OpenRTM_aist.Manager.Manager Class Reference

Manager class. More...

Classes
class	ECFactoryPredicate
class	FactoryPredicate
class	Finalized
class	InstanceName
class	ModulePredicate
class	OrbRunner
	OrbRunner class. More...
class	Term
class	Terminator

Public Member Functions
def	__init__ (self, _manager=None)
	Protected Copy Constructor. More...
def	init (arg)
	Initializa manager. More...
def	instance ()
	Get instance of the manager. More...
def	setModuleInitProc (self, proc)
	Run the Manager. More...
def	activateManager (self)
	Activate Manager. More...
def	runManager (self, no_block=None)
	Run the Manager. More...
def	load (self, fname, initfunc)
	[CORBA interface] Load module More...
def	unload (self, fname)
	Unload module. More...
def	unloadAll (self)
	Unload module. More...
def	getLoadedModules (self)
	Get loaded module names std::vector<coil::Properties> getLoadedModules();.
def	getLoadableModules (self)
	Get loadable module names.
def	registerFactory (self, profile, new_func, delete_func)
	Register RT-Component Factory.
def	getFactoryProfiles (self)
	Get profiles of factories. More...
def	registerECFactory (self, name, new_func, delete_func)
	Register ExecutionContext Factory.
def	getModulesFactories (self)
	Get the list of all RT-Component Factory.
def	createComponent (self, comp_args)
	Create RT-Components. More...
def	registerComponent (self, comp)
	Register RT-Component directly without Factory.
def	unregisterComponent (self, comp)
	Register RT-Component directly without Factory.
def	createContext (self, ec_args)
	Create Context. More...
def	deleteComponent (self, instance_name=None, comp=None)
	Unregister RT-Component that is registered in the Manager.
def	getComponent (self, instance_name)
	Get RT-Component's pointer.
def	getComponents (self)
	Get all RT-Component's pointer.
def	getORB (self)
	Get the pointer to the ORB.
def	getPOA (self)
	Get the pointer to the RootPOA.
def	initManager (self, argv)
	Manager internal initialization.
def	shutdownOnNoRtcs (self)
	Shutdown Manager. More...
def	initLogstreamFile (self)
def	initLogstreamPlugins (self)
def	initLogstreamOthers (self)
def	initLogger (self)
	System logger initialization.
def	shutdownLogger (self)
	System Logger finalization.
def	initORB (self)
	CORBA ORB initialization.
def	createORBOptions (self)
	ORB command option creation.
def	createORBEndpoints (self, endpoints)
	Create Endpoints. More...
def	createORBEndpointOption (self, opt, endpoints)
	Create a command optional line of Endpoint of ORB. More...
def	shutdownORB (self)
	ORB finalization.
def	initComposite (self)
	PeriodicECSharedComposite initialization. More...
def	initFactories (self)
	Factories initialization. More...
def	endpointPropertySwitch (self)
	ManagerServant initialization. More...
def	setEndpointProperty (self, objref)
	Setting endpoint information to property. More...
def	initManagerServant (self)
	ManagerServant initialization. More...
def	cleanupComponents (self)
	This method deletes RT-Components. More...
def	notifyFinalized (self, comp)
	This method deletes RT-Components. More...
def	procComponentArgs (self, comp_arg, comp_id, comp_conf)
	bool procComponentArgs(const char* comp_arg, coil::Properties& comp_id, coil::Properties& comp_conf)
def	configureComponent (self, comp, prop)
	void configureComponent(RTObject_impl* comp, const coil::Properties& prop);
def	publishPorts (self, comp)
def	subscribePorts (self, comp)
def	getPortsOnNameServers (self, nsname, kind)
def	connectDataPorts (self, port, target_ports)
def	connectServicePorts (self, port, target_ports)
def	initPreConnection (self)
def	initPreActivation (self)
def	initPreCreation (self)
def	invokeInitProc (self)
def	getManagerServant (self)
def	getNaming (self)
def	createShutdownThread (self, sleep_time=0)

Detailed Description

Manager class.

Constructor & Destructor Documentation

def OpenRTM_aist.Manager.Manager.__init__	(		self,
			_manager = None
	)

Protected Copy Constructor.

Member Function Documentation

def OpenRTM_aist.Manager.Manager.activateManager

(

self

)

Activate Manager.

This operation do the following,

• Activate CORBA POAManager
• Activate Manager CORBA object
• Execute the initial procedure call of the Manager

This operationo should be invoked after Manager:init(), and before tunManager().

def OpenRTM_aist.Manager.Manager.cleanupComponents

(

self

)

This method deletes RT-Components.

This method deletes RT-Components registered by notifyFinalized().

void cleanupComponents();

def OpenRTM_aist.Manager.Manager.connectDataPorts	(		self,
			port,
			target_ports
	)

Parameters

self
port
target_ports	void connectDataPorts(PortService_ptr port,PortServiceList_var& target_ports)

def OpenRTM_aist.Manager.Manager.connectServicePorts	(		self,
			port,
			target_ports
	)

Parameters

self
port
target_ports	void connectServicePorts(PortService_ptr port,PortServiceList_var& target_ports)

def OpenRTM_aist.Manager.Manager.createComponent	(		self,
			comp_args
	)

Create RT-Components.

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

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

Parameters

module_name

Target RT-Component names for the creation

Returns

Created RT-Component's instances

def OpenRTM_aist.Manager.Manager.createContext	(		self,
			ec_args
	)

Create Context.

Returns

Created Context's instances

ExecutionContextBase* createContext(const char* ec_args);

def OpenRTM_aist.Manager.Manager.createORBEndpointOption	(		self,
			opt,
			endpoints
	)

Create a command optional line of Endpoint of ORB.

Parameters

opt	ORB options
endpoints	Endpoints list

void createORBEndpointOption(std::string& opt, coil::vstring& endpoints);

def OpenRTM_aist.Manager.Manager.createORBEndpoints	(		self,
			endpoints
	)

Create Endpoints.

Create Endpoints from the configuration.

Parameters

endpoints

Endpoints list

void createORBEndpoints(coil::vstring& endpoints);

def OpenRTM_aist.Manager.Manager.createShutdownThread	(		self,
			sleep_time = 0
	)

Parameters

self
sleep_time

Returns

task

def OpenRTM_aist.Manager.Manager.endpointPropertySwitch

(

self

)

ManagerServant initialization.

Getting corba.endpoint_property value and return them as a tuple. This function obtains corbaendpoint_property that specifies if IPv4/IPv6 addresses and IP address numbes to be published, and it returnes them as tuple.

Returns

(ipv4, ipv4_list, ipv6, ipv6_list) endpoint_property value ipv4, ipv6: A True/False flag whether to use IPv4 / IPv6 address ipv4_list, ipv6_list: List of valid address number, empty means valid all addresses

def OpenRTM_aist.Manager.Manager.getFactoryProfiles

(

self

)

Get profiles of factories.

Get profiles of factories.

Returns

profiles of factories

def OpenRTM_aist.Manager.Manager.getManagerServant

(

self

)

Parameters

self

Returns

ManagerServant* getManagerServant()

def OpenRTM_aist.Manager.Manager.getNaming

(

self

)

Parameters

self

Returns

NamingManager* getNaming()

def OpenRTM_aist.Manager.Manager.getPortsOnNameServers	(		self,
			nsname,
			kind
	)

Parameters

self
nsname
kind

Returns

PortServiceList_var getPortsOnNameServers(std::string nsname,std::string kind)

def OpenRTM_aist.Manager.Manager.init

(

arg

)

Initializa manager.

This is the static function to tintialize the Manager. The Manager is initialized by given arguments. At the starting the manager, this static function "must" be called from application program. The manager has two static functions to get the instance, "init()" and "instance()". Since initializing process is only performed by the "init()" function, the "init()" has to be called at the beginning of the lifecycle of the Manager. function.

Parameters

argv	The array of the command line arguments.

def OpenRTM_aist.Manager.Manager.initComposite

(

self

)

PeriodicECSharedComposite initialization.

Returns

PeriodicECSharedComposite initialization result (Successful:true, Failed:false)

def OpenRTM_aist.Manager.Manager.initFactories

(

self

)

Factories initialization.

Initialize buffer factories, thread factories, publisher factories, provider factories, and consumer factories.

Returns

PeriodicECSharedComposite initialization result (Successful:true, Failed:false)

def OpenRTM_aist.Manager.Manager.initLogstreamFile

(

self

)

Parameters

self

def OpenRTM_aist.Manager.Manager.initLogstreamOthers

(

self

)

Parameters

self

def OpenRTM_aist.Manager.Manager.initLogstreamPlugins

(

self

)

Parameters

self

def OpenRTM_aist.Manager.Manager.initManagerServant

(

self

)

ManagerServant initialization.

Returns

Timer Initialization result (Successful:true, Failed:false)

def OpenRTM_aist.Manager.Manager.initPreActivation

(

self

)

Parameters

self	void initPreActivation()

def OpenRTM_aist.Manager.Manager.initPreConnection

(

self

)

Parameters

self	void initPreConnection()

def OpenRTM_aist.Manager.Manager.initPreCreation

(

self

)

Parameters

self	void initPreCreation()

def OpenRTM_aist.Manager.Manager.instance

(

)

Get instance of the manager.

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

Returns

The only instance reference of the manager

def OpenRTM_aist.Manager.Manager.invokeInitProc

(

self

)

Parameters

self	void initPreCreation()

def OpenRTM_aist.Manager.Manager.load	(		self,
			fname,
			initfunc
	)

[CORBA interface] Load module

Load module (shared library, DLL etc..) by file name, and invoke initialize function.

Parameters

fname	The module file name
initfunc	The initialize function name

Returns

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

def OpenRTM_aist.Manager.Manager.notifyFinalized	(		self,
			comp
	)

This method deletes RT-Components.

The deleted RT-Component is registered. The registered RT-Components are deleted by cleanupComponents().

Parameters

Deleted

RT component

void notifyFinalized(RTObject_impl* comp);

def OpenRTM_aist.Manager.Manager.publishPorts	(		self,
			comp
	)

Parameters

self
comp

void publishPorts(RTObject_impl* comp)

def OpenRTM_aist.Manager.Manager.runManager	(		self,
			no_block = None
	)

Run the Manager.

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

Parameters

no_block

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

def OpenRTM_aist.Manager.Manager.setEndpointProperty	(		self,
			objref
	)

Setting endpoint information to property.

This function sets endpoint information to corba.endpoints property. It extract endpoint information (list of IP address, port number) from given object reference, and set them to corba.endpoints, corba.endpoints_ipv4, corba.endpoints_ipv6

Parameters

objref

A object reference

def OpenRTM_aist.Manager.Manager.setModuleInitProc	(		self,
			proc
	)

Run the Manager.

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

Parameters

proc	A function pointer to the initial procedure call

def OpenRTM_aist.Manager.Manager.shutdownOnNoRtcs

(

self

)

Shutdown Manager.

This method shutdowns Manager as follows.

• "Manager.shutdown_on_nortcs" of configuration is YES.
• The component is not registered.

void shutdownOnNoRtcs();

def OpenRTM_aist.Manager.Manager.subscribePorts	(		self,
			comp
	)

Parameters

self
comp

void subscribePorts(RTObject_impl* comp)

def OpenRTM_aist.Manager.Manager.unload	(		self,
			fname
	)

Unload module.

Unload shared library.

Parameters

pathname

Module file name

def OpenRTM_aist.Manager.Manager.unloadAll

(

self

)

Unload module.

Unload all loaded shared library.

---

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

• /home/openrtm/git-src/OpenRTM-aist-Python/OpenRTM_aist/Manager.py