RTObject

java.lang.Object
- org.omg.PortableServer.Servant
- - OpenRTM.DataFlowComponentPOA
  - - jp.go.aist.rtm.RTC.RTObject_impl

All Implemented Interfaces:

SDOOperations, SDOSystemElementOperations, org.omg.CORBA.portable.InvokeHandler, ComponentActionOperations, DataFlowComponentActionOperations, DataFlowComponentOperations, LightweightRTObjectOperations, RTObjectOperations

Direct Known Subclasses:

DataFlowComponentBase, PeriodicECSharedComposite_impl
```
public class RTObject_impl
extends DataFlowComponentPOA
```
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.)

Nested Class Summary

Nested Classes
Modifier and Type	Class and Description
`(package private) class`	`RTObject_impl.deactivate_comps` Functor to deactivate RTC
`(package private) class`	`RTObject_impl.ec_copy` Functor to copy ExecutionContext
`(package private) class`	`RTObject_impl.ec_find` Functor to find ExecutionContext
`(package private) class`	`RTObject_impl.nv_name` Functor to find NVList

Field Summary

Fields
Modifier and Type	Field and Description
`(package private) static java.lang.String[]`	`default_conf` Default component profile of RT component.
`static int`	`ECOTHER_OFFSET`
`protected ComponentActionListeners`	`m_actionListeners` ComponentActionListener holder
`protected ConfigAdmin`	`m_configsets` Configuration Administrator Object
`protected boolean`	`m_created` Created Status Flag
`protected java.util.Vector<ExecutionContextBase>`	`m_eclist` List of ExecutionContextBase
`protected ExecutionContextServiceListHolder`	`m_ecMine` List of owned ExecutionContextService
`protected ExecutionContextServiceListHolder`	`m_ecOther` List of participating ExecutionContextService
`protected boolean`	`m_exiting` RTC Finalize Status Flag
`protected java.util.Vector<InPortBase>`	`m_inports` List of InPortBase.
`protected RTObject`	`m_objref` Object reference
`protected java.util.Vector<OutPortBase>`	`m_outports` List of OutPortBase.
`protected Manager`	`m_pManager` Manager object
`protected org.omg.CORBA.ORB`	`m_pORB` ORB
`protected PortAdmin`	`m_portAdmin` List of Port Object reference
`protected PortConnectListeners`	`m_portconnListeners` PortConnectListener holder
`protected org.omg.PortableServer.POA`	`m_pPOA` POA
`protected ComponentProfile`	`m_profile` ComponentProfile
`protected Properties`	`m_properties` RTC's Property
`protected Configuration`	`m_pSdoConfig` The SDO Configuration Interface
`protected Configuration_impl`	`m_pSdoConfigImpl` The SDO Configuration Object
`protected boolean`	`m_readAll` flag for readAll()
`protected boolean`	`m_readAllCompletion` flag for readAll()
`protected OrganizationListHolder`	`m_sdoOrganizations` SDO organization
`protected OrganizationListHolder`	`m_sdoOwnedOrganizations` SDO owned organization list
`protected SdoServiceAdmin`	`m_sdoservice` SDO Service Administrator Object
`protected NVListHolder`	`m_sdoStatus` SDO Status
`protected boolean`	`m_writeAll` flag for writeAll()
`protected boolean`	`m_writeAllCompletion` flag for writeAll().
`protected Logbuf`	`rtcout` Logger stream

Constructor Summary

Constructors
Constructor and Description

RTObject_impl(Manager manager)
Constructor

RTObject_impl(org.omg.CORBA.ORB orb, org.omg.PortableServer.POA poa)
Constructor

Constructors
Constructor and Description
`RTObject_impl(Manager manager)` Constructor
`RTObject_impl(org.omg.CORBA.ORB orb, org.omg.PortableServer.POA poa)` Constructor

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`ReturnCode_t`	`_finalize()` [CORBA interface] Finalize the RTC for destruction
`DataFlowComponent`	`_this()` Gets DataFlowComponent object.
`ReturnCode_t`	`activate(int ec_id)` [local interface] Make transition to Active state
`void`	`addConfigurationParamListener(int type, ConfigurationParamListener listener)` Adding ConfigurationParamListener
`void`	`addConfigurationParamListener(int type, ConfigurationParamListener listener, boolean autoclean)` Adding ConfigurationParamListener
`<DataType> ConfigurationParamListener`	`addConfigurationParamListener(int listener_type, DataType obj, java.lang.String memfunc)` Adding ConfigurationParamListener
`void`	`addConfigurationSetListener(int type, ConfigurationSetListener listener)` Adding ConfigurationSetListener
`void`	`addConfigurationSetListener(int type, ConfigurationSetListener listener, boolean autoclean)` Adding ConfigurationSetListener
`<DataType> ConfigurationSetListener`	`addConfigurationSetListener(int listener_type, DataType obj, java.lang.String memfunc)` Adding ConfigurationSetListener
`void`	`addConfigurationSetNameListener(int type, ConfigurationSetNameListener listener)` Adding ConfigurationSetNameListener
`void`	`addConfigurationSetNameListener(int type, ConfigurationSetNameListener listener, boolean autoclean)` Adding ConfigurationSetNameListener
`<DataType> ConfigurationSetNameListener`	`addConfigurationSetNameListener(int listener_type, DataType obj, java.lang.String memfunc)` Adding ConfigurationSetNameListener
`<DataType> ExecutionContextActionListener`	`addExecutionContextActionListener(int listener_type, DataType obj, java.lang.String memfunc)` Adding ExecutionContextAction type listener
`void`	`addExecutionContextActionListener(int listener_type, ExecutionContextActionListener listener)` Adding ExecutionContextAction type listener
`void`	`addExecutionContextActionListener(int listener_type, ExecutionContextActionListener listener, boolean autoclean)` Adding ExecutionContextAction type listener
`boolean`	`addInPort(java.lang.String name, InPortBase inport)` [local interface] Register DataInPort.
`boolean`	`addOutPort(java.lang.String name, OutPortBase outport)` [local interface] Register DataOutPort.
`boolean`	`addPort(CorbaPort port)` [local interface] Register Port
`boolean`	`addPort(PortBase port)` [local interface] Register Port
`boolean`	`addPort(PortService port)` [local interface] Register Port
`<DataType> PortActionListener`	`addPortActionListener(int listener_type, DataType obj, java.lang.String memfunc)` Adding PortAction type listener
`void`	`addPortActionListener(int listener_type, PortActionListener listener)` Adding PortAction type listener
`void`	`addPortActionListener(int listener_type, PortActionListener listener, boolean autoclean)` Adding PortAction type listener
`<DataType> PortConnectListener`	`addPortConnectListener(int listener_type, DataType obj, java.lang.String memfunc)` Adding PortConnect type listener
`void`	`addPortConnectListener(int listener_type, PortConnectListener listener)` Adding PortConnect type listener
`void`	`addPortConnectListener(int listener_type, PortConnectListener listener, boolean autoclean)` Adding PortConnect type listener
`<DataType> PortConnectRetListener`	`addPortConnectRetListener(int listener_type, DataType obj, java.lang.String memfunc)` Adding PortConnectRet type listener
`void`	`addPortConnectRetListener(int listener_type, PortConnectRetListener listener)` Adding PortConnectRet type listener
`void`	`addPortConnectRetListener(int listener_type, PortConnectRetListener listener, boolean autoclean)` Adding PortConnectRet type listener
`<DataType> PostComponentActionListener`	`addPostComponentActionListener(int listener_type, DataType obj, java.lang.String memfunc)` Adding PostComponentAction type listener
`void`	`addPostComponentActionListener(int listener_type, PostComponentActionListener listener)` Adding PostComponentAction type listener
`void`	`addPostComponentActionListener(int listener_type, PostComponentActionListener listener, boolean autoclean)` Adding PostComponentAction type listener
`<DataType> PreComponentActionListener`	`addPreComponentActionListener(int listener_type, DataType obj, java.lang.String memfunc)` Adding PreComponentAction type listener
`void`	`addPreComponentActionListener(int listener_type, PreComponentActionListener listener)` Adding PreComponentAction type listener
`void`	`addPreComponentActionListener(int listener_type, PreComponentActionListener listener, boolean autoclean)` Adding PreComponentAction type listener
`boolean`	`addSdoServiceConsumer(ServiceProfile prof)` [local interface] Set a SDO service provider
`boolean`	`addSdoServiceProvider(ServiceProfile prof, SdoServiceProviderBase provider)` [local interface] Set a SDO service provider
`int`	`attach_context(ExecutionContext exec_context)` [CORBA interface] Attach ExecutionContext
`int`	`bindContext(ExecutionContext exec_context)` Binds ExecutionContext.
`boolean`	`bindParameter(java.lang.String param_name, ValueHolder var, java.lang.String def_val)` Setup for configuration parameters
`protected ReturnCode_t`	`createContexts(java.util.ArrayList<Properties> ec_args)` creating, initializing and binding context
`ReturnCode_t`	`deactivate(int ec_id)` [local interface] Make transition to Inactive state
`void`	`deletePort(CorbaPort port)` [local interface] Unregister Port
`void`	`deletePort(PortBase port)` [local interface] Unregister Port
`void`	`deletePort(PortService port)` [local interface] Unregister Port
`void`	`deletePortByName(java.lang.String port_name)` [local interface] Delete Port by specifying its name
`ReturnCode_t`	`detach_context(int ec_id)` [CORBA interface] Detach ExecutionContext.
`ReturnCode_t`	`exit()` [CORBA interface]top the RTC's execution context(s) and finalize it along with its contents.
`void`	`finalizeContexts()` The ExecutionContextBase list is deleted.
`void`	`finalizePorts()` Unregister All Ports
`protected ReturnCode_t`	`findExistingEC(Properties ec_arg, ExecutionContextBase ec)` fiding existing EC from the factory
`ComponentProfile`	`get_component_profile()` [RTObject CORBA interface] Get RTC's profile
`Configuration`	`get_configuration()` [SDO interface] Get Configuration object
`int`	`get_context_handle(ExecutionContext cxt)` [CORBA interface] Return a handle of a ExecutionContext
`ExecutionContext`	`get_context(int ec_id)` [CORBA interface] Get ExecutionContext.
`DeviceProfile`	`get_device_profile()` [SDO interface] Get SDO DeviceProfile list
`Monitoring`	`get_monitoring()` [SDO interface] Get Monitoring object
`Organization[]`	`get_organizations()` [SDO interface] Get Organization list
`ExecutionContext[]`	`get_owned_contexts()` [CORBA interface] Get ExecutionContextList.
`Organization[]`	`get_owned_organizations()` [SDO interface] Get Organization list
`ExecutionContext[]`	`get_participating_contexts()` [CORBA interface] Get participating ExecutionContextList.
`PortService[]`	`get_ports()` [RTObject CORBA interface] Get Ports
`java.lang.String`	`get_sdo_id()` [SDO interface] Get the SDO ID
`SDOService`	`get_sdo_service(java.lang.String id)` [SDO interface] Get specified SDO Service's reference
`java.lang.String`	`get_sdo_type()` [SDO interface] Get SDO type
`ServiceProfile`	`get_service_profile(java.lang.String id)` [SDO interface] Get specified ServiceProfile
`ServiceProfile[]`	`get_service_profiles()` [SDO interface] Get SDO ServiceProfile
`NameValue[]`	`get_status_list()` [SDO interface] Get SDO Status list
`org.omg.CORBA.Any`	`get_status(java.lang.String name)` [SDO interface] Get SDO Status
`java.lang.String`	`getCategory()` [local interface] Get category information
`ConfigAdmin`	`getConfigService()` Getting configuration service
`protected ReturnCode_t`	`getContextOptions(java.util.ArrayList<Properties> ec_args)` getting EC options
`ExecutionContext`	`getExecutionContext(int ec_id)` [local interface] Getting current execution context
`double`	`getExecutionRate(int ec_id)` [local interface] Getting current context' execution rate
`protected ReturnCode_t`	`getGlobalContextOptions(Properties global_ec_props)` getting global EC options from rtc.conf
`protected ReturnCode_t`	`getInheritedECOptions(Properties default_opts)`
`java.util.Vector<InPortBase>`	`getInPorts()`
`java.lang.String`	`getInstanceName()` [local interface] Get instance name
`java.lang.String[]`	`getNamingNames()` [local interface] Get Naming Server information
`RTObject`	`getObjRef()` [local interface] Get the object reference
`java.util.Vector<OutPortBase>`	`getOutPorts()`
`protected ReturnCode_t`	`getPrivateContextOptions(java.util.ArrayList<Properties> ec_args)` getting individual EC options from RTC's configuration file
`Properties`	`getProperties()` [local interface] Get RTC property
`java.lang.String`	`getTypeName()` [local interface] Get type name
`ReturnCode_t`	`initialize()` [CORBA interface] Initialize the RTC that realizes this interface.
`boolean`	`is_alive(ExecutionContext exec_context)` [CORBA interface] Confirm whether RTC is the alive state
`boolean`	`isOwnExecutionContext(int ec_id)` [local interface] Checking if the current context is own context
`ReturnCode_t`	`on_aborting(int ec_id)` [ComponentAction CORBA interface] Transition to Error State
`ReturnCode_t`	`on_activated(int ec_id)` [ComponentAction CORBA interface] Activate RTC
`ReturnCode_t`	`on_deactivated(int ec_id)` [ComponentAction CORBA interface] Deactivate RTC
`ReturnCode_t`	`on_error(int ec_id)` [ComponentAction CORBA interface] Error Processing of RTC
`ReturnCode_t`	`on_execute(int ec_id)` [DataFlowComponentAction CORBA interface] Primary Periodic Operation of RTC
`ReturnCode_t`	`on_finalize()` [ComponentAction CORBA interface] Finalize RTC
`ReturnCode_t`	`on_initialize()` [ComponentAction CORBA interface] Initialize RTC
`ReturnCode_t`	`on_rate_changed(int ec_id)` [DataFlowComponentAction CORBA interface] Notify rate changed
`ReturnCode_t`	`on_reset(int ec_id)` [ComponentAction CORBA interface] Resetting RTC
`ReturnCode_t`	`on_shutdown(int ec_id)` [ComponentAction CORBA interface] Shutdown RTC
`ReturnCode_t`	`on_startup(int ec_id)` [ComponentAction CORBA interface] Startup RTC
`ReturnCode_t`	`on_state_update(int ec_id)` [DataFlowComponentAction CORBA interface] Secondary Periodic Operation of RTC
`protected ReturnCode_t`	`onAborting(int ec_id)` Callback function to abort
`protected ReturnCode_t`	`onActivated(int ec_id)` Callback function to activate
`protected void`	`onAddPort(PortProfile pprof)`
`protected void`	`onAttachExecutionContext(int ec_id)`
`protected ReturnCode_t`	`onDeactivated(int ec_id)` Callback function to deactivate
`protected void`	`onDetachExecutionContext(int ec_id)`
`protected ReturnCode_t`	`onError(int ec_id)` Callback function for error handling
`protected ReturnCode_t`	`onExecute(int ec_id)` [@.en Callback function to execute periodically}
`protected ReturnCode_t`	`onFinalize()` Callback function to finalize
`protected ReturnCode_t`	`onInitialize()` Callback function to initialize
`protected ReturnCode_t`	`onRateChanged(int ec_id)` Callback function to change execution cycle
`protected void`	`onRemovePort(PortProfile pprof)`
`protected ReturnCode_t`	`onReset(int ec_id)` Callback function to reset
`protected ReturnCode_t`	`onShutdown(int ec_id)` Callback function for shutdown action
`protected ReturnCode_t`	`onStartup(int ec_id)` Callback function for startup action
`protected ReturnCode_t`	`onStateUpdate(int ec_id)` Callback function to update the state
`protected void`	`postOnAborting(int ec_id, ReturnCode_t ret)`
`protected void`	`postOnActivated(int ec_id, ReturnCode_t ret)`
`protected void`	`postOnDeactivated(int ec_id, ReturnCode_t ret)`
`protected void`	`postOnError(int ec_id, ReturnCode_t ret)`
`protected void`	`postOnExecute(int ec_id, ReturnCode_t ret)`
`protected void`	`postOnFinalize(int ec_id, ReturnCode_t ret)`
`protected void`	`postOnInitialize(int ec_id, ReturnCode_t ret)`
`protected void`	`postOnRateChanged(int ec_id, ReturnCode_t ret)`
`protected void`	`postOnReset(int ec_id, ReturnCode_t ret)`
`protected void`	`postOnShutdown(int ec_id, ReturnCode_t ret)`
`protected void`	`postOnStartup(int ec_id, ReturnCode_t ret)`
`protected void`	`postOnStateUpdate(int ec_id, ReturnCode_t ret)`
`protected void`	`preOnAborting(int ec_id)`
`protected void`	`preOnActivated(int ec_id)`
`protected void`	`preOnDeactivated(int ec_id)`
`protected void`	`preOnError(int ec_id)`
`protected void`	`preOnExecute(int ec_id)`
`protected void`	`preOnFinalize(int ec_id)`
`protected void`	`preOnInitialize(int ec_id)`
`protected void`	`preOnRateChanged(int ec_id)`
`protected void`	`preOnReset(int ec_id)`
`protected void`	`preOnShutdown(int ec_id)`
`protected void`	`preOnStartup(int ec_id)`
`protected void`	`preOnStateUpdate(int ec_id)`
`boolean`	`readAll()` Readout the value from All InPorts.
`<DataType,Buffer> void`	`registerInPort(java.lang.Class<DataType> DATA_TYPE_CLASS, java.lang.String name, InPort<DataType> inport)` [local interface] Register DataInPort.
`void`	`registerInPort(java.lang.String name, InPortBase inport)` [local interface] Register DataInPort.
`<DataType,Buffer> void`	`registerOutPort(java.lang.Class<DataType> DATA_TYPE_CLASS, java.lang.String name, OutPort<DataType> outport)` [local interface] Register DataOutPort. This operation registers DataOutPor held by this RTC.
`void`	`registerOutPort(java.lang.String name, OutPortBase outport)` [local interface] Register DataOutPort
`void`	`registerPort(CorbaPort port)` [local interface] Register Port
`void`	`registerPort(PortBase port)` [local interface] Register Port
`void`	`registerPort(PortService port)` [local interface] Register Port
`void`	`removeConfigurationParamListener(int type, ConfigurationParamListener listener)` Removing ConfigurationParamListener
`void`	`removeConfigurationSetListener(int type, ConfigurationSetListener listener)` Removing ConfigurationSetListener
`void`	`removeConfigurationSetNameListener(int type, ConfigurationSetNameListener listener)` Removing ConfigurationSetNameListener
`void`	`removeExecutionContextActionListener(int listener_type, ExecutionContextActionListener listener)` @brief Removing ExecutionContextAction type listener
`boolean`	`removeInPort(InPortBase port)` [local interface] Unregister InPort
`boolean`	`removeOutPort(OutPortBase port)` [local interface] Unregister OutPort.
`boolean`	`removePort(CorbaPort port)` [local interface] Unregister Port
`boolean`	`removePort(PortBase port)` [local interface] Unregister Port
`boolean`	`removePort(PortService port)` [local interface] Unregister Port
`void`	`removePortActionListener(int listener_type, PortActionListener listener)` Removing PortAction type listener
`void`	`removePortConnectListener(int listener_type, PortConnectListener listener)` Removing PortConnect type listener
`void`	`removePortConnectRetListener(int listener_type, PortConnectRetListener listener)` Removing PortConnectRet type listener
`void`	`removePostComponentActionListener(int listener_type, PostComponentActionListener listener)` Removing PostComponentAction type listener
`void`	`removePreComponentActionListener(int listener_type, PreComponentActionListener listener)` Removing PreComponentAction type listener
`boolean`	`removeSdoServiceConsumer(java.lang.String id)` [local interface] Remove a SDO service provider
`boolean`	`removeSdoServiceProvider(java.lang.String id)` [local interface] Remove a SDO service provider
`ReturnCode_t`	`reset(int ec_id)` [local interface] Resetting and go to Inactive state
`ReturnCode_t`	`setExecutionRate(int ec_id, double rate)` [local interface] Setting current context' execution rate
`void`	`setInstanceName(java.lang.String instance_name)` [local interface] Set instance name
`void`	`setObjRef(RTObject rtobj)` [local interface] Set the object reference
`void`	`setProperties(Properties prop)` [local interface] Set RTC property
`void`	`setReadAll()` Set whether to execute the readAll() method.
`void`	`setReadAll(boolean read)` Set whether to execute the readAll() method.
`void`	`setReadAll(boolean read, boolean completion)` Set whether to execute the readAll() method.
`void`	`setWriteAll()` Set whether to execute the writeAll() method.
`void`	`setWriteAll(boolean write)` Set whether to execute the writeAll() method.
`void`	`setWriteAll(boolean write, boolean completion)` Set whether to execute the writeAll() method.
`protected void`	`shutdown()` Shutdown RTC
`protected void`	`syncAttributesByProperties()` Sets property
`void`	`updateParameters(java.lang.String config_set)` Update configuration parameters
`boolean`	`writeAll()` The write() method of all OutPorts are called.

Methods inherited from class OpenRTM.DataFlowComponentPOA
_all_interfaces, _invoke, _this

Methods inherited from class org.omg.PortableServer.Servant
_default_POA, _get_delegate, _get_interface_def, _is_a, _non_existent, _object_id, _orb, _poa, _set_delegate, _this_object, _this_object

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - default_conf
```
static final java.lang.String[] default_conf
```
    Default component profile of RT component.
  - ECOTHER_OFFSET
```
public static final int ECOTHER_OFFSET
```
    See Also:
    
    Constant Field Values
  - m_pManager
```
protected Manager m_pManager
```
    Manager object
  - m_pORB
```
protected org.omg.CORBA.ORB m_pORB
```
    ORB
  - m_pPOA
```
protected org.omg.PortableServer.POA m_pPOA
```
    POA
  - m_sdoOwnedOrganizations
```
protected OrganizationListHolder m_sdoOwnedOrganizations
```
    SDO owned organization list
  - m_pSdoConfigImpl
```
protected Configuration_impl m_pSdoConfigImpl
```
    The SDO Configuration Object
  - m_pSdoConfig
```
protected Configuration m_pSdoConfig
```
    The SDO Configuration Interface
  - m_sdoOrganizations
```
protected OrganizationListHolder m_sdoOrganizations
```
    SDO organization
  - m_sdoStatus
```
protected NVListHolder m_sdoStatus
```
    SDO Status
  - m_profile
```
protected ComponentProfile m_profile
```
    ComponentProfile
  - m_objref
```
protected RTObject m_objref
```
    Object reference
  - m_portAdmin
```
protected PortAdmin m_portAdmin
```
    List of Port Object reference
  - m_ecMine
```
protected ExecutionContextServiceListHolder m_ecMine
```
    List of owned ExecutionContextService
  - m_eclist
```
protected java.util.Vector<ExecutionContextBase> m_eclist
```
    List of ExecutionContextBase
  - m_ecOther
```
protected ExecutionContextServiceListHolder m_ecOther
```
    List of participating ExecutionContextService
  - m_created
```
protected boolean m_created
```
    Created Status Flag
  - m_exiting
```
protected boolean m_exiting
```
    RTC Finalize Status Flag
  - m_properties
```
protected Properties m_properties
```
    RTC's Property
  - m_configsets
```
protected ConfigAdmin m_configsets
```
    Configuration Administrator Object
  - m_sdoservice
```
protected SdoServiceAdmin m_sdoservice
```
    SDO Service Administrator Object
  - m_readAll
```
protected boolean m_readAll
```
    flag for readAll()
  - m_writeAll
```
protected boolean m_writeAll
```
    flag for writeAll()
  - m_portconnListeners
```
protected PortConnectListeners m_portconnListeners
```
    PortConnectListener holder
    Holders of PortConnectListeners
  - rtcout
```
protected Logbuf rtcout
```
    Logger stream
  - m_inports
```
protected java.util.Vector<InPortBase> m_inports
```
    List of InPortBase.
  - m_outports
```
protected java.util.Vector<OutPortBase> m_outports
```
    List of OutPortBase.
  - m_readAllCompletion
```
protected boolean m_readAllCompletion
```
    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_writeAllCompletion
```
protected boolean m_writeAllCompletion
```
    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().
  - m_actionListeners
```
protected ComponentActionListeners m_actionListeners
```
    ComponentActionListener holder
    Holders of ComponentActionListeners
- Constructor Detail
  - RTObject_impl
```
public RTObject_impl(Manager manager)
```
    Constructor
    
    Parameters:
    
    manager - Manager object
  - RTObject_impl
```
public RTObject_impl(org.omg.CORBA.ORB orb,
                     org.omg.PortableServer.POA poa)
```
    Constructor
    
    Parameters:
    
    orb - ORB
    
    poa - POA
- Method Detail
  - _this
```
public DataFlowComponent _this()
```
    Gets DataFlowComponent object.
    Gets OpenRTM.DataFlowComponent object.
    
    Overrides:
    
    _this in class DataFlowComponentPOA
    
    Returns:
    
    OpenRTM.DataFlowComponent object.
  - onInitialize
```
protected ReturnCode_t onInitialize()
```
    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
  - onFinalize
```
protected ReturnCode_t onFinalize()
```
    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
  - onStartup
```
protected ReturnCode_t onStartup(int ec_id)
```
    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:
    
    ec_id - ID of the participant ExecutionContext
    
    Returns:
    
    The return code of ReturnCode_t type
  - onShutdown
```
protected ReturnCode_t onShutdown(int ec_id)
```
    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:
    
    ec_id - ID of the participant ExecutionContext
    
    Returns:
    
    The return code of ReturnCode_t type
  - onActivated
```
protected ReturnCode_t onActivated(int ec_id)
```
    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:
    
    ec_id - ID of the participant ExecutionContext
    
    Returns:
    
    The return code of ReturnCode_t type
  - onDeactivated
```
protected ReturnCode_t onDeactivated(int ec_id)
```
    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:
    
    ec_id - ID of the participant ExecutionContext
    
    Returns:
    
    The return code of ReturnCode_t type
  - onExecute
```
protected ReturnCode_t onExecute(int ec_id)
```
    [@.en 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:
    
    ec_id - ID of the participant ExecutionContext
    
    Returns:
    
    The return code of ReturnCode_t type
  - onAborting
```
protected ReturnCode_t onAborting(int ec_id)
```
    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:
    
    ec_id - ID of the participant ExecutionContext
    
    Returns:
    
    The return code of ReturnCode_t type
  - onError
```
protected ReturnCode_t onError(int ec_id)
```
    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:
    
    ec_id - ID of the participant ExecutionContext
    
    Returns:
    
    The return code of ReturnCode_t type
  - onReset
```
protected ReturnCode_t onReset(int ec_id)
```
    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:
    
    ec_id - ID of the participant ExecutionContext
    
    Returns:
    
    The return code of ReturnCode_t type
  - onStateUpdate
```
protected ReturnCode_t onStateUpdate(int ec_id)
```
    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:
    
    ec_id - ID of the participant ExecutionContext
    
    Returns:
    
    The return code of ReturnCode_t type
  - onRateChanged
```
protected ReturnCode_t onRateChanged(int ec_id)
```
    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:
    
    ec_id - ID of the participant ExecutionContext
    
    Returns:
    
    The return code of ReturnCode_t type
  - initialize
```
public ReturnCode_t initialize()
```
    [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
  - _finalize
```
public ReturnCode_t _finalize()
                       throws org.omg.CORBA.SystemException
```
    [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
    
    Throws:
    
    org.omg.CORBA.SystemException
  - exit
```
public ReturnCode_t exit()
                  throws org.omg.CORBA.SystemException
```
    [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
    
    Throws:
    
    org.omg.CORBA.SystemException
  - is_alive
```
public boolean is_alive(ExecutionContext exec_context)
                 throws org.omg.CORBA.SystemException
```
    [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
    
    Throws:
    
    org.omg.CORBA.SystemException
  - get_owned_contexts
```
public ExecutionContext[] get_owned_contexts()
                                      throws org.omg.CORBA.SystemException
```
    [CORBA interface] Get ExecutionContextList.
    This operation returns a list of all execution contexts owned by this RTC.
    
    Returns:
    
    ExecutionContext List
    
    Throws:
    
    org.omg.CORBA.SystemException
  - get_context
```
public ExecutionContext get_context(int ec_id)
```
    [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:
    
    ec_id - ExecutionContext handle
    
    Returns:
    
    ExecutionContext
  - get_participating_contexts
```
public ExecutionContext[] get_participating_contexts()
                                              throws org.omg.CORBA.SystemException
```
    [CORBA interface] Get participating ExecutionContextList.
    This operation returns a list of all execution contexts in which this RTC participates.
    
    Returns:
    
    ExecutionContext List
    
    Throws:
    
    org.omg.CORBA.SystemException
  - get_context_handle
```
public int get_context_handle(ExecutionContext cxt)
                       throws org.omg.CORBA.SystemException
```
    [CORBA interface] Return a handle of a ExecutionContext
    This operation returns a handle that is associated with the given execution context.
    
    Parameters:
    
    cxt - ExecutionContext
    
    Returns:
    
    ExecutionContextHandle_t
    
    Throws:
    
    org.omg.CORBA.SystemException
  - bindContext
```
public int bindContext(ExecutionContext exec_context)
```
    Binds ExecutionContext.
    
    Parameters:
    
    exec_context - ExecutionContext
    
    Returns:
    
    ID(Returns -1,When narrow fails.)
  - get_component_profile
```
public ComponentProfile get_component_profile()
```
    [RTObject CORBA interface] Get RTC's profile
    This operation returns the ComponentProfile of the RTC.
    
    Returns:
    
    ComponentProfile
  - get_ports
```
public PortService[] get_ports()
```
    [RTObject CORBA interface] Get Ports
    This operation returns the reference of ports held by RTC.
    
    Returns:
    
    PortServiceList
  - attach_context
```
public int attach_context(ExecutionContext exec_context)
                   throws org.omg.CORBA.SystemException
```
    [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
    
    Throws:
    
    org.omg.CORBA.SystemException
  - detach_context
```
public ReturnCode_t detach_context(int ec_id)
                            throws org.omg.CORBA.SystemException
```
    [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:
    
    ec_id - Detaching ExecutionContext Handle
    
    Returns:
    
    The return code of ReturnCode_t type
    
    Throws:
    
    org.omg.CORBA.SystemException
  - on_initialize
```
public ReturnCode_t on_initialize()
```
    [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_finalize
```
public ReturnCode_t on_finalize()
```
    [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_startup
```
public ReturnCode_t on_startup(int ec_id)
```
    [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:
    
    ec_id - ID of ExecutionContext that transited to the state
    
    Returns:
    
    The return code of ReturnCode_t type
  - on_shutdown
```
public ReturnCode_t on_shutdown(int ec_id)
```
    [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:
    
    ec_id - ID of ExecutionContext that transited to the state
    
    Returns:
    
    The return code of ReturnCode_t type
  - on_activated
```
public ReturnCode_t on_activated(int ec_id)
```
    [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:
    
    ec_id - ID of activation ExecutionContext
    
    Returns:
    
    The return code of ReturnCode_t type
  - on_deactivated
```
public ReturnCode_t on_deactivated(int ec_id)
```
    [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:
    
    ec_id - ID of deactivation ExecutionContext
    
    Returns:
    
    The return code of ReturnCode_t type
  - on_aborting
```
public ReturnCode_t on_aborting(int ec_id)
```
    [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:
    
    ec_id - ID of ExecutionContext that transited to the state
    
    Returns:
    
    The return code of ReturnCode_t type
  - on_error
```
public ReturnCode_t on_error(int ec_id)
```
    [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:
    
    ec_id - ID of target ExecutionContext
    
    Returns:
    
    The return code of ReturnCode_t type
  - on_reset
```
public ReturnCode_t on_reset(int ec_id)
```
    [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:
    
    ec_id - ID of target ExecutionContext for the reset
    
    Returns:
    
    The return code of ReturnCode_t type
  - on_execute
```
public ReturnCode_t on_execute(int ec_id)
```
    [DataFlowComponentAction CORBA interface] Primary Periodic Operation of RTC
    The component is called during the state of Avtive.
    
    Parameters:
    
    ec_id - ID of ExecutionContext
    
    Returns:
    
    Execution result
  - on_state_update
```
public ReturnCode_t on_state_update(int ec_id)
```
    [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:
    
    ec_id - ID of target ExecutionContext for Secondary Periodic Operation
    
    Returns:
    
    The return code of ReturnCode_t type
  - on_rate_changed
```
public ReturnCode_t on_rate_changed(int ec_id)
```
    [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:
    
    ec_id - ID of target ExecutionContext for Operation
    
    Returns:
    
    The return code of ReturnCode_t type
  - get_owned_organizations
```
public Organization[] get_owned_organizations()
                                       throws NotAvailable
```
    [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
    
    Throws:
    
    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_id
```
public java.lang.String get_sdo_id()
                            throws NotAvailable,
                                   InternalError
```
    [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.
    
    Throws:
    
    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
```
public java.lang.String get_sdo_type()
                              throws NotAvailable,
                                     InternalError
```
    [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.
    
    Throws:
    
    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_device_profile
```
public DeviceProfile get_device_profile()
                                 throws NotAvailable,
                                        InternalError
```
    [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.
    
    Throws:
    
    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
```
public ServiceProfile[] get_service_profiles()
                                      throws NotAvailable,
                                             InternalError
```
    [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.
    
    Throws:
    
    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
```
public ServiceProfile get_service_profile(java.lang.String id)
                                   throws InvalidParameter,
                                          NotAvailable,
                                          InternalError
```
    [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.
    
    Throws:
    
    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_sdo_service
```
public SDOService get_sdo_service(java.lang.String id)
                           throws InvalidParameter,
                                  NotAvailable,
                                  InternalError
```
    [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.
    
    Throws:
    
    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_configuration
```
public Configuration get_configuration()
                                throws InterfaceNotImplemented,
                                       NotAvailable,
                                       InternalError
```
    [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.
    
    Throws:
    
    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_monitoring
```
public Monitoring get_monitoring()
                          throws InterfaceNotImplemented,
                                 NotAvailable,
                                 InternalError
```
    [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.
    
    Throws:
    
    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
```
public Organization[] get_organizations()
                                 throws NotAvailable,
                                        InternalError
```
    [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.
    
    Throws:
    
    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_list
```
public NameValue[] get_status_list()
                            throws NotAvailable,
                                   InternalError
```
    [SDO interface] Get SDO Status list
    This operation returns an NVlist describing the status of an SDO.
    
    Returns:
    
    The actual status of an SDO.
    
    Throws:
    
    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
```
public org.omg.CORBA.Any get_status(java.lang.String name)
                             throws InvalidParameter,
                                    NotAvailable,
                                    InternalError
```
    [SDO interface] Get SDO Status
    This operation returns the value of the specified status parameter.
    
    Parameters:
    
    name - One of the parameters defining the "status" of an SDO.
    
    Returns:
    
    The value of the specified status parameter.
    
    Throws:
    
    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.
  - getInstanceName
```
public final java.lang.String getInstanceName()
```
    [local interface] Get instance name
    Return the instance name that has been set in ComponentProfile.
    
    Returns:
    
    Instance name
  - setInstanceName
```
public void setInstanceName(java.lang.String instance_name)
```
    [local interface] Set instance name
    Set the instance name specified in ComponentProfile.
    
    Parameters:
    
    instance_name - Instance name
  - getTypeName
```
public final java.lang.String getTypeName()
```
    [local interface] Get type name
    Get the type name has been set in ComponentProfile.
    
    Returns:
    
    Type name
  - getCategory
```
public final java.lang.String getCategory()
```
    [local interface] Get category information
    Get the category information that has been set in ComponentProfile.
    
    Returns:
    
    Category information
  - getNamingNames
```
public java.lang.String[] getNamingNames()
```
    [local interface] Get Naming Server information
    Get Naming Server information that has been set.
    
    Returns:
    
    Naming Server list
  - setObjRef
```
public void setObjRef(RTObject rtobj)
```
    [local interface] Set the object reference
    Set RTC's CORBA object reference.
    
    Parameters:
    
    rtobj - The object reference
  - getObjRef
```
public final RTObject getObjRef()
```
    [local interface] Get the object reference
    Get CORBA object reference that has been set
    
    Returns:
    
    The object reference
  - setProperties
```
public void setProperties(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.
  - syncAttributesByProperties
```
protected void syncAttributesByProperties()
                                   throws java.lang.Exception
```
    Sets property
    
    Throws:
    
    java.lang.Exception
  - getProperties
```
public Properties 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.
  - bindParameter
```
public boolean bindParameter(java.lang.String param_name,
                             ValueHolder var,
                             java.lang.String def_val)
```
    Setup for configuration parameters
    Bind configuration parameter to its variable. Specify the data type of configuration parameter as \.
    
    Parameters:
    
    param_name - Configuration parameter name
    
    var - Variables to store configuration parameter
    
    def_val - Default value of configuration parameter
    
    Returns:
    
    Setup result (Successful:true, Failed:false)
  - getConfigService
```
public ConfigAdmin getConfigService()
```
    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
  - updateParameters
```
public void updateParameters(java.lang.String config_set)
```
    Update configuration parameters
    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
  - registerPort
```
public void 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
  - addPort
```
public boolean 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)
  - registerPort
```
public void registerPort(PortService 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
  - addPort
```
public boolean addPort(PortService 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)
  - registerPort
```
public void 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
  - addPort
```
public boolean 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)
  - registerInPort
```
public <DataType,Buffer> void registerInPort(java.lang.Class<DataType> DATA_TYPE_CLASS,
                                             java.lang.String name,
                                             InPort<DataType> inport)
                                      throws java.lang.Exception
```
    [local interface] Register DataInPort.
    This operation registers DataInPort held by this RTC.
    
    Parameters:
    
    DATA_TYPE_CLASS - Data type
    
    name - InPort name
    
    inport - InPort which is registered to the RTC
    
    Throws:
    
    java.lang.Exception
  - addInPort
```
public boolean addInPort(java.lang.String 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)
  - getInPorts
```
public final java.util.Vector<InPortBase> getInPorts()
```
  - getOutPorts
```
public final java.util.Vector<OutPortBase> getOutPorts()
```
  - registerInPort
```
public void registerInPort(java.lang.String name,
                           InPortBase inport)
                    throws java.lang.Exception
```
    [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 - name Port name
    
    inport - DataInPort which is registered to the RTC
    
    Throws:
    
    java.lang.Exception
  - addOutPort
```
public boolean addOutPort(java.lang.String 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 - i Port name
    
    outport - DataOutPort which is registered to the RTC
    
    Returns:
    
    Register result (Successful:true, Failed:false)
  - registerOutPort
```
public <DataType,Buffer> void registerOutPort(java.lang.Class<DataType> DATA_TYPE_CLASS,
                                              java.lang.String name,
                                              OutPort<DataType> outport)
                                       throws java.lang.Exception
```
    [local interface] Register DataOutPort. This operation registers DataOutPor held by this RTC.
    
    Parameters:
    
    DATA_TYPE_CLASS - Data type
    
    name - DataOutPort name
    
    outport - OutPort which is registered to the RTC
    
    Throws:
    
    java.lang.Exception
  - registerOutPort
```
public void registerOutPort(java.lang.String name,
                            OutPortBase outport)
                     throws java.lang.Exception
```
    [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
    
    Throws:
    
    java.lang.Exception
  - removeInPort
```
public boolean removeInPort(InPortBase port)
```
    [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
```
public boolean removeOutPort(OutPortBase port)
```
    [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
```
public boolean 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
```
public boolean removePort(PortService 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
```
public boolean 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)
  - deletePort
```
public void deletePort(PortBase port)
```
    [local interface] Unregister Port
    This operation unregisters a Port held by this RTC.
    
    Parameters:
    
    port - Port which is unregistered
  - deletePort
```
public void deletePort(PortService port)
```
    [local interface] Unregister Port
    This operation unregisters a Port held by this RTC.
    
    Parameters:
    
    port - Port which is unregistered
  - deletePort
```
public void deletePort(CorbaPort port)
```
    [local interface] Unregister Port
    This operation unregisters a Port held by this RTC.
    
    Parameters:
    
    port - Port which is unregistered
  - deletePortByName
```
public void deletePortByName(java.lang.String 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
  - getExecutionContext
```
public ExecutionContext getExecutionContext(int 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
```
public double getExecutionRate(int 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."
  - setExecutionRate
```
public ReturnCode_t setExecutionRate(int 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].
  - isOwnExecutionContext
```
public boolean isOwnExecutionContext(int ec_id)
```
    [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
  - deactivate
```
public ReturnCode_t deactivate(int 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
  - activate
```
public ReturnCode_t activate(int 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
  - reset
```
public ReturnCode_t reset(int 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
  - addSdoServiceProvider
```
public boolean addSdoServiceProvider(ServiceProfile prof,
                                     SdoServiceProviderBase provider)
```
    [local interface] Set a SDO service provider
  - removeSdoServiceProvider
```
public boolean removeSdoServiceProvider(java.lang.String id)
```
    [local interface] Remove a SDO service provider
  - addSdoServiceConsumer
```
public boolean addSdoServiceConsumer(ServiceProfile prof)
```
    [local interface] Set a SDO service provider
  - removeSdoServiceConsumer
```
public boolean removeSdoServiceConsumer(java.lang.String id)
```
    [local interface] Remove a SDO service provider
  - readAll
```
public boolean 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)
  - writeAll
```
public boolean writeAll()
```
    The write() method of all OutPorts are called.
    This operation call the write() method of all OutPort registered in the RTC.
    
    Returns:
    
    result (Successful:true, Failed:false)
  - setReadAll
```
public void setReadAll(boolean read,
                       boolean completion)
```
    Set whether to execute the readAll() method.
    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
  - setReadAll
```
public void setReadAll()
```
    Set whether to execute the readAll() method.
    readAll() is called, If one InPort::read() is False, return false.
  - setReadAll
```
public void setReadAll(boolean read)
```
    Set whether to execute the readAll() method.
    If one InPort::read() is False, return false.
    
    Parameters:
    
    read - (default:true) (readAll() is called:true, readAll() isn't called:false)
  - setWriteAll
```
public void setWriteAll(boolean write,
                        boolean completion)
```
    Set whether to execute the writeAll() method.
    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
  - setWriteAll
```
public void setWriteAll()
```
    Set whether to execute the writeAll() method.
    writeAll() is called, If one OutPort::write() is False, return false.
  - setWriteAll
```
public void setWriteAll(boolean write)
```
    Set whether to execute the writeAll() method.
    If one OutPort::write() is False, return false.
    
    Parameters:
    
    write - (default:true) (writeAll() is called:true, writeAll() isn't called:false)
  - finalizePorts
```
public void finalizePorts()
```
    Unregister All Ports
    This operation deactivates the all Ports and deletes the all Port's registrations in the RTC
  - finalizeContexts
```
public void finalizeContexts()
```
    The ExecutionContextBase list is deleted.
  - addPreComponentActionListener
```
public void addPreComponentActionListener(int listener_type,
                                          PreComponentActionListener listener,
                                          boolean autoclean)
```
    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()(int 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
  - addPreComponentActionListener
```
public void addPreComponentActionListener(int listener_type,
                                          PreComponentActionListener listener)
```
    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()(int 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
  - addPreComponentActionListener
```
public <DataType> PreComponentActionListener addPreComponentActionListener(int listener_type,
                                                                           DataType obj,
                                                                           java.lang.String memfunc)
```
    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()(int 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
    
    obj - listener object
    
    memfunc - Method name of listener
  - removePreComponentActionListener
```
public void removePreComponentActionListener(int 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
  - addPostComponentActionListener
```
public void addPostComponentActionListener(int listener_type,
                                           PostComponentActionListener listener,
                                           boolean autoclean)
```
    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()(int 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
  - addPostComponentActionListener
```
public void addPostComponentActionListener(int listener_type,
                                           PostComponentActionListener listener)
```
    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()(int 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
  - addPostComponentActionListener
```
public <DataType> PostComponentActionListener addPostComponentActionListener(int listener_type,
                                                                             DataType obj,
                                                                             java.lang.String memfunc)
```
    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()(int 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
    
    obj - listener object
    
    memfunc - Method name of listener
  - removePostComponentActionListener
```
public void removePostComponentActionListener(int 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
  - addPortActionListener
```
public void addPortActionListener(int listener_type,
                                  PortActionListener listener,
                                  boolean autoclean)
```
    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
  - addPortActionListener
```
public void addPortActionListener(int listener_type,
                                  PortActionListener listener)
```
    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
  - addPortActionListener
```
public <DataType> PortActionListener addPortActionListener(int listener_type,
                                                           DataType obj,
                                                           java.lang.String memfunc)
```
    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
    
    obj - listener object
    
    memfunc - Method name of listener
  - removePortActionListener
```
public void removePortActionListener(int 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
  - addExecutionContextActionListener
```
public void addExecutionContextActionListener(int listener_type,
                                              ExecutionContextActionListener listener,
                                              boolean autoclean)
```
    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()(int 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
  - addExecutionContextActionListener
```
public void addExecutionContextActionListener(int listener_type,
                                              ExecutionContextActionListener listener)
```
    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()(int 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
  - addExecutionContextActionListener
```
public <DataType> ExecutionContextActionListener addExecutionContextActionListener(int listener_type,
                                                                                   DataType obj,
                                                                                   java.lang.String memfunc)
```
    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()(int 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
    
    obj - listener object
    
    memfunc - Method name of listener
  - removeExecutionContextActionListener
```
public void removeExecutionContextActionListener(int listener_type,
                                                 ExecutionContextActionListener listener)
```
    @brief Removing ExecutionContextAction type listener
    This operation removes a specified listener.
    
    Parameters:
    
    listener_type - A listener type
    
    listener - A pointer to a listener object
  - addPortConnectListener
```
public void addPortConnectListener(int listener_type,
                                   PortConnectListener listener)
```
    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
  - addPortConnectListener
```
public void addPortConnectListener(int listener_type,
                                   PortConnectListener listener,
                                   boolean autoclean)
```
    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
  - addPortConnectListener
```
public <DataType> PortConnectListener addPortConnectListener(int listener_type,
                                                             DataType obj,
                                                             java.lang.String memfunc)
```
    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
    
    obj - listener object
    
    memfunc - Method name of listener
  - removePortConnectListener
```
public void removePortConnectListener(int 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
  - addPortConnectRetListener
```
public void addPortConnectRetListener(int listener_type,
                                      PortConnectRetListener listener)
```
    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
  - addPortConnectRetListener
```
public void addPortConnectRetListener(int listener_type,
                                      PortConnectRetListener listener,
                                      boolean autoclean)
```
    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
  - addPortConnectRetListener
```
public <DataType> PortConnectRetListener addPortConnectRetListener(int listener_type,
                                                                   DataType obj,
                                                                   java.lang.String memfunc)
```
    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
    
    obj - listener object
    
    memfunc - Method name of listener
  - removePortConnectRetListener
```
public void removePortConnectRetListener(int 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
  - addConfigurationParamListener
```
public void addConfigurationParamListener(int type,
                                          ConfigurationParamListener listener,
                                          boolean autoclean)
```
    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.
  - addConfigurationParamListener
```
public void addConfigurationParamListener(int type,
                                          ConfigurationParamListener listener)
```
    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.
  - addConfigurationParamListener
```
public <DataType> ConfigurationParamListener addConfigurationParamListener(int listener_type,
                                                                           DataType obj,
                                                                           java.lang.String memfunc)
```
    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:
    
    listener_type - ConfigurationParamListenerType value ON_UPDATE_CONFIG_PARAM is only allowed.
    
    obj - listener object
    
    memfunc - Method name of listener
  - removeConfigurationParamListener
```
public void removeConfigurationParamListener(int 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.
  - addConfigurationSetListener
```
public void addConfigurationSetListener(int type,
                                        ConfigurationSetListener listener,
                                        boolean autoclean)
```
    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.
  - addConfigurationSetListener
```
public void addConfigurationSetListener(int type,
                                        ConfigurationSetListener listener)
```
    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.
  - addConfigurationSetListener
```
public <DataType> ConfigurationSetListener addConfigurationSetListener(int listener_type,
                                                                       DataType obj,
                                                                       java.lang.String memfunc)
```
    Adding ConfigurationSetListener
    This function add a listener object which is called when ConfigurationSet is updated. Available events are the followings.
    
    Parameters:
    
    listener_type - ConfigurationSetListenerType value
    
    obj - listener object
    
    memfunc - Method name of listener
  - removeConfigurationSetListener
```
public void removeConfigurationSetListener(int 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.
  - addConfigurationSetNameListener
```
public void addConfigurationSetNameListener(int type,
                                            ConfigurationSetNameListener listener,
                                            boolean autoclean)
```
    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.
  - addConfigurationSetNameListener
```
public void addConfigurationSetNameListener(int type,
                                            ConfigurationSetNameListener listener)
```
    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.
  - addConfigurationSetNameListener
```
public <DataType> ConfigurationSetNameListener addConfigurationSetNameListener(int listener_type,
                                                                               DataType obj,
                                                                               java.lang.String memfunc)
```
    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:
    
    listener_type - ConfigurationSetNameListenerType value
    
    obj - listener object
    
    memfunc - Method name of listener
  - removeConfigurationSetNameListener
```
public void removeConfigurationSetNameListener(int 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.
  - shutdown
```
protected void shutdown()
```
    Shutdown RTC
    This operation ececutes RTC's termination. This unregisters all Ports, deactivates corresponding CORBA objects and shuts down RTC.
  - preOnInitialize
```
protected void preOnInitialize(int ec_id)
```
  - preOnFinalize
```
protected void preOnFinalize(int ec_id)
```
  - preOnStartup
```
protected void preOnStartup(int ec_id)
```
  - preOnShutdown
```
protected void preOnShutdown(int ec_id)
```
  - preOnActivated
```
protected void preOnActivated(int ec_id)
```
  - preOnDeactivated
```
protected void preOnDeactivated(int ec_id)
```
  - preOnAborting
```
protected void preOnAborting(int ec_id)
```
  - preOnError
```
protected void preOnError(int ec_id)
```
  - preOnReset
```
protected void preOnReset(int ec_id)
```
  - preOnExecute
```
protected void preOnExecute(int ec_id)
```
  - preOnStateUpdate
```
protected void preOnStateUpdate(int ec_id)
```
  - preOnRateChanged
```
protected void preOnRateChanged(int ec_id)
```
  - postOnInitialize
```
protected void postOnInitialize(int ec_id,
                                ReturnCode_t ret)
```
  - postOnFinalize
```
protected void postOnFinalize(int ec_id,
                              ReturnCode_t ret)
```
  - postOnStartup
```
protected void postOnStartup(int ec_id,
                             ReturnCode_t ret)
```
  - postOnShutdown
```
protected void postOnShutdown(int ec_id,
                              ReturnCode_t ret)
```
  - postOnActivated
```
protected void postOnActivated(int ec_id,
                               ReturnCode_t ret)
```
  - postOnDeactivated
```
protected void postOnDeactivated(int ec_id,
                                 ReturnCode_t ret)
```
  - postOnAborting
```
protected void postOnAborting(int ec_id,
                              ReturnCode_t ret)
```
  - postOnError
```
protected void postOnError(int ec_id,
                           ReturnCode_t ret)
```
  - postOnReset
```
protected void postOnReset(int ec_id,
                           ReturnCode_t ret)
```
  - postOnExecute
```
protected void postOnExecute(int ec_id,
                             ReturnCode_t ret)
```
  - postOnStateUpdate
```
protected void postOnStateUpdate(int ec_id,
                                 ReturnCode_t ret)
```
  - postOnRateChanged
```
protected void postOnRateChanged(int ec_id,
                                 ReturnCode_t ret)
```
  - onAddPort
```
protected void onAddPort(PortProfile pprof)
```
  - onRemovePort
```
protected void onRemovePort(PortProfile pprof)
```
  - onAttachExecutionContext
```
protected void onAttachExecutionContext(int ec_id)
```
  - onDetachExecutionContext
```
protected void onDetachExecutionContext(int ec_id)
```
  - getInheritedECOptions
```
protected ReturnCode_t getInheritedECOptions(Properties default_opts)
```
  - getPrivateContextOptions
```
protected ReturnCode_t getPrivateContextOptions(java.util.ArrayList<Properties> ec_args)
```
    getting individual EC options from RTC's configuration file
  - getGlobalContextOptions
```
protected ReturnCode_t getGlobalContextOptions(Properties global_ec_props)
```
    getting global EC options from rtc.conf
  - getContextOptions
```
protected ReturnCode_t getContextOptions(java.util.ArrayList<Properties> ec_args)
```
    getting EC options
  - findExistingEC
```
protected ReturnCode_t findExistingEC(Properties ec_arg,
                                      ExecutionContextBase ec)
```
    fiding existing EC from the factory
  - createContexts
```
protected ReturnCode_t createContexts(java.util.ArrayList<Properties> ec_args)
```
    creating, initializing and binding context

Class RTObject_impl

Nested Class Summary

Field Summary

Constructor Summary

Method Summary

Methods inherited from class OpenRTM.DataFlowComponentPOA

Methods inherited from class org.omg.PortableServer.Servant

Methods inherited from class java.lang.Object

Field Detail

default_conf

ECOTHER_OFFSET

m_pManager

m_pORB

m_pPOA

m_sdoOwnedOrganizations

m_pSdoConfigImpl

m_pSdoConfig

m_sdoOrganizations

m_sdoStatus

m_profile

m_objref

m_portAdmin

m_ecMine

m_eclist

m_ecOther

m_created

m_exiting

m_properties

m_configsets

m_sdoservice

m_readAll

m_writeAll

m_portconnListeners

rtcout

m_inports

m_outports

m_readAllCompletion

m_writeAllCompletion

m_actionListeners

Constructor Detail

RTObject_impl

RTObject_impl

Method Detail

_this

onInitialize

onFinalize

onStartup

onShutdown

onActivated

onDeactivated

onExecute

onAborting

onError

onReset

onStateUpdate

onRateChanged

initialize

_finalize

exit

is_alive

get_owned_contexts

get_context

get_participating_contexts

get_context_handle

bindContext

get_component_profile

get_ports

attach_context

detach_context

on_initialize

on_finalize

on_startup

on_shutdown

on_activated

on_deactivated

on_aborting

on_error

on_reset

on_execute

on_state_update