ExecutionContextProfile.h

[詳解]

// -*- C++ -*-
 
#ifndef RTC_EXECUTIONCONTEXTPROFILE_H
#define RTC_EXECUTIONCONTEXTPROFILE_H
 
#include <mutex>
#include <coil/Properties.h>
 
#include <rtm/idl/RTCStub.h>
#include <rtm/SystemLogger.h>
 
namespace RTC_impl
{
  class ExecutionContextProfile
  {
  public:
    explicit ExecutionContextProfile(RTC::ExecutionKind kind = RTC::PERIODIC);

    virtual ~ExecutionContextProfile();

    void setObjRef(RTC::ExecutionContextService_ptr ec_ptr);

    RTC::ExecutionContextService_ptr getObjRef() const;

    RTC::ReturnCode_t setRate(double rate);
    RTC::ReturnCode_t setPeriod(std::chrono::nanoseconds period);

    double getRate() const;
    std::chrono::nanoseconds getPeriod() const;

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

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

    RTC::ExecutionKind getKind() const;

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

    RTC::RTObject_ptr getOwner() const;

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

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

#ifndef ORB_IS_RTORB
    const RTC::RTCList& getComponentList() const;
#else
    const RTC_RTCList& getComponentList() const;
#endif

    void setProperties(coil::Properties& props);

    coil::Properties getProperties() const;

    RTC::ExecutionContextProfile* getProfile();

    const RTC::ExecutionContextProfile& getProfile() const;

    void lock() const;

    void unlock() const;
 
  private:
    mutable RTC::Logger rtclog;
    RTC::ExecutionContextProfile m_profile;

    mutable std::mutex m_profileMutex;

    std::chrono::nanoseconds m_period;

    RTC::ExecutionContextService_var m_ref;
 
    class find_participant
    {
      RTC::RTObject_var m_comp;
    public:
      explicit find_participant(RTC::RTObject_ptr comp)
        : m_comp(RTC::RTObject::_duplicate(comp)) {}
#ifdef ORB_IS_ORBEXPRESS
      bool operator()(RTC::RTObject_var comp)
      {
        return m_comp->_is_equivalent(comp.in());
      }
#else
      bool operator()(RTC::RTObject_ptr comp)
      {
        return m_comp->_is_equivalent(comp);
      }
#endif
    };
  };  // class ExecutionContextProfile
} // namespace RTC_impl
 
#endif  // RTC_EXECUTIONCONTEXTPROFILE_H