jp.go.aist.rtm.RTC

Class Manager

java.lang.Object

jp.go.aist.rtm.RTC.Manager

public class Manager
extends java.lang.Object

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

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
(package private) class	Manager.cleanupComponentsClass Listener Class for deletion of RT component
(package private) class	Manager.ECFactoryPredicate Helper class to find ECFactory
protected class	Manager.FactoryPredicate Helper class to find Factory
protected class	Manager.Finalized Class
protected class	Manager.Finalizer
protected class	Manager.InstanceName Helper class to find Object
protected class	Manager.OrbRunner ORB exrcution helper class
(package private) class	Manager.shutdownOnNoRtcsClass Listener Class for deletion of Manager
protected class	Manager.Terminator ORB termination helper class.
(package private) class	Manager.updateMasterManager Listener Class for update of Manager

Field Summary

Fields

Modifier and Type	Field and Description
(package private) Manager.cleanupComponentsClass	m_cleanupComponents Listener for timer processing
protected ObjectManager<java.lang.String,RTObject_impl>	m_compManager Component Manager
protected Properties	m_config Managaer's configuration Properties
protected ObjectManager<java.lang.String,java.lang.Object>	m_ecfactory ExecutionContext Factory
protected java.util.Vector<ExecutionContextBase>	m_ecs ExecutionContext
protected ObjectManager<java.lang.String,FactoryBase>	m_factory Component Factory Manager
(package private) Manager.Finalized	m_finalized List for component deletion
protected ModuleInitProc	m_initProc User component initialization procedure object
(package private) ManagerActionListeners	m_listeners
(package private) ManagerServant	m_mgrservant The object to the ManagerServant
protected ModuleManager	m_module Module Manager
protected NamingManager	m_namingManager Naming Manager
protected org.omg.CORBA.ORB	m_pORB ORB
protected org.omg.PortableServer.POA	m_pPOA POA
protected org.omg.PortableServer.POAManager	m_pPOAManager POAManager
protected Manager.OrbRunner	m_runner ORB Runner
(package private) Manager.shutdownOnNoRtcsClass	m_shutdownOnNoRtcs Listener for timer processing
protected int	m_terminate_waiting Counter for Terminator
protected Manager.Terminator	m_terminator Terminator
protected Timer	m_timer Timer Object
(package private) Manager.updateMasterManager	m_updateMasterManager Listener for timer processing
protected static Manager	manager This field is the only Manager instance.
protected static java.lang.String	manager_mutex This field is a mutex variable for Manager.
protected Logbuf	rtcout Logger stream

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	Manager() Constructor
	Manager(Manager rhs) Copy Constructor

Method Summary

Modifier and Type	Method and Description
boolean	activateManager() Activate the Manager
void	addLocalServiceActionListener(LocalServiceActionListener listener)
void	addLocalServiceActionListener(LocalServiceActionListener listener, boolean autoclean)
void	addManagerActionListener(ManagerActionListener listener)
void	addManagerActionListener(ManagerActionListener listener, boolean autoclean)
void	addModuleActionListener(ModuleActionListener listener)
void	addModuleActionListener(ModuleActionListener listener, boolean autoclean)
void	addNamingActionListener(NamingActionListener listener)
void	addNamingActionListener(NamingActionListener listener, boolean autoclean)
void	addRtcLifecycleActionListener(RtcLifecycleActionListener listener)
void	addRtcLifecycleActionListener(RtcLifecycleActionListener listener, boolean autoclean)
protected boolean	bindManagerServant() Binds ManagerServant.
void	cleanupComponent(RTObject_impl comp) Unregister RT-Components
void	clearModules() Clears the RT component manager.
void	clearModulesFactories() Clears the factory for RT component.
protected void	configureComponent(RTObject_impl comp, Properties prop) Configure RT-Component
void	connectDataPorts(PortService port, PortService[] target_ports) Connects all specified ports.
void	connectServicePorts(PortService port, PortService[] target_ports) Connects all specified serviceports.
RTObject_impl	createComponent(java.lang.String comp_args) Create RT-Components
ExecutionContextBase	createContext(java.lang.String ec_args) Create Context
protected void	createORBEndpointOption(java.lang.String opt, java.util.Vector<java.lang.String> endpoints) Create a command optional line of Endpoint of ORB.
protected void	createORBEndpoints(java.util.Vector<java.lang.String> endpoints) Create Endpoints
protected java.lang.String	createORBOptions() Create ORB command options
protected java.util.Properties	createORBProperties() Creates ORB Properties.
void	deleteComponent(RTObject_impl comp) Unregister RT-Components that have been registered to Manager
void	deleteComponent(java.lang.String instanceName) Unregister RT-Components that have been registered to Manager
protected java.lang.String	formatString(java.lang.String namingFormat, Properties properties) Construct registration information when registering to Naming server
RTObject_impl	getComponent(java.lang.String instanceName) Get RT-Component's pointer
java.util.Vector<RTObject_impl>	getComponents() Get all RT-Components registered in the Manager
Properties	getConfig() Get the manager configuration
java.util.Vector<Properties>	getFactoryProfiles() Get profiles of factories.
java.util.Vector<Properties>	getLoadableModules() Get a list of loadable modules
java.util.Vector<Properties>	getLoadedModules() Get a list of loaded modules
ManagerServant	getManagerServant() Gets ManagerServant Managfer has.
java.util.Vector<java.lang.String>	getModulesFactories() Get the list of all Factories
NamingManager	getNaming() Gets NamingManager Managfer has.
org.omg.CORBA.ORB	getORB() Get the pointer to ORB
org.omg.PortableServer.POA	getPOA() Get a pointer to RootPOA held by Manager
org.omg.PortableServer.POAManager	getPOAManager() Get POAManager that Manager has
PortService[]	getPortsOnNameServers(java.lang.String nsname, java.lang.String kind) Gets specified ports from the path.
static Manager	init(java.lang.String[] argv) Initialize manager
protected boolean	initComposite() PeriodicECSharedComposite initialization
protected void	initCpuAffinity() et and get a thread's CPU affinity mask
protected boolean	initExecContext() ExecutionContextManager initialization
protected boolean	initFactories() Factories initialization
protected boolean	initLocalService() LocalService initialization
protected boolean	initLogger() System logger initialization
protected void	initManager(java.lang.String[] argv) Manager internal initialization
protected boolean	initManagerServant() ManagerServant initialization
protected boolean	initNaming() NamingManager initialization
protected boolean	initORB() CORBA ORB initialization
protected boolean	initTimer() Timer initialization
static Manager	instance() Get instance of the manager
static boolean	isActive() Check Manager Instance
void	join() Wait for Manager's termination
ReturnCode_t	load(java.lang.String moduleFileName, java.lang.String initFunc) [CORBA interface] Load module
protected boolean	mergeProperty(Properties properties, java.lang.String fileName) Merge property information
void	notifyFinalized(RTObject_impl comp) This method deletes RT-Components.
boolean	procComponentArgs(java.lang.String comp_arg, Properties comp_id, Properties comp_conf) Extracting component type/properties from the given string
boolean	procContextArgs(java.lang.String ec_args, java.lang.StringBuffer ec_id, Properties ec_conf) Extracting ExecutionContext's name/properties from the given string
void	publishPorts(RTObject_impl comp) {@.en Bind ports in NamingService.
boolean	registerComponent(RTObject_impl comp) Register RT-Component directly without Factory
boolean	registerECFactory(java.lang.String name) Register ExecutionContext Factory Register Factory to create ExecutionContext's instances.
boolean	registerFactory(Properties profile, RtcNewFunc new_func, RtcDeleteFunc delete_func) Register RT-Component Factory
void	removeLocalServiceActionListener(LocalServiceActionListener listener)
void	removeManagerActionListener(ManagerActionListener listener)
void	removeModuleActionListener(ModuleActionListener listener)
void	removeNamingActionListener(NamingActionListener listener)
void	removeRtcLifecycleActionListener(RtcLifecycleActionListener listener)
void	runManager() Run the Manager
void	runManager(boolean noBlocking) Run the Manager
void	setModuleInitProc(ModuleInitProc initProc) Set initial procedure
void	shutdown() Shutdown Manager
protected void	shutdownComponents() NamingManager finalization
protected void	shutdownLogger() System Logger finalization
protected void	shutdownManager() Shutdown Manager
protected void	shutdownNaming() NamingManager finalization
protected void	shutdownORB() ORB finalization
void	subscribePorts(RTObject_impl comp) connects a port by a topic name.
void	terminate(double tm) Terminate manager
void	unload(java.lang.String moduleFileName) Unload module
void	unloadAll() Unload all modules
boolean	unregisterComponent(RTObject_impl comp) Unregister RT-Components

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

m_cleanupComponents

Manager.cleanupComponentsClass m_cleanupComponents

Listener for timer processing

m_shutdownOnNoRtcs

Manager.shutdownOnNoRtcsClass m_shutdownOnNoRtcs

Listener for timer processing

m_updateMasterManager

Manager.updateMasterManager m_updateMasterManager

Listener for timer processing

m_mgrservant

ManagerServant m_mgrservant

The object to the ManagerServant

manager

protected static Manager manager

This field is the only Manager instance.

manager_mutex

protected static java.lang.String manager_mutex

This field is a mutex variable for Manager.

m_pORB

protected org.omg.CORBA.ORB m_pORB

ORB

m_pPOA

protected org.omg.PortableServer.POA m_pPOA

POA

m_pPOAManager

protected org.omg.PortableServer.POAManager m_pPOAManager

POAManager

m_initProc

protected ModuleInitProc m_initProc

User component initialization procedure object

m_config

protected Properties m_config

Managaer's configuration Properties

m_module

protected ModuleManager m_module

Module Manager

m_namingManager

protected NamingManager m_namingManager

Naming Manager

m_timer

protected Timer m_timer

Timer Object

rtcout

protected Logbuf rtcout

Logger stream

m_compManager

protected ObjectManager<java.lang.String,RTObject_impl> m_compManager

Component Manager

m_factory

protected ObjectManager<java.lang.String,FactoryBase> m_factory

Component Factory Manager

m_ecfactory

protected ObjectManager<java.lang.String,java.lang.Object> m_ecfactory

ExecutionContext Factory

m_ecs

protected java.util.Vector<ExecutionContextBase> m_ecs

ExecutionContext

m_runner

protected Manager.OrbRunner m_runner

ORB Runner

m_terminator

protected Manager.Terminator m_terminator

Terminator

m_terminate_waiting

protected int m_terminate_waiting

Counter for Terminator

m_finalized

Manager.Finalized m_finalized

List for component deletion

m_listeners

ManagerActionListeners m_listeners

Constructor Detail

Manager

protected Manager()

Constructor

Protected Constructor

Manager

public Manager(Manager rhs)

Copy Constructor

Protected Copy Constructor

Parameters:

rhs - Manager object of copy source

Method Detail

init

public static Manager init(java.lang.String[] argv)

Initialize manager

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

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

Parameters:

argv - The array of the command line arguments.

Returns:

Reference of the unique instance of Manager

instance

public static Manager instance()

Get instance of the manager

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

Returns:

The only instance reference of the manager

terminate

public void terminate(double tm)

Terminate manager

Terminate manager's processing

isActive

public static boolean isActive()

Check Manager Instance

Check manager instance

Returns:

Existence of the only instance reference of the manager

shutdown

public void shutdown()

Shutdown Manager

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

join

public void join()

Wait for Manager's termination

Wait for Manager's termination to synchronize.

getConfig

public Properties getConfig()

Get the manager configuration

Get the manager configuration that has been set to manager.

Returns:

Manager's configuration

publishPorts

public void publishPorts(RTObject_impl comp)

Bind ports in NamingService.

Parameters:

comp - RT Component void publishPorts(RTObject_impl* comp)

subscribePorts

public void subscribePorts(RTObject_impl comp)

connects a port by a topic name.

Parameters:

comp - RT Component # void subscribePorts(RTObject_impl* comp)

getPortsOnNameServers

public PortService[] getPortsOnNameServers(java.lang.String nsname,
                                           java.lang.String kind)

Gets specified ports from the path.

Parameters:

nsname - path

kind - kind

Returns:

List of port objects PortServiceList_var getPortsOnNameServers(std::string nsname,std::string kind)

connectDataPorts

public void connectDataPorts(PortService port,
                             PortService[] target_ports)

Connects all specified ports.

Parameters:

port - Target DataPort

target_ports - List of connected DataPorts # void connectDataPorts(PortService_ptr port,PortServiceList_var& target_ports)

connectServicePorts

public void connectServicePorts(PortService port,
                                PortService[] target_ports)

Connects all specified serviceports.

Parameters:

port - Target ServicePort

target_ports - List of connected ServicePorts # void connectServicePorts(PortService_ptr port,PortServiceList_var& target_ports)

getManagerServant

public ManagerServant getManagerServant()

Gets ManagerServant Managfer has.

Returns:

ManagerServant # ManagerServant* getManagerServant()

getNaming

public NamingManager getNaming()

Gets NamingManager Managfer has.

Returns:

NamingManager # NamingManager* getNaming()

setModuleInitProc

public void setModuleInitProc(ModuleInitProc initProc)

Set initial procedure

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

Parameters:

initProc - Callback interface

activateManager

public boolean activateManager()

Activate the Manager

This operation do the following:

Activate CORBA POAManager Activate Manager CORBA object Bind object reference of the Manager to the nameserver This operation should be invoked after Manager:init(), and before runManager().

Returns:

Activation result (Successful:true, Failed:false)

runManager

public void runManager()

Run the Manager

This operation processes the main event loop of the Manager. In this main loop, CORBA's ORB event loop or other processes are performed. This operation is going to blocking mode and never returns until Manager::destroy() is called.

runManager

public void runManager(boolean noBlocking)

Run the Manager

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

Parameters:

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

load

public ReturnCode_t load(java.lang.String moduleFileName,
                         java.lang.String initFunc)

[CORBA interface] Load module

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

Parameters:

moduleFileName - The module file name

initFunc - The initialize function name

Returns:

RTC_OK Normal return RTC_ERROR Load failed, or unknown error PRECONDITION_NOT_MET Not allowed operation by conf BAD_PARAMETER Invalid parameter

unload

public void unload(java.lang.String moduleFileName)
            throws java.lang.Exception

Unload module

Unload module.

Parameters:

moduleFileName - The module file name

Throws:

java.lang.Exception

unloadAll

public void unloadAll()

Unload all modules

Unload all modules.

getLoadedModules

public java.util.Vector<Properties> getLoadedModules()

Get a list of loaded modules

Get module list that is currently loaded into manager.

Returns:

Module list that has been loaded.

getLoadableModules

public java.util.Vector<Properties> getLoadableModules()

Get a list of loadable modules

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

Returns:

Loadable module list

registerFactory

public boolean registerFactory(Properties profile,
                               RtcNewFunc new_func,
                               RtcDeleteFunc delete_func)

Register RT-Component Factory

Register Factory to create RT-Component's instances.

Parameters:

profile - RT-Component profile

new_func - RT-Component creation function

delete_func - RT-Component destruction function

Returns:

Registration result (Successful:true, Failed:false)

getFactoryProfiles

public java.util.Vector<Properties> getFactoryProfiles()

Get profiles of factories.

Get profiles of factories.

Returns:

profiles of factories

registerECFactory

public boolean registerECFactory(java.lang.String name)

Register ExecutionContext Factory Register Factory to create ExecutionContext's instances.

Parameters:

name - ExecutionContext name

Returns:

Registration result (Successful:true, Failed:false)

getModulesFactories

public java.util.Vector<java.lang.String> getModulesFactories()

Get the list of all Factories

Get the list of all factories that have been registered.

Returns:

Registered factory list

clearModulesFactories

public void clearModulesFactories()

Clears the factory for RT component.

clearModules

public void clearModules()

Clears the RT component manager.

createComponent

public RTObject_impl createComponent(java.lang.String comp_args)

Create RT-Components

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

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