OpenRTM_aist.ConfigAdmin.ConfigAdmin Class Reference

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Classes
class	find_conf

Public Member Functions
	__init__ (self, configsets)
	Constructor
	__del__ (self)
	bindParameter (self, param_name, var, def_val, trans=None)
	unbindParameter (self, param_name)
	update (self, config_set=None, config_param=None)
	void update(void);
	isExist (self, param_name)
	isChanged (self)
	changedParameters (self)
	getActiveId (self)
	haveConfig (self, config_id)
	isActive (self)
	getConfigurationSets (self)
	getConfigurationSet (self, config_id)
	setConfigurationSetValues (self, config_set)
	getActiveConfigurationSet (self)
	addConfigurationSet (self, configset)
	removeConfigurationSet (self, config_id)
	activateConfigurationSet (self, config_id)
	setOnUpdate (self, cb)
	setOnUpdateParam (self, cb)
	setOnSetConfigurationSet (self, cb)
	setOnAddConfigurationSet (self, cb)
	setOnRemoveConfigurationSet (self, cb)
	setOnActivateSet (self, cb)
	addConfigurationParamListener (self, type, listener)
	removeConfigurationParamListener (self, type, listener)
	addConfigurationSetListener (self, type, listener)
	removeConfigurationSetListener (self, type, listener)
	addConfigurationSetNameListener (self, type, listener)
	removeConfigurationSetNameListener (self, type, listener)
	onUpdate (self, config_set)
	onUpdateParam (self, config_param, config_value)
	onSetConfigurationSet (self, config_set)
	onAddConfigurationSet (self, config_set)
	onRemoveConfigurationSet (self, config_id)
	onActivateSet (self, config_id)

Detailed Description

ConfigAdmin class

Class to manage various configuration information. Now terms for this class are defined as follows.

• Configurations: The configuration information for the RTCs.
• (Configuration) parameters: Configuration information that consists of a key-value pair. The "key" and the "value" are both stored as character string values in a coil.Properties variable in this class. The "key" is called the "configuration parameter name", and the "value" is called the "configuration parameter value".
• Configuration-sets: This is a list of configuration parameters, and it is distinguished by name (ID). The ID is called configuration-set ID.
• (Configuration) parameter variables: The variables to be referred when configuration parameters are actually used within the activity of an RTC. Each variable has each type.
• Active (configuration) set: This is the only configuration-set that is currently active. The parameter values of the active configuration-set are substituted into configuration variables in principle.

The following two configuration informations are stored in this class.

1. A list of configuration-set
2. A list of configuration parameter variables

Basically, the purpose of this class is to set one of the configuration-set in the list of (1) into parameter variables of (2). Usually, configuration parameter variables manipulation is performed with two-phases of configuration-set setting and parameter variables setting.

The configuration-set manipulations are performed by the following functions.

• getConfigurationSets()
• getConfigurationSet()
• setConfigurationSetValues()
• getActiveConfigurationSet()
• addConfigurationSet()
• removeConfigurationSet()
• activateConfigurationSet()

Modification, addition, deletion, acquisition and activation of configuration-set are performed by these functions. In order to reflect configuration-set, which is manipulated by these functions, on parameter variables that are used from RTC activities, the following update() functions are used .

• update(void)
• update(const char* config_set)
• update(const char* config_set, const char* config_param)

Callback functors can be given to hook configuration operation. Operations to be hooked are as follows.

• ON_UPDATE : when update() is called
• ON_UPDATE_PARAM : when update(param) is called
• ON_SET_CONFIGURATIONSET : when setConfigurationSet() is called
• ON_ADD_CONFIGURATIONSET : when addConfigurationSet() is called
• ON_REMOVE_CONFIGURATIONSET : when removeConfigurationSet() is called
• ON_ACTIVATE_CONFIGURATIONSET: when activateConfigurationSet() is called

Since

0.4.0

Constructor & Destructor Documentation

__init__()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.__init__	(		self,
			configsets )

Constructor

Parameters

self
prop	The target property name for setup

ConfigAdmin(coil.Properties& prop);

__del__()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.__del__

(

self

)

Destructor

Parameters

self

Member Function Documentation

activateConfigurationSet()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.activateConfigurationSet	(		self,
			config_id )

Activate the configuration set

Activate the configuration set of specified ID Return empty configuration set, if a configuration set of specified ID doesn't exist.

Parameters

self
config_id	ID of the target configuration set for remove

Returns

Activate result (Remove success:true、Remove failure:false)

bool activateConfigurationSet(const char* config_id);

addConfigurationParamListener()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.addConfigurationParamListener	(		self,
			type,
			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.

void addConfigurationParamListener(ConfigurationParamListenerType type, ConfigurationParamListener* listener);

addConfigurationSet()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.addConfigurationSet	(		self,
			configset )

Add the configuration value to configuration set

Add the configuration value to configuration set

Parameters

self
configuration_set	Property to add

Returns

Add Result (Successful:true, Failed:false)

bool addConfigurationSet(const coil.Properties& configuration_set);

addConfigurationSetListener()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.addConfigurationSetListener	(		self,
			type,
			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.

void addConfigurationSetListener(ConfigurationSetListenerType type, ConfigurationSetListener* listener);

addConfigurationSetNameListener()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.addConfigurationSetNameListener	(		self,
			type,
			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.

void addConfigurationSetNameListener(ConfigurationSetNameListenerType type, ConfigurationSetNameListener* listener);

bindParameter()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.bindParameter	(		self,
			param_name,
			var,
			def_val,
			trans = None )

Setup for configuration parameters

Bind configuration parameter to its variable. Return false, if configuration parameter of specified name has already existed.

Parameters

self
param_name	Configuration parameter name
var	Configuration parameter variable
def_val	Default value of configuration parameter
trans	Function to transform configuration parameter type into string format

Returns

Setup result (Successful:true, Failed:false)

template <typename VarType> bool bindParameter(const char* param_name, VarType& var, const char* def_val, bool (trans)(VarType&, const char) = coil.stringTo)

changedParameters()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.changedParameters

(

self

)

Changed parameters list

This operation returns parameter list which are changed.

Returns

Changed parameters list

coil.vstring& changedParameters() { return m_changedParam; }

getActiveConfigurationSet()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.getActiveConfigurationSet

(

self

)

Get the active configuration set

Get the current active configuration set. Return empty configuration set, if an active configuration set doesn't exist.

Parameters

self

Returns

The active configuration set

const coil.Properties& getActiveConfigurationSet(void);

getActiveId()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.getActiveId

(

self

)

Get ID of active configuration set

Get ID of the current active configuration set.

Parameters

self

Returns

The active configuration set ID

const char* getActiveId(void);

getConfigurationSet()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.getConfigurationSet	(		self,
			config_id )

Get a configuration set by specified ID

Get a configuration set that was specified by ID Return empty configuration set, if a configuration set of specified ID doesn't exist.

Parameters

self
config_id	ID of the target configuration set for getting

Returns

The configuration set

const coil.Properties& getConfigurationSet(const char* config_id);

getConfigurationSets()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.getConfigurationSets

(

self

)

Get all configuration sets

Get all specified configuration sets

Parameters

self

Returns

All configuration sets

const std.vector<coil.Properties*>& getConfigurationSets(void);

haveConfig()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.haveConfig	(		self,
			config_id )

Check the existence of configuration set

Check the existence of specified configuration set.

Parameters

self
config_id	ID of target configuration set for confirmation

Returns

Result of existence confirmation (Specified ConfigSet exists:true, else:false) bool haveConfig(const char* config_id);

isActive()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.isActive

(

self

)

Confirm to activate configuration set

Confirm that configuration set has been activated.

Parameters

self

Returns

Result of state confirmation (Active state:true, Inactive state:false)

bool isActive(void);

isChanged()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.isChanged

(

self

)

Confirm to change configuration parameters

Confirm that configuration parameters have changed.

Parameters

self

Returns

Result of change confirmation (There is a change:true、No change:false)

bool isChanged(void) {return m_changed;}

isExist()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.isExist	(		self,
			param_name )

Check the existence of configuration parameters

Check the existence of configuration parameters of specified name.

Parameters

self
name	Configuration parameter name

Returns

Result of existance confirmation (Parameters exist:true, else:false)

bool isExist(const char* name);

onActivateSet()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.onActivateSet	(		self,
			config_id )

Called when the configuration set is made active

Call the set callback object.

Parameters

self
config_id	property

void onActivateSet(const char* config_id);

onAddConfigurationSet()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.onAddConfigurationSet	(		self,
			config_set )

Called when a set value is added to the configuration set

Call the set callback object.

Parameters

self
configuration_set	property

void onAddConfigurationSet(const coil.Properties& config_set);

onRemoveConfigurationSet()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.onRemoveConfigurationSet	(		self,
			config_id )

Called when the configuration set has been deleted

Call the set callback object.

Parameters

self
config_id	property

void onRemoveConfigurationSet(const char* config_id);

onSetConfigurationSet()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.onSetConfigurationSet	(		self,
			config_set )

Called when the property is added to the configuration set

Call the set callback object.

Parameters

self
configuration_set	property

void onSetConfigurationSet(const coil.Properties& config_set);

onUpdate()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.onUpdate	(		self,
			config_set )

When the configuration parameter is updated, it is called.

Call the set callback object.

Parameters

self
config_set	The target configuration set's ID to setup

void onUpdate(const char* config_set);

onUpdateParam()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.onUpdateParam	(		self,
			config_param,
			config_value )

When the configuration parameter is updated, it is called.

Call the set callback object.

Parameters

self
config_param	configuration parameter name.
config_value	configuration value.

void onUpdateParam(const char* config_param, const char* config_value);

removeConfigurationParamListener()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.removeConfigurationParamListener	(		self,
			type,
			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.

void removeConfigurationParamListener(ConfigurationParamListenerType type, ConfigurationParamListener* listener);

removeConfigurationSet()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.removeConfigurationSet	(		self,
			config_id )

Remove the configuration set

Remove the configuration set of specified ID Return empty configuration set, if a configuration set of specified ID doesn't exist.

The configuration-sets that can be removed by this function are only configuration-sets newly added by the addConfigurationSet() function. The configuration that can be removed by this function is only newly added configuration-set by addConfigurationSet() function. The "default" configuration-set and configurationi-sets that is loaded from configuration file cannot be removed.

If the specified configuration is active currently, any configurations are not deleted.

Callback functions that are set by addOnRemovedConfigurationSet() will be called if a configuration-set is deleted actually by this function.

Parameters

self
config_id	ID of the target configuration set for remove

Returns

Remove result (Successful:true, Failed:false)

bool removeConfigurationSet(const char* config_id);

removeConfigurationSetListener()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.removeConfigurationSetListener	(		self,
			type,
			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.

void removeConfigurationSetListener(ConfigurationSetListenerType type, ConfigurationSetListener* listener);

removeConfigurationSetNameListener()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.removeConfigurationSetNameListener	(		self,
			type,
			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.

void removeConfigurationSetNameListener(ConfigurationSetNameListenerType type, ConfigurationSetNameListener* listener);

setConfigurationSetValues()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.setConfigurationSetValues	(		self,
			config_set )

Add to configuration set from specified property

Add specified property to configuration set.

Parameters

self
configuration_set	Property to add

Returns

Add result (Successful:true, Failed:false)

bool setConfigurationSetValues(const coil.Properties& config_set)

setOnActivateSet()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.setOnActivateSet	(		self,
			cb )

Set callback that is called by OnActivateSet.

Parameters

self
cb	OnActivateSetCallback type object

void setOnActivateSet(OnActivateSetCallback* cb);

setOnAddConfigurationSet()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.setOnAddConfigurationSet	(		self,
			cb )

Set callback that is called by OnSetConfiguration.

Parameters

self
cb	OnSetConfigurationSetCallback type object

void setOnAddConfigurationSet(OnAddConfigurationAddCallback* cb);

setOnRemoveConfigurationSet()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.setOnRemoveConfigurationSet	(		self,
			cb )

Set callback that is called by OnRemoveConfigurationSet.

Parameters

self
cb	OnRemoveConfigurationSetCallback type object

void setOnRemoveConfigurationSet(OnRemoveConfigurationSetCallback* cb);

setOnSetConfigurationSet()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.setOnSetConfigurationSet	(		self,
			cb )

Set callback that is called by OnSetConfiguration.

Parameters

self
cb	OnSetConfigurationSetCallback type object

void setOnSetConfigurationSet(OnSetConfigurationSetCallback* cb);

setOnUpdate()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.setOnUpdate	(		self,
			cb )

Set callback that is called by OnUpdate.

Parameters

self
cb	OnUpdateCallback type object

void setOnUpdate(OnUpdateCallback* cb);

setOnUpdateParam()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.setOnUpdateParam	(		self,
			cb )

Set callback that is called by OnUpdateParam.

Parameters

self
cb	OnUpdateParamCallback type object

void setOnUpdateParam(OnUpdateParamCallback* cb);

unbindParameter()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.unbindParameter	(		self,
			param_name )

Unbinding configuration parameters

Unbind configuration parameter from its variable. It returns false, if configuration parameter of specified name has already existed.

Parameters

param_name

Configuration parameter name

Returns

Setup result (Successful:true, Failed:false)

bool unbindParameter(const char* param_name);

update()

OpenRTM_aist.ConfigAdmin.ConfigAdmin.update	(		self,
			config_set = None,
			config_param = None )

void update(void);

Update the values of configuration parameters (Active configuration set)

When configuration set is updated, update the configuration parameter value to the value that is set to the current active configuration. This update will be executed, only when an active configuration set exists and the content of the configuration set has been updated from the last update.

void update(const char* config_set);

Update configuration parameter (By ID)

This operation updates configuration variables by the configuration-set with specified ID. This operation does not change current active configuration-set. Since this operation causes inconsistency between current active configuration set and actual values of configuration variables, user should carefully use it.

This operation ends without doing anything, if the configuration-set does not exist.

Parameters

config_set

The target configuration set's ID to setup

void update(const char* config_set, const char* config_param);

Update the values of configuration parameters (By name)

This operation updates a configuration variable by the specified configuration parameter in the configuration-set. This operation does not change current active configuration-set. Since this operation causes inconsistency between current active configuration set and actual values of configuration variables, user should carefully use it.

This operation ends without doing anything, if the configuration-set or the configuration parameter do not exist.

Parameters

config_set	configuration-set ID.
config_param	configuration parameter name.

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

• ConfigAdmin.py