import"Manager.idl";

Public Member Functions
RTC::ReturnCode_t	load_module (in string pathname, in string initfunc)
	Loading a module. More...

RTC::ReturnCode_t	unload_module (in string pathname)
	Unloading a module. More...

ModuleProfileList	get_loadable_modules ()
	Getting loadable module profiles. More...

ModuleProfileList	get_loaded_modules ()
	Getting loaded module profiles. More...

ModuleProfileList	get_factory_profiles ()
	Getting component factory profiles. More...

RTC::RTObject	create_component (in string module_name)
	Creating an RT-Component. More...

RTC::ReturnCode_t	delete_component (in string instance_name)
	Deleting an RT-Component. More...

RTC::RTCList	get_components ()
	Getting RT-Component list running on this manager. More...

RTC::ComponentProfileList	get_component_profiles ()
	Getting RT-Component's profile list running on this manager. More...

RTC::RTCList	get_components_by_name (in string name)

ManagerProfile	get_profile ()
	Getting this manager's profile. More...

NVList	get_configuration ()
	Getting this manager's configuration. More...

RTC::ReturnCode_t	set_configuration (in string name, in string value)
	Setting manager's configuration. More...

boolean	is_master ()
	Whether this manager is master or not. More...

ManagerList	get_master_managers ()
	Getting master managers. More...

RTC::ReturnCode_t	add_master_manager (in Manager mgr)
	Getting a master manager. More...

RTC::ReturnCode_t	remove_master_manager (in Manager mgr)
	Removing a master manager. More...

ManagerList	get_slave_managers ()
	Getting slave managers. More...

RTC::ReturnCode_t	add_slave_manager (in Manager mgr)
	Getting a slave manager. More...

RTC::ReturnCode_t	remove_slave_manager (in Manager mgr)
	Removing a slave manager. More...

RTC::ReturnCode_t	fork ()
	fork the manager process More...

RTC::ReturnCode_t	shutdown ()
	shutdown the manager process More...

RTC::ReturnCode_t	restart ()
	restart maanger process More...

Object	get_service (in string name)
	obtaining the object reference of a service More...

Member Function Documentation

RTC::ReturnCode_t RTM::Manager::add_master_manager ( in Manager mgr )

Getting a master manager.

This operation add a master manager to this manager.

Parameters

mgr	A master manager

Returns: ReturnCode_t

RTC::ReturnCode_t RTM::Manager::add_slave_manager ( in Manager mgr )

Getting a slave manager.

This operation add a slave manager to this manager.

Parameters

mgr	A slave manager

Returns: ReturnCode_t

RTC::RTObject RTM::Manager::create_component ( in string module_name )

Creating an RT-Component.

This operation creates RT-Component according to the string argument.

Returns: A created RT-Component

RTC::ReturnCode_t RTM::Manager::delete_component ( in string instance_name )

Deleting an RT-Component.

This operation delete an RT-Component according to the string argument.

Returns: Return code

RTC::ReturnCode_t RTM::Manager::fork ( )

fork the manager process

Returns: Return Code

RTC::ComponentProfileList RTM::Manager::get_component_profiles ( )

Getting RT-Component's profile list running on this manager.

This operation returns RT-Component's profile list running on this manager.

Returns: A list of RT-Components' profiles

RTC::RTCList RTM::Manager::get_components ( )

Getting RT-Component list running on this manager.

This operation returns RT-Component list running on this manager.

Returns: A list of RT-Components

RTC::RTCList RTM::Manager::get_components_by_name ( in string name )

Parameters

name name

Returns: list of RTC

NVList RTM::Manager::get_configuration ( )

Getting this manager's configuration.

This operation returns this manager's configuration.

Returns: Manager's configuration

ModuleProfileList RTM::Manager::get_factory_profiles ( )

Getting component factory profiles.

This operation returns component factory profiles from loaded RT-Component module factory profiles.

Returns: An RT-Component factory profile list.

ModuleProfileList RTM::Manager::get_loadable_modules ( )

Getting loadable module profiles.

This operation returns loadable module profiles. Loadable profiles of RT-Components can be obtained by executing profile obtain commands (ex. rtcprof) into the module load paths that is specified in the properties. The target kinds of language to be obtained component profiles are specified the following property.

manager.supported_language: C++, Python, Java

For each those languages, module load paths, profile obtain command and module suffixes are specified in following properties.

manager.modules.<lang>.load_paths: ./ (load paths)
manager.modules.<lang>.profile_cmd: rtcprof command name
manager.modules.<lang>.suffixes: module extentions

For example, the following properties are specified in default for C++ language.

manager.modules.C++.load_paths: ./ (module load pathds)
manager.modules.C++.profile_cmd: rtcprof
manager.modules.C++.suffixes: so (for Linux), dll (for Windows)

The master manager need to be configured module load paths for all languages (and for all versions of VC in case of Windows) specified above. This process is performed in only a manager (master manager in general) in which this operation is called, and it is not recursively called to slave managers which are managed by this manager.

Returns

A module profile list. The module profiles list includes zero or more the following Key-Value format RTC profile.

implementation_id: ConfigSample
type_name: ConfigSample
description: Configuration example component
version: 1.0
vendor: Noriaki Ando, AIST
category: example
activity_type: DataFlowComponent
max_instance: 10
language: C++
lang_type: compile
conf.default.int_param0: 0
conf.default.int_param1: 1
conf.default.double_param0: 0.11
conf.default.double_param1: 9.9
conf.default.str_param0: hoge
conf.default.str_param1: dara
conf.default.vector_param0: 0.0,1.0,2.0,3.0,4.0

ModuleProfileList RTM::Manager::get_loaded_modules ( )

Getting loaded module profiles.

This operation returns loaded module profiles.

Returns: A module profile list.

ManagerList RTM::Manager::get_master_managers ( )

Getting master managers.

This operation returns master manager list if this manager is slave. If this manager is master, an empty sequence would be returned.

Returns: Master manager list

ManagerProfile RTM::Manager::get_profile ( )

Getting this manager's profile.

This operation returns this manager's profile.

Returns: Manager's profile

Object RTM::Manager::get_service ( in string name )

obtaining the object reference of a service

Returns: Return Code

ManagerList RTM::Manager::get_slave_managers ( )

Getting slave managers.

This operation returns slave manager list if this manager is slave. If this manager is slave, an empty sequence would be returned.

Returns: Slave manager list

boolean RTM::Manager::is_master ( )

Whether this manager is master or not.

It returns "True" if this manager is a master, and it returns "False" in other cases.

Returns: A boolean value that means it is master or not.

RTC::ReturnCode_t RTM::Manager::load_module	(	in string	pathname,
		in string	initfunc
	)

Loading a module.

This operation loads a specified loadable module、and perform initialization with the specified function. Any kind of shared objects (.so, .dll) not only RT-Component's shared object can be loadable. Usually, you do not need to call this operation to create RT-Components, because RTC creation operation automatically search RTC's loadable module in the specified load path.

Parameters

pathname	A path to a loading module.
initfunc	Module initialization function.

Returns: The return code.

RTC::ReturnCode_t RTM::Manager::remove_master_manager ( in Manager mgr )

Removing a master manager.

This operation removes a master manager from this manager.

Parameters

mgr	A master manager

Returns: ReturnCode_t

RTC::ReturnCode_t RTM::Manager::remove_slave_manager ( in Manager mgr )

Removing a slave manager.

This operation removes a slave manager from this manager.

Parameters

mgr	A slave manager

Returns: ReturnCode_t

RTC::ReturnCode_t RTM::Manager::restart ( )

restart maanger process

Returns: Return Code

RTC::ReturnCode_t RTM::Manager::set_configuration	(	in string	name,
		in string	value
	)

Setting manager's configuration.

This operation sets managers configuration.

Parameters

name	A configuration key name to be set
value	A configuration value to be set

Returns: Return code

RTC::ReturnCode_t RTM::Manager::shutdown ( )

shutdown the manager process

Returns: Return Code

RTC::ReturnCode_t RTM::Manager::unload_module ( in string pathname )

Unloading a module.

This operation unloads a specified loadable module. Currently since OpenRTM-aist's module load function does not manage object reference count which is created from the loaded shared object, unloading might cause segmentation fault. However, most of unload function implementation actually does not unload shared object from memory space, and it is not recommended to call this operation in actual use.

Parameters

pathname A path to a loading module.

Returns: The return code.

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

idl/Manager.idl

Public Member Functions

Member Function Documentation