE : Setting FSM Profile
GET_FSM_PROFILE : Getting FSM Profile
ADD_FSM_STATE : A State added to the FSM
REMOVE_FSM_STATE : A State removed from FSM
ADD_FSM_TRANSITION : A transition added to the FSM
REMOVE_FSM_TRANSITION : A transition removed from FSM
BIND_FSM_EVENT : An event bounded to the FSM
UNBIND_FSM_EVENT : An event unbounded to the FSM

Listeners should have the following function operator().

FsmProfileListener::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 removeFsmProfileListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters

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

Referenced by addFsmProfileListener().

◆ addFsmProfileListener() [2/2]

template<class Listener >

FsmProfileListener * RTC::RTObject_impl::addFsmProfileListener	(	FsmProfileListenerType	listener_type,
		Listener &	obj,
		void(Listener::*	memfunc )(const RTC::PortProfile &) )

inline

References addFsmProfileListener().

◆ addFsmStructureListener() [1/2]

void RTC::RTObject_impl::addFsmStructureListener	(	FsmStructureListenerType	listener_type,
		FsmStructureListener *	listener,
		bool	autoclean = true )

Adding FsmStructure type listener.

This operation adds certain listeners related to FSM structure data which are handled by ExtendedFsmService.

The following listener types are available.

SET_FSM_STRUCTURE: Setting FSM structure
GET_FSM_STRUCTURE: Getting FSM structure

Listeners should have the following function operator().

FsmStructureListener::operator()(RTC::FsmStructure structure)

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 removeFsmStructureListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters

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

Referenced by addFsmStructureListener().

◆ addFsmStructureListener() [2/2]

template<class Listener >

FsmStructureListener * RTC::RTObject_impl::addFsmStructureListener	(	FsmStructureListenerType	listener_type,
		Listener &	obj,
		void(Listener::*	memfunc )(const RTC::PortProfile &) )

inline

References addFsmStructureListener().

◆ addInPort()

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

[local interface] Register DataInPort

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

Parameters

name	Port name
inport	DataInPort which is registered to the RTC

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

◆ addOutPort()

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

[local interface] Register DataOutPort

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

Parameters

name	Port name
outport	DataOutPort which is registered to the RTC

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

◆ addPort() [1/3]

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

[local interface] Register Port

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

Parameters

port	Port which is registered to the RTC

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

◆ addPort() [2/3]

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

[local interface] Register Port

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

Parameters

port	Port which is registered to the RTC

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

◆ addPort() [3/3]

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

[local interface] Register Port

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

Parameters

port	Port which is registered to the RTC

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

◆ addPortActionListener() [1/2]

template<class Listener >

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

inline

References addPortActionListener().

◆ addPortActionListener() [2/2]

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

Adding PortAction type listener.

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

ADD_PORT: At adding Port
REMOVE_PORT: At removing Port

Listeners should have the following function operator().

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

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

Parameters

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

Referenced by addPortActionListener().

◆ addPortConnectListener() [1/2]

template<class Listener >

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

inline

References addPortConnectListener().

◆ addPortConnectListener() [2/2]

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

Adding PortConnect type listener.

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

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

Listeners should have the following function operator().

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

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

Parameters

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

Referenced by addPortConnectListener().

◆ addPortConnectRetListener() [1/2]

template<class Listener >

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

inline

References addPortConnectRetListener().

◆ addPortConnectRetListener() [2/2]

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

Adding PortConnectRet type listener.

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

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

Listeners should have the following function operator().

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

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

Parameters

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

Referenced by addPortConnectRetListener().

◆ addPostComponentActionListener() [1/2]

template<class Listener >

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

inline

References addPostComponentActionListener().

◆ addPostComponentActionListener() [2/2]

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

Referenced by addPostComponentActionListener().

◆ addPostFsmActionListener() [1/2]

template<class Listener >

PostFsmActionListener * RTC::RTObject_impl::addPostFsmActionListener	(	PostFsmActionListenerType	listener_type,
		Listener &	obj,
		void(Listener::*	memfunc )(const char *state, ReturnCode_t ret) )

inline

References addPostFsmActionListener().

◆ addPostFsmActionListener() [2/2]

void RTC::RTObject_impl::addPostFsmActionListener	(	PostFsmActionListenerType	listener_type,
		PostFsmActionListener *	listener,
		bool	autoclean = true )

Adding PostFsmAction type listener.

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

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

Listeners should have the following function operator().

PostFsmActionListener::operator()(const char* state, 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 removePostFsmActionListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters

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

Referenced by addPostFsmActionListener().

◆ addPreComponentActionListener() [1/2]

template<class Listener >

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

inline

References addPreComponentActionListener().

◆ addPreComponentActionListener() [2/2]

void RTC::RTObject_impl::addPreComponentActionListener	(	PreCompActionListenerType	listener_type,
		PreCompActionListener *	listener,
		bool	autoclean = true )

Referenced by addPreComponentActionListener().

◆ addPreFsmActionListener() [1/2]

template<class Listener >

PreFsmActionListener * RTC::RTObject_impl::addPreFsmActionListener	(	PreFsmActionListenerType	listener_type,
		Listener &	obj,
		void(Listener::*	memfunc )(const char *state) )

inline

References addPreFsmActionListener().

◆ addPreFsmActionListener() [2/2]

void RTC::RTObject_impl::addPreFsmActionListener	(	PreFsmActionListenerType	listener_type,
		PreFsmActionListener *	listener,
		bool	autoclean = true )

Adding PreFsmAction type listener.

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

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

Listeners should have the following function operator().

PreFsmActionListener::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 removePreFsmActionListener() function. If you want to keep ownership of the listener object, give "false" value to 3rd argument to inhibit automatic destruction.

Parameters

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

Referenced by addPreFsmActionListener().

◆ addSdoServiceConsumer()

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

[local interface] Set a SDO service provider

◆ addSdoServiceProvider()

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

[local interface] Set a SDO service provider

◆ attach_context()

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

override

[CORBA interface] Attach ExecutionContext

Inform this RTC that it is participating in the given execution context. Return a handle that represents the association of this RTC with the context. This operation is intended to be invoked by ExecutionContextOperations::add_component. It is not intended for use by other clients.

Parameters

exec_context Participating ExecutionContext

Returns: ExecutionContext Handle

◆ bindContext()

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

◆ bindParameter()

template<typename VarType >

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

inline

Setup for configuration parameters.

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

Parameters

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

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

References RTC::ConfigAdmin::bindParameter(), m_configsets, and RTC_TRACE.

◆ createContexts()

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

protected

creating, initializing and binding context

◆ deactivate()

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.

onActivated()
onExecute()
onStateUpdate()

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

Parameters

ec_id The above functions' first argument "exec_handle."

Returns: Return code

◆ deletePort() [1/3]

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

[local interface] Unregister Port

This operation unregisters a Port held by this RTC.

Parameters

port	Port which is unregistered

◆ deletePort() [2/3]

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

[local interface] Unregister Port

This operation unregisters a Port held by this RTC.

Parameters

port	Port which is unregistered

◆ deletePort() [3/3]

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

[local interface] Unregister Port

This operation unregisters a Port held by this RTC.

Parameters

port	Port which is unregistered

◆ deletePortByName()

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

[local interface] Delete Port by specifying its name

Delete Port which RTC has by specifying its name.

Parameters

port_name Name of Port which is deleted

◆ detach_context()

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

override

[CORBA interface] Detach ExecutionContext.

Inform this RTC that it is no longer participating in the given execution context. This operation is intended to be invoked by ExecutionContextOperations::remove. It is not intended for use by other clients. Constraints

This operation may not be invoked if this RTC is not already participating in the execution context. Such a call shall fail with ReturnCode_t::PRECONDITION_NOT_MET.
This operation may not be invoked if this RTC is Active in the indicated execution context. Otherwise, it shall fail with ReturnCode_t::PRECONDITION_NOT_MET.

Parameters

exec_handle Detaching ExecutionContext Handle

Returns: The return code of ReturnCode_t type

◆ exit()

ReturnCode_t RTC::RTObject_impl::exit ( )

override

[CORBA interface]top the RTC's execution context(s) and finalize it along with its contents.

Any execution contexts for which the RTC is the owner shall be stopped. If the RTC participates in any execution contexts belonging to another RTC that contains it, directly or indirectly (i.e. the containing RTC is the owner of the ExecutionContext), it shall be deactivated in those contexts. After the RTC is no longer Active in any Running execution context, it and any RTCs contained transitively within it shall be finalized.

Constraints

An RTC cannot be exited if it has not yet been initialized. Any attempt to exit an RTC that is in the Created state shall fail with ReturnCode_t::PRECONDITION_NOT_MET.

Returns: The return code of ReturnCode_t type

◆ finalize()

ReturnCode_t RTC::RTObject_impl::finalize ( )

override

[CORBA interface] Finalize the RTC for destruction

This invocation of this operation shall result in the invocation of the callback ComponentAction::on_finalize.

Constraints

An RTC may not be finalized while it is participating in any execution context. It must first be removed with ExecutionContextOperations::remove. Otherwise, this operation shall fail with ReturnCode_t::PRECONDITION_NOT_MET.
An RTC may not be finalized while it is in the Created state. Any attempt to invoke this operation while in that state shall fail with ReturnCode_t::PRECONDITION_NOT_MET.
Application developers are not expected to call this operation directly; it exists for use by the RTC infrastructure.

Returns: The return code of ReturnCode_t type

◆ finalizeContexts()

void RTC::RTObject_impl::finalizeContexts ( )

The ExecutionContextBase list is deleted.

◆ finalizeMineEC()

void RTC::RTObject_impl::finalizeMineEC ( )

protected

Finalize my EC This function finalize mine ECs. This is called from only exit().

◆ finalizeOtherEC()

void RTC::RTObject_impl::finalizeOtherEC ( )

protected

Finalize my EC This function detaching the RTC from others' ECs. This is called from only exit().

◆ finalizePorts()

void RTC::RTObject_impl::finalizePorts ( )

Unregister All Ports.

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

◆ findExistingEC()

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

staticprotected

fiding existing EC from the factory

◆ get_component_profile()

ComponentProfile * RTC::RTObject_impl::get_component_profile ( )

override

[RTObject CORBA interface] Get RTC's profile

This operation returns the ComponentProfile of the RTC.

Returns: ComponentProfile

◆ get_configuration()

SDOPackage::Configuration_ptr RTC::RTObject_impl::get_configuration ( )

override

[SDO interface] Get Configuration object

This operation returns an object implementing the Configuration interface. The Configuration interface is one of the interfaces that each SDO maintains. The interface is used to configure the attributes defined in DeviceProfile, ServiceProfile, and Organization. See OMG SDO specification Section 2.3.5, "Configuration Interface," on page 2-24 for more details about the Configuration interface.

Returns: The Configuration interface of an SDO.

Exceptions

InterfaceNotImplemented	The target SDO has no Configuration interface.
SDONotExists	The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	The target SDO is reachable but cannot respond.
InternalError	The target SDO cannot execute the operation completely due to some internal error.

◆ get_context()

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

override

[CORBA interface] Get ExecutionContext.

Obtain a reference to the execution context represented by the given handle. The mapping from handle to context is specific to a particular RTC instance. The given handle must have been obtained by a previous call to attach_context on this RTC.

Parameters

exec_handle ExecutionContext handle

Returns: ExecutionContext

◆ get_context_handle()

ExecutionContextHandle_t RTC::RTObject_impl::get_context_handle ( ExecutionContext_ptr cxt )

override

[CORBA interface] Return a handle of a ExecutionContext

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

◆ get_device_profile()

SDOPackage::DeviceProfile * RTC::RTObject_impl::get_device_profile ( )

override

[SDO interface] Get SDO DeviceProfile list

This operation returns the DeviceProfile of the SDO. If the SDO does not represent any hardware device, then a DeviceProfile with empty values are returned. This operation throws SDOException with one of the following types.

Returns: The DeviceProfile of the SDO.

Exceptions

SDONotExists	The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	The target SDO is reachable but cannot respond.
InternalError	The target SDO cannot execute the operation completely due to some internal error.

◆ get_monitoring()

SDOPackage::Monitoring_ptr RTC::RTObject_impl::get_monitoring ( )

override

[SDO interface] Get Monitoring object

This operation returns an object implementing the Monitoring interface. The Monitoring interface is one of the interfaces that each SDO maintains. The interface is used to monitor the properties of an SDO. See OMG SDO specification Section 2.3.7, "Monitoring Interface," on page 2-35 for more details about the Monitoring interface.

Returns: The Monitoring interface of an SDO.

Exceptions

InterfaceNotImplemented	The target SDO has no Configuration interface.
SDONotExists	The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	The target SDO is reachable but cannot respond.
InternalError	The target SDO cannot execute the operation completely due to some internal error.

◆ get_organizations()

SDOPackage::OrganizationList * RTC::RTObject_impl::get_organizations ( )

override

[SDO interface] Get Organization list

An SDO belongs to zero or more organizations. If the SDO belongs to one or more organizations, this operation returns the list of organizations that the SDO belongs to. An empty list is returned if the SDO does not belong to any Organizations.

Returns: The list of Organizations that the SDO belong to.

Exceptions

SDONotExists	The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	The target SDO is reachable but cannot respond.
InternalError	The target SDO cannot execute the operation completely due to some internal error.

◆ get_owned_contexts()

ExecutionContextList * RTC::RTObject_impl::get_owned_contexts ( )

override

[CORBA interface] Get ExecutionContextList.

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

Returns: ExecutionContext List

◆ get_owned_organizations()

SDOPackage::OrganizationList * RTC::RTObject_impl::get_owned_organizations ( )

override

[SDO interface] Get Organization list

SDOSystemElement can be the owner of zero or more organizations. If the SDOSystemElement owns one or more Organizations, this operation returns the list of Organizations that the SDOSystemElement owns. If it does not own any Organization, it returns empty list.

Returns: Owned Organization List

Exceptions

SDONotExists	The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	The target SDO is reachable but cannot respond.
InternalError	The target SDO cannot execute the operation completely due to some internal error.

◆ get_participating_contexts()

ExecutionContextList * RTC::RTObject_impl::get_participating_contexts ( )

override

[CORBA interface] Get participating ExecutionContextList.

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

Returns: ExecutionContext List

◆ get_ports()

PortServiceList * RTC::RTObject_impl::get_ports ( )

override

[RTObject CORBA interface] Get Ports

This operation returns the reference of ports held by RTC.

Returns: PortServiceList

◆ get_sdo_id()

char * RTC::RTObject_impl::get_sdo_id ( )

override

[SDO interface] Get the SDO ID

This operation returns id of the SDO. This operation throws SDOException with one of the following types.

Returns: id of the SDO defined in the resource data model.

Exceptions

SDONotExists	The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	The target SDO is reachable but cannot respond.
InternalError	The target SDO cannot execute the operation completely due to some internal error.

◆ get_sdo_service()

SDOPackage::SDOService_ptr RTC::RTObject_impl::get_sdo_service ( const char * id )

override

[SDO interface] Get specified SDO Service's reference

This operation returns an object implementing an SDO's service that is identified by the identifier specified as an argument. Different services provided by an SDO are distinguished with different identifiers. See OMG SDO specification Section 2.2.8, "ServiceProfile," on page 2-12 for more details.

Parameters

id	The identifier referring to one of the SDO Service

Returns: The reference requested to SDO Service.

Exceptions

InvalidParameter	Argument “id” is null, or if the ServiceProfile that is specified by argument “id” does not exist.
SDONotExists	The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	The target SDO is reachable but cannot respond.
InternalError	The target SDO cannot execute the operation completely due to some internal error.

◆ get_sdo_type()

char * RTC::RTObject_impl::get_sdo_type ( )

override

[SDO interface] Get SDO type

This operation returns sdoType of the SDO. This operation throws SDOException with one of the following types.

Returns: Type of the SDO defined in the resource data model.

Exceptions

SDONotExists	The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	The target SDO is reachable but cannot respond.
InternalError	The target SDO cannot execute the operation completely due to some internal error.

◆ get_service_profile()

SDOPackage::ServiceProfile * RTC::RTObject_impl::get_service_profile ( const char * id )

override

[SDO interface] Get specified ServiceProfile

This operation returns the ServiceProfile that is specified by the argument "id."

Parameters

id	The identifier referring to one of the ServiceProfiles.

Returns: The profile of the specified service.

Exceptions

InvalidParameter	The ServiceProfile that is specified by the argument 'id' does not exist or if 'id' is 'null.'
SDONotExists	The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	The target SDO is reachable but cannot respond.
InternalError	The target SDO cannot execute the operation completely due to some internal error.

◆ get_service_profiles()

SDOPackage::ServiceProfileList * RTC::RTObject_impl::get_service_profiles ( )

override

[SDO interface] Get SDO ServiceProfile

This operation returns a list of ServiceProfiles that the SDO has. If the SDO does not provide any service, then an empty list is returned. This operation throws SDOException with one of the following types.

Returns: List of ServiceProfiles of all the services the SDO is providing.

Exceptions

SDONotExists	The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	The target SDO is reachable but cannot respond.
InternalError	The target SDO cannot execute the operation completely due to some internal error.

◆ get_status()

CORBA::Any * RTC::RTObject_impl::get_status ( const char * name )

override

[SDO interface] Get SDO Status

Parameters

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

Returns: The value of the specified status parameter.

Exceptions

SDONotExists	The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	The target SDO is reachable but cannot respond.
InvalidParameter	The parameter defined by "name" is null or does not exist.
InternalError	The target SDO cannot execute the operation completely due to some internal error.

◆ get_status_list()

SDOPackage::NVList * RTC::RTObject_impl::get_status_list ( )

override

[SDO interface] Get SDO Status list

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

Returns: The actual status of an SDO.

Exceptions

SDONotExists	The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.)
NotAvailable	The target SDO is reachable but cannot respond.
InternalError	The target SDO cannot execute the operation completely due to some internal error.

◆ getCategory()

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

inline

[local interface] Get category information

Get the category information that has been set in ComponentProfile.

Returns: Category information

References m_profile, and RTC_TRACE.

◆ getConfigService()

ConfigAdmin & RTC::RTObject_impl::getConfigService ( )

inline

Getting configuration service.

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

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

Callback related member functions

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

See details in the ConfigAdmin class reference

Returns: ConfigAdmin object

References m_configsets.

◆ getContextOptions()

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

protected

getting EC options

◆ getDescription()

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

inline

[local interface] GetDescription

Get the Description has been set in ComponentProfile.

Returns: Description

References m_profile, and RTC_TRACE.

◆ getExecutionContext()

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.

onStartup()
onShutdown()
onActivated()
onDeactivated()
onExecute()
onAborting()
onError()
onReset()
onStateUpdate()
onRateChanged()

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

Parameters

ec_id The above functions' first argument "exec_handle."

◆ getExecutionRate()

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.

onStartup()
onShutdown()
onActivated()
onDeactivated()
onExecute()
onAborting()
onError()
onReset()
onStateUpdate()
onRateChanged()

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

Parameters

ec_id The above functions' first argument "exec_handle."

◆ getGlobalContextOptions()

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

protected

getting global EC options from rtc.conf

◆ getInheritedECOptions()

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

protected

Get inherited EC options This function getting inherited EC options. This is called from only initMineEC().

◆ getInPorts()

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

inline

References m_inports.

◆ getInstanceName()

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

inline

[local interface] Get instance name

Return the instance name that has been set in ComponentProfile.

Returns: Instance name

References m_profile, and RTC_TRACE.

◆ getNamingNames()

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

[local interface] Get Naming Server information

Get Naming Server information that has been set.

Returns: Naming Server list

◆ getObjRef()

RTObject_ptr RTC::RTObject_impl::getObjRef ( ) const

[local interface] Get the object reference

Get CORBA object reference that has been set

Returns: The object reference

◆ getOutPorts()

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

inline

References m_outports.

◆ getPrivateContextOptions()

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

protected

getting individual EC options from RTC's configuration file

◆ getProperties()

coil::Properties & RTC::RTObject_impl::getProperties ( )

[local interface] Get RTC property

This operation returns the properties of the RTC. Empty property would be returned, if RTC has no property.

Returns: Property for RTC.

◆ getTypeName()

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

inline

[local interface] Get type name

Get the type name has been set in ComponentProfile.

Returns: Type name

References m_profile, and RTC_TRACE.

◆ getVendor()

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

inline

[local interface] Get vendor

Get the vendor information that has been set in ComponentProfile.

Returns: Vendor information

References m_profile, and RTC_TRACE.

◆ getVersion()

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

inline

[local interface] Get version information

Get the version information that has been set in ComponentProfile.

Returns: Version information

References m_profile, and RTC_TRACE.

◆ initialize()

ReturnCode_t RTC::RTObject_impl::initialize ( )

override

[CORBA interface] Initialize the RTC that realizes this interface.

The invocation of this operation shall result in the invocation of the callback ComponentAction::on_initialize.

Constraints

An RTC may be initialized only while it is in the Created state. Any attempt to invoke this operation while in another state shall fail with ReturnCode_t::PRECONDITION_NOT_MET.
Application developers are not expected to call this operation directly; it exists for use by the RTC infrastructure.

Returns: The return code of ReturnCode_t type

◆ initMineEC()

ReturnCode_t RTC::RTObject_impl::initMineEC ( )

protected

Initialize my EC This function initializes mine ECs. This is called from only initialize().

◆ initSdoService()

void RTC::RTObject_impl::initSdoService ( )

protected

initialize SDO service stuff This function calles SdoService's initialize().

◆ is_alive()

CORBA::Boolean RTC::RTObject_impl::is_alive ( ExecutionContext_ptr exec_context )

override

[CORBA interface] Confirm whether RTC is the alive state

A component is alive or not regardless of the execution context from which it is observed. However, whether or not it is Active, Inactive, or in Error is dependent on the execution context(s) in which it is running. That is, it may be Active in one context but Inactive in another. Therefore, this operation shall report whether this RTC is either Active, Inactive or in Error; which of those states a component is in with respect to a particular context may be queried from the context itself.

Returns: Result of Alive state confirmation

◆ isOwnExecutionContext()

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

static

[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.

onStartup()
onShutdown()
onActivated()
onDeactivated()
onExecute()
onAborting()
onError()
onReset()
onStateUpdate()
onRateChanged()

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

Parameters

ec_id The above functions' first argument "exec_handle."

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

◆ on_aborting()

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

override

[ComponentAction CORBA interface] Transition to Error State

The RTC is transitioning from the Active state to the Error state in some execution context. This callback is invoked only a single time for time that the RTC transitions into the Error state from another state. This behavior is in contrast to that of on_error. As a result of this operation, onAborting() callback function is invoked.

Parameters

exec_handle ID of ExecutionContext that transited to the state

Returns: The return code of ReturnCode_t type

◆ on_activated()

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

override

[ComponentAction CORBA interface] Activate RTC

The RTC has been activated in the given execution context. As a result of this operation, onActivated() callback function is called.

Parameters

exec_handle ID of activation ExecutionContext

Returns: The return code of ReturnCode_t type

◆ on_deactivated()

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

override

[ComponentAction CORBA interface] Deactivate RTC

The RTC has been deactivated in the given execution context. As a result of this operation, onDeactivated() callback function is called.

Parameters

exec_handle ID of deactivation ExecutionContext

Returns: The return code of ReturnCode_t type

◆ on_error()

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

override

[ComponentAction CORBA interface] Error Processing of RTC

The RTC remains in the Error state. If the RTC is in the Error state relative to some execution context when it would otherwise be invoked from that context (according to the context’s ExecutionKind), this callback shall be invoked instead. For example,

If the ExecutionKind is PERIODIC, this operation shall be invoked in sorted order at the rate of the context instead of DataFlowComponentAction::on_execute and on_state_update.
If the ExecutionKind is EVENT_DRIVEN, this operation shall be invoked whenever FsmParticipantAction::on_action would otherwise have been invoked. As a result of this operation, onError() callback function is invoked.

Parameters

exec_handle ID of target ExecutionContext

Returns: The return code of ReturnCode_t type

◆ on_execute()

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

override

[DataFlowComponentAction CORBA interface] Primary Periodic Operation of RTC

This operation will be invoked periodically at the rate of the given execution context as long as the following conditions hold:

The RTC is Active.
The given execution context is Running This callback occurs during the first execution pass. As a result of this operation, onExecute() callback function is invoked.

Constraints

The execution context of the given context shall be PERIODIC.

Parameters

exec_handle ID of target ExecutionContext for Primary Periodic Operation

Returns: The return code of ReturnCode_t type

◆ on_finalize()

ReturnCode_t RTC::RTObject_impl::on_finalize ( )

override

[ComponentAction CORBA interface] Finalize RTC

The RTC is being destroyed. Any final RTC-specific tear-down logic should be performed here. As a result of this operation, onFinalize() callback function is called.

Returns: The return code of ReturnCode_t type

◆ on_initialize()

ReturnCode_t RTC::RTObject_impl::on_initialize ( )

override

[ComponentAction CORBA interface] Initialize RTC

The RTC has been initialized and entered the Alive state. Any RTC-specific initialization logic should be performed here. As a result of this operation, onInitialize() callback function is called.

Returns: The return code of ReturnCode_t type

◆ on_rate_changed()

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

override

[DataFlowComponentAction CORBA interface] Notify rate changed

This operation is a notification that the rate of the indicated execution context has changed. As a result of this operation, onRateChanged() callback function is called.

Constraints

The execution context of the given context shall be PERIODIC.

Parameters

exec_handle ID of target ExecutionContext for Operation

Returns: The return code of ReturnCode_t type

◆ on_reset()

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

override

[ComponentAction CORBA interface] Resetting RTC

The RTC is in the Error state. An attempt is being made to recover it such that it can return to the Inactive state. If the RTC was successfully recovered and can safely return to the Inactive state, this method shall complete with ReturnCode_t::OK. Any other result shall indicate that the RTC should remain in the Error state. As a result of this operation, onReset() callback function is invoked.

Parameters

exec_handle ID of target ExecutionContext for the reset

Returns: The return code of ReturnCode_t type

◆ on_shutdown()

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

override

[ComponentAction CORBA interface] Shutdown RTC

The given execution context, in which the RTC is participating, has transitioned from Running to Stopped. As a result of this operation, onShutdown() callback function is called.

Parameters

exec_handle ID of ExecutionContext that transited to the state

Returns: The return code of ReturnCode_t type

◆ on_startup()

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

override

[ComponentAction CORBA interface] Startup RTC

The given execution context, in which the RTC is participating, has transitioned from Stopped to Running. As a result of this operation, onStartup() callback function is called.

Parameters

exec_handle ID of ExecutionContext that transited to the state

Returns: The return code of ReturnCode_t type

◆ on_state_update()

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

override

[DataFlowComponentAction CORBA interface] Secondary Periodic Operation of RTC

This operation will be invoked periodically at the rate of the given execution context as long as the following conditions hold:

The RTC is Active.
The given execution context is Running This callback occurs during the second execution pass. As a result of this operation, onStateUpdate() callback function is invoked.

Constraints

The execution context of the given context shall be PERIODIC.

Parameters

exec_handle ID of target ExecutionContext for Secondary Periodic Operation

Returns: The return code of ReturnCode_t type

◆ onAborting()

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

protectedvirtual

Callback function to abort.

This is a callback function that is executed when ComponentAction::on_aborting was invoked.
As for actual abortion of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.

Parameters

exec_handle ID of the participant ExecutionContext

Returns: The return code of ReturnCode_t type

◆ onActivated()

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

protectedvirtual

Callback function to activate.

This is a callback function that is executed when ComponentAction::on_activated was invoked.
As for actual activation of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.

Parameters

exec_handle ID of the participant ExecutionContext

Returns: The return code of ReturnCode_t type

Reimplemented in RTC::PeriodicECSharedComposite.

◆ onAddPort()

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

inline

References RTC::ADD_PORT, m_actionListeners, and RTC::ComponentActionListeners::notify().

◆ onAttachExecutionContext()

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

inline

References RTC::EC_ATTACHED, and m_actionListeners.

◆ onDeactivated()

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

protectedvirtual

Callback function to deactivate.

This is a callback function that is executed when ComponentAction::on_deactivated was invoked.
As for actual deactivation of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.

Parameters

exec_handle ID of the participant ExecutionContext

Returns: The return code of ReturnCode_t type

Reimplemented in RTC::PeriodicECSharedComposite.

◆ onDetachExecutionContext()

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

inline

References RTC::EC_DETACHED, and m_actionListeners.

◆ onError()

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

protectedvirtual

Callback function for error handling.

This is a callback function that is executed when ComponentAction::on_error was invoked.
As for actual error handling of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.

Parameters

exec_handle ID of the participant ExecutionContext

Returns: The return code of ReturnCode_t type

◆ onExecute()

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

protectedvirtual

Callback function to execute periodically.

This is a callback function that is executed when DataFlowComponentAction::on_execute is invoked.
As for actual periodic execution of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it. This function is invoked periodically as the first execution pass of Two-Pass Execution in Periodic Sampled Data Processing.

Parameters

exec_handle ID of the participant ExecutionContext

Returns: The return code of ReturnCode_t type

◆ onFinalize()

virtual ReturnCode_t RTC::RTObject_impl::onFinalize ( )

protectedvirtual

Callback function to finalize.

This is a callback function that is executed when ComponentAction::on_finalize was invoked.
As for actual finalization of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.

Returns: The return code of ReturnCode_t type

Reimplemented in RTC::PeriodicECSharedComposite.

◆ onInitialize()

virtual ReturnCode_t RTC::RTObject_impl::onInitialize ( )

protectedvirtual

Callback function to initialize.

This is a callback function that is executed when ComponentAction::on_initialize was invoked.
As for actual initialization of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.

Returns: The return code of ReturnCode_t type

Reimplemented in RTC::PeriodicECSharedComposite.

◆ onRateChanged()

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

protectedvirtual

Callback function to change execution cycle.

This is a callback function that is executed when DataFlowComponentAction::on_rate_changed was invoked.
As for actual changing execution cycle of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.
This function is invoked when the execution of ExecutionContext was updated in Periodic Sampled Data Processing.

Parameters

exec_handle ID of the participant ExecutionContext

Returns: The return code of ReturnCode_t type

◆ onRemovePort()

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

inline

References m_actionListeners, RTC::ComponentActionListeners::notify(), and RTC::REMOVE_PORT.

◆ onReset()

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

protectedvirtual

Callback function to reset.

This is a callback function that is executed when ComponentAction::on_reset was invoked.
As for actual reset of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.

Parameters

exec_handle ID of the participant ExecutionContext

Returns: The return code of ReturnCode_t type

Reimplemented in RTC::PeriodicECSharedComposite.

◆ onShutdown()

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

protectedvirtual

Callback function for shutdown action.

Callback function that is executed when ComponentAction::on_shutdown was invoked.
As for actual shutdown of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.

Parameters

exec_handle ID of the participant ExecutionContext

Returns: The return code of ReturnCode_t type

◆ onStartup()

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

protectedvirtual

Callback function for startup action.

Callback function that is executed when ComponentAction::on_startup was invoked.
As for actual startup of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.

Parameters

exec_handle ID of the participant ExecutionContext

Returns: The return code of ReturnCode_t type

◆ onStateUpdate()

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

protectedvirtual

Callback function to update the state.

This is a callback function that is executed when DataFlowComponentAction::on_state_update was invoked.
As for actual updating the state of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.
This function is invoked periodically as the second execution pass of Two-Pass Execution in Periodic Sampled Data Processing.

Parameters

exec_handle ID of the participant ExecutionContext

Returns: The return code of ReturnCode_t type

◆ postOnAborting()

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

inline

References m_actionListeners, RTC::ComponentActionListeners::notify(), and RTC::POST_ON_ABORTING.

◆ postOnActivated()

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

inline

References m_actionListeners, RTC::ComponentActionListeners::notify(), and RTC::POST_ON_ACTIVATED.

◆ postOnDeactivated()

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

inline

References m_actionListeners, RTC::ComponentActionListeners::notify(), and RTC::POST_ON_DEACTIVATED.

◆ postOnError()

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

inline

References m_actionListeners, RTC::ComponentActionListeners::notify(), and RTC::POST_ON_ERROR.

◆ postOnExecute()

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

inline

References m_actionListeners, RTC::ComponentActionListeners::notify(), and RTC::POST_ON_EXECUTE.

◆ postOnFinalize()

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

inline

References m_actionListeners, RTC::ComponentActionListeners::notify(), and RTC::POST_ON_FINALIZE.

◆ postOnFsmDo()

void RTC::RTObject_impl::postOnFsmDo	(	const char *	state,
		ReturnCode_t	ret )

inline

References m_fsmActionListeners, RTC::FsmActionListeners::notify(), and RTC::POST_ON_DO.

◆ postOnFsmEntry()

void RTC::RTObject_impl::postOnFsmEntry	(	const char *	state,
		ReturnCode_t	ret )

inline

References m_fsmActionListeners, RTC::FsmActionListeners::notify(), and RTC::POST_ON_ENTRY.

Referenced by RTC::Link< C, P >::entry().

◆ postOnFsmExit()

void RTC::RTObject_impl::postOnFsmExit	(	const char *	state,
		ReturnCode_t	ret )

inline

References m_fsmActionListeners, RTC::FsmActionListeners::notify(), and RTC::POST_ON_EXIT.

Referenced by RTC::Link< C, P >::exit().

◆ postOnFsmInit()

void RTC::RTObject_impl::postOnFsmInit	(	const char *	state,
		ReturnCode_t	ret )

inline

FSM related listeners

References m_fsmActionListeners, RTC::FsmActionListeners::notify(), and RTC::POST_ON_INIT.

Referenced by RTC::Link< C, P >::init().

◆ postOnFsmStateChange()

void RTC::RTObject_impl::postOnFsmStateChange	(	const char *	state,
		ReturnCode_t	ret )

inline

References m_fsmActionListeners, RTC::FsmActionListeners::notify(), and RTC::POST_ON_STATE_CHANGE.

Referenced by RTC::Link< C, P >::entry().

◆ postOnInitialize()

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

inline

References m_actionListeners, RTC::ComponentActionListeners::notify(), and RTC::POST_ON_INITIALIZE.

◆ postOnRateChanged()

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

inline

References m_actionListeners, RTC::ComponentActionListeners::notify(), and RTC::POST_ON_RATE_CHANGED.

◆ postOnReset()

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

inline

References m_actionListeners, RTC::ComponentActionListeners::notify(), and RTC::POST_ON_RESET.

◆ postOnShutdown()

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

inline

References m_actionListeners, RTC::ComponentActionListeners::notify(), and RTC::POST_ON_SHUTDOWN.

◆ postOnStartup()

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

inline

References m_actionListeners, RTC::ComponentActionListeners::notify(), and RTC::POST_ON_STARTUP.

◆ postOnStateUpdate()

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

inline

References m_actionListeners, RTC::ComponentActionListeners::notify(), and RTC::POST_ON_STATE_UPDATE.

◆ preOnAborting()

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

inline

References m_actionListeners, RTC::ComponentActionListeners::notify(), and RTC::PRE_ON_ABORTING.

◆ preOnActivated()

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

inline

References m_actionListeners, RTC::ComponentActionListeners::notify(), and RTC::PRE_ON_ACTIVATED.

◆ preOnDeactivated()

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

inline

References m_actionListeners, RTC::ComponentActionListeners::notify(), and RTC::PRE_ON_DEACTIVATED.

◆ preOnError()

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

inline

References m_actionListeners, RTC::ComponentActionListeners::notify(), and RTC::PRE_ON_ERROR.

◆ preOnExecute()

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

inline

References m_actionListeners, RTC::ComponentActionListeners::notify(), and RTC::PRE_ON_EXECUTE.

◆ preOnFinalize()

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

inline

References m_actionListeners, RTC::ComponentActionListeners::notify(), and RTC::PRE_ON_FINALIZE.

◆ preOnFsmDo()

void RTC::RTObject_impl::preOnFsmDo ( const char * state )

inline

References m_fsmActionListeners, RTC::FsmActionListeners::notify(), and RTC::PRE_ON_DO.

◆ preOnFsmEntry()

void RTC::RTObject_impl::preOnFsmEntry ( const char * state )

inline

References m_fsmActionListeners, RTC::FsmActionListeners::notify(), and RTC::PRE_ON_ENTRY.

Referenced by RTC::Link< C, P >::entry().

◆ preOnFsmExit()

void RTC::RTObject_impl::preOnFsmExit ( const char * state )

inline

References m_fsmActionListeners, RTC::FsmActionListeners::notify(), and RTC::PRE_ON_EXIT.

Referenced by RTC::Link< C, P >::exit().

◆ preOnFsmInit()

void RTC::RTObject_impl::preOnFsmInit ( const char * state )

inline

FSM related listeners

References m_fsmActionListeners, RTC::FsmActionListeners::notify(), and RTC::PRE_ON_INIT.

Referenced by RTC::Link< C, P >::init().

◆ preOnFsmStateChange()

void RTC::RTObject_impl::preOnFsmStateChange ( const char * state )

inline

References m_fsmActionListeners, RTC::FsmActionListeners::notify(), and RTC::PRE_ON_STATE_CHANGE.

Referenced by RTC::Link< C, P >::exit().

◆ preOnInitialize()

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

inline

References m_actionListeners, RTC::ComponentActionListeners::notify(), and RTC::PRE_ON_INITIALIZE.

◆ preOnRateChanged()

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

inline

References m_actionListeners, RTC::ComponentActionListeners::notify(), and RTC::PRE_ON_RATE_CHANGED.

◆ preOnReset()

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

inline

References m_actionListeners, RTC::ComponentActionListeners::notify(), and RTC::PRE_ON_RESET.

◆ preOnShutdown()

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

inline

References m_actionListeners, RTC::ComponentActionListeners::notify(), and RTC::PRE_ON_SHUTDOWN.

◆ preOnStartup()

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

inline

References m_actionListeners, RTC::ComponentActionListeners::notify(), and RTC::PRE_ON_STARTUP.

◆ preOnStateUpdate()

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

inline

References m_actionListeners, RTC::ComponentActionListeners::notify(), and RTC::PRE_ON_STATE_UPDATE.

◆ readAll()

bool RTC::RTObject_impl::readAll ( )

Readout the value from All InPorts.

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

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

◆ registerInPort()

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

[local interface] Register DataInPort

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

Parameters

name	Port name
inport	DataInPort which is registered to the RTC

◆ registerOutPort()

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

[local interface] Register DataOutPort

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

Parameters

name	Port name
outport	DataOutPort which is registered to the RTC

◆ registerPort() [1/3]

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

[local interface] Register Port

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

Parameters

port	Port which is registered to the RTC

◆ registerPort() [2/3]

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

[local interface] Register Port

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

Parameters

port	Port which is registered to the RTC

◆ registerPort() [3/3]

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

[local interface] Register Port

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

Parameters

port	Port which is registered to the RTC

◆ removeConfigurationParamListener()

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

Removing ConfigurationParamListener.

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

Parameters

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

◆ removeConfigurationSetListener()

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

Removing ConfigurationSetListener.

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

Parameters

type	ConfigurationSetListenerType value
listener	a pointer to ConfigurationSetListener listener object.

◆ removeConfigurationSetNameListener()

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

Removing ConfigurationSetNameListener.

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

Parameters

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

◆ removeExecutionContextActionListener()

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

Removing ExecutionContextAction type listener.

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

◆ removeFsmProfileListener()

void RTC::RTObject_impl::removeFsmProfileListener	(	FsmProfileListenerType	listener_type,
		FsmProfileListener *	listener )

Removing FsmProfile type listener.

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

◆ removeFsmStructureListener()

void RTC::RTObject_impl::removeFsmStructureListener	(	FsmStructureListenerType	listener_type,
		FsmStructureListener *	listener )

Removing FsmStructure type listener.

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

◆ removeInPort()

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

[local interface] Unregister InPort

This operation unregisters a InPort held by this RTC.

Parameters

port	Port which is unregistered

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

◆ removeOutPort()

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

[local interface] Unregister OutPort

This operation unregisters a OutPort held by this RTC.

Parameters

port	Port which is unregistered

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

◆ removePort() [1/3]

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

[local interface] Unregister Port

This operation unregisters a Port held by this RTC.

Parameters

port	Port which is unregistered

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

◆ removePort() [2/3]

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

[local interface] Unregister Port

This operation unregisters a Port held by this RTC.

Parameters

port	Port which is unregistered

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

◆ removePort() [3/3]

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

[local interface] Unregister Port

This operation unregisters a Port held by this RTC.

Parameters

port	Port which is unregistered

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

◆ removePortActionListener()

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

Removing PortAction type listener.

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

◆ removePortConnectListener()

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

Removing PortConnect type listener.

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

◆ removePortConnectRetListener()

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

Removing PortConnectRet type listener.

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

◆ removePostComponentActionListener()

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

Removing PostComponentAction type listener.

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

◆ removePostFsmActionListener()

void RTC::RTObject_impl::removePostFsmActionListener	(	PostFsmActionListenerType	listener_type,
		PostFsmActionListener *	listener )

Removing PostFsmAction type listener.

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

◆ removePreComponentActionListener()

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

Removing PreComponentAction type listener.

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

◆ removePreFsmActionListener()

void RTC::RTObject_impl::removePreFsmActionListener	(	PreFsmActionListenerType	listener_type,
		PreFsmActionListener *	listener )

Removing PreFsmAction type listener.

This operation removes a specified listener.

Parameters

listener_type	A listener type
listener	A pointer to a listener object

◆ removeSdoServiceConsumer()

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

[local interface] Remove a SDO service provider

◆ removeSdoServiceConsumerStartThread()

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

[local interface] Remove a SDO service provider

◆ removeSdoServiceProvider()

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

[local interface] Remove a SDO service provider

◆ reset()

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

[local interface] Resetting and go to Inactive state

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

onError()

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

Parameters

ec_id The above functions' first argument "exec_handle."

Returns: Return code

◆ setExecutionRate()

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.

onStartup()
onShutdown()
onActivated()
onDeactivated()
onExecute()
onAborting()
onError()
onReset()
onStateUpdate()
onRateChanged()

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

Parameters

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

◆ setINSObjRef()

void RTC::RTObject_impl::setINSObjRef ( RTC::LightweightRTObject_ptr obj )

◆ setInstanceName()

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

[local interface] Set instance name

Set the instance name specified in ComponentProfile.

Parameters

instance_name Instance name

◆ setObjRef()

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

[local interface] Set the object reference

Set RTC's CORBA object reference.

Parameters

rtobj The object reference

◆ setProperties()

void RTC::RTObject_impl::setProperties ( const coil::Properties & prop )

[local interface] Set RTC property

This operation sets the properties to the RTC. The given property values should include information for ComponentProfile. Generally, this operation is designed to be called from Manager, when RTC is initialized

Parameters

prop	Property for RTC.

◆ setReadAll()

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

Set whether to execute the readAll() method.

Parameters

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

◆ setWriteAll()

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

Set whether to execute the writeAll() method.

Parameters

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

◆ shutdown()

void RTC::RTObject_impl::shutdown ( )

protected

Shutdown RTC This operation ececutes RTC's termination. This unregisters all Ports, deactivates corresponding CORBA objects and shuts down RTC. This is called from onlu finlize().

Protected inner functions

◆ startMineEC()

void RTC::RTObject_impl::startMineEC ( )

protected

Starting my EC This function start mine ECs. This is called from only initialize().

◆ updateParameters()

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

Update configuration parameters (by ID)

Update configuration parameter value by the value that set to a configuration set of specified ID.

Parameters

config_set The target configuration set's ID for setup

◆ writeAll()

bool RTC::RTObject_impl::writeAll ( )

The write() method of all OutPort is called.

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

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

Member Data Documentation

◆ m_actionListeners

ComponentActionListeners RTC::RTObject_impl::m_actionListeners

protected

◆ m_configsets

ConfigAdmin RTC::RTObject_impl::m_configsets

protected

Configuration Administrator Object .

Referenced by bindParameter(), and getConfigService().

◆ m_created

bool RTC::RTObject_impl::m_created

protected

Created Status Flag .

◆ m_eclist

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

protected

List of ExecutionContextBase .

◆ m_ecMine

ExecutionContextServiceList RTC::RTObject_impl::m_ecMine

protected

List of owned ExecutionContextService .

◆ m_ecOther

ExecutionContextServiceList RTC::RTObject_impl::m_ecOther

protected

List of participating ExecutionContextService .

◆ m_exiting

bool RTC::RTObject_impl::m_exiting

protected

RTC Finalize Status Flag .

◆ m_fsmActionListeners

FsmActionListeners RTC::RTObject_impl::m_fsmActionListeners

protected

ComponentActionListener holder.

Holders of ComponentActionListeners

Referenced by postOnFsmDo(), postOnFsmEntry(), postOnFsmExit(), postOnFsmInit(), postOnFsmStateChange(), preOnFsmDo(), preOnFsmEntry(), preOnFsmExit(), preOnFsmInit(), and preOnFsmStateChange().

◆ m_inports

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

protected

List of InPortBase* .

Referenced by getInPorts().

◆ m_insref

RTC::LightweightRTObject_var RTC::RTObject_impl::m_insref

protected

◆ m_objref

RTObject_var RTC::RTObject_impl::m_objref

protected

Object reference .

◆ m_outports

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

protected

List of OutPortBase* .

Referenced by getOutPorts().

◆ m_pManager

Manager* RTC::RTObject_impl::m_pManager

protected

Manager object .

◆ m_pORB

CORBA::ORB_var RTC::RTObject_impl::m_pORB

protected

The pointer to the ORB .

◆ m_portAdmin

PortAdmin RTC::RTObject_impl::m_portAdmin

protected

List of Port Object reference .

◆ m_portconnListeners

PortConnectListeners RTC::RTObject_impl::m_portconnListeners

protected

PortConnectListener holder.

Holders of PortConnectListeners

◆ m_pPOA

PortableServer::POA_var RTC::RTObject_impl::m_pPOA

protected

The pointer to the POA .

◆ m_profile

ComponentProfile RTC::RTObject_impl::m_profile

protected

ComponentProfile .

Referenced by getCategory(), getDescription(), getInstanceName(), getTypeName(), getVendor(), and getVersion().

◆ m_properties

coil::Properties RTC::RTObject_impl::m_properties

protected

RTC's Property .

◆ m_pSdoConfig

SDOPackage::Configuration_var RTC::RTObject_impl::m_pSdoConfig

protected

The pointer to the SDO Configuration Interface .

◆ m_pSdoConfigImpl

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

protected

The pointer to the SDO Configuration Object .

◆ m_readAll

bool RTC::RTObject_impl::m_readAll

protected

flag for readAll()

◆ m_readAllCompletion

bool RTC::RTObject_impl::m_readAllCompletion

protected

flag for readAll()

true:Even if the error occurs during readAll(), it executes it to the last minute. false:End when error occurs during readAll().

◆ m_sdoconterm

SdoServiceConsumerTerminator* RTC::RTObject_impl::m_sdoconterm

protected

◆ m_sdoOrganizations

SDOPackage::OrganizationList RTC::RTObject_impl::m_sdoOrganizations

protected

SDO organization .

◆ m_sdoOwnedOrganizations

SDOPackage::OrganizationList RTC::RTObject_impl::m_sdoOwnedOrganizations

protected

SDO owned organization list .

◆ m_sdoservice

SdoServiceAdmin RTC::RTObject_impl::m_sdoservice

protected

SDO Service Administrator Object .

◆ m_sdoStatus

SDOPackage::NVList RTC::RTObject_impl::m_sdoStatus

protected

SDO Status .

◆ m_writeAll

bool RTC::RTObject_impl::m_writeAll

protected

flag for writeAll()

◆ m_writeAllCompletion

bool RTC::RTObject_impl::m_writeAllCompletion

protected

flag for writeAll()

true:Even if the error occurs during writeAll(), it executes it to the last minute. false:End when error occurs during writeAll().

◆ rtclog

Logger RTC::RTObject_impl::rtclog

mutableprotected

Logger stream .

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

RTObject.h

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ECActionListener

◆ ECActionListenerType

◆ PostCompActionListener

◆ PostCompActionListenerType

◆ PreCompActionListener

◆ PreCompActionListenerType

Constructor & Destructor Documentation

◆ RTObject_impl() [1/2]

◆ RTObject_impl() [2/2]

◆ ~RTObject_impl()

Member Function Documentation

◆ activate()

◆ addConfigurationParamListener() [1/2]

◆ addConfigurationParamListener() [2/2]

◆ addConfigurationSetListener() [1/2]

◆ addConfigurationSetListener() [2/2]

◆ addConfigurationSetNameListener() [1/2]

◆ addConfigurationSetNameListener() [2/2]

◆ addExecutionContextActionListener() [1/2]

◆ addExecutionContextActionListener() [2/2]

◆ addFsmProfileListener() [1/2]

◆ addFsmProfileListener() [2/2]

◆ addFsmStructureListener() [1/2]

◆ addFsmStructureListener() [2/2]

◆ addInPort()

◆ addOutPort()

◆ addPort() [1/3]

◆ addPort() [2/3]

◆ addPort() [3/3]

◆ addPortActionListener() [1/2]

◆ addPortActionListener() [2/2]

◆ addPortConnectListener() [1/2]

◆ addPortConnectListener() [2/2]

◆ addPortConnectRetListener() [1/2]

◆ addPortConnectRetListener() [2/2]

◆ addPostComponentActionListener() [1/2]

◆ addPostComponentActionListener() [2/2]

◆ addPostFsmActionListener() [1/2]

◆ addPostFsmActionListener() [2/2]

◆ addPreComponentActionListener() [1/2]

◆ addPreComponentActionListener() [2/2]

◆ addPreFsmActionListener() [1/2]

◆ addPreFsmActionListener() [2/2]

◆ addSdoServiceConsumer()

◆ addSdoServiceProvider()

◆ attach_context()

◆ bindContext()

◆ bindParameter()

◆ createContexts()

◆ deactivate()

◆ deletePort() [1/3]

◆ deletePort() [2/3]

◆ deletePort() [3/3]

◆ deletePortByName()

◆ detach_context()

◆ exit()

◆ finalize()

◆ finalizeContexts()

◆ finalizeMineEC()

◆ finalizeOtherEC()

◆ finalizePorts()

◆ findExistingEC()

◆ get_component_profile()

◆ get_configuration()

◆ get_context()

◆ get_context_handle()

◆ get_device_profile()

◆ get_monitoring()

◆ get_organizations()

◆ get_owned_contexts()

◆ get_owned_organizations()