OpenRTM_aist.Manager.Manager Class Reference

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Classes
class	ECFactoryPredicate
class	FactoryPredicate
class	Finalized
class	InstanceName
class	ModulePredicate

Public Member Functions
	__init__ (self, _manager=None)
	init (*arg)
	instance ()
	terminate (self)
	shutdown (self)
	setModuleInitProc (self, proc)
	activateManager (self)
	runManager (self, no_block=False)
	main (self)
	join (self)
	load (self, fname, initfunc)
	unload (self, fname)
	unloadAll (self)
	getLoadedModules (self)
	getLoadableModules (self)
	registerFactory (self, profile, new_func, delete_func)
	getFactoryProfiles (self)
	registerECFactory (self, name, new_func, delete_func)
	getModulesFactories (self)
	createComponent (self, comp_args)
	registerComponent (self, comp)
	unregisterComponent (self, comp)
	createContext (self, ec_args)
	deleteComponent (self, instance_name=None, comp=None)
	getComponent (self, instance_name)
	getComponents (self)
	getORB (self)
	getPOA (self)
	getPOAManager (self)
	initManager (self, argv)
	shutdownManagerServant (self)
	shutdownManager (self)
	shutdownOnNoRtcs (self)
	initLogstreamFile (self)
	initLogstreamPlugins (self)
	initLogstreamOthers (self)
	initLogger (self)
	shutdownLogger (self)
	initORB (self)
	createORBOptions (self)
	createORBEndpoints (self)
	createORBEndpointOption (self, opt, endpoints)
	shutdownORB (self)
	initNaming (self)
	shutdownNaming (self)
	initExecContext (self)
	initCpuAffinity (self)
	initComposite (self)
	initFactories (self)
	initTimer (self)
	shutdownTimer (self)
	endpointPropertySwitch (self)
	setEndpointProperty (self, objref)
	initManagerServant (self)
	shutdownComponents (self)
	cleanupComponent (self, comp)
	cleanupComponents (self)
	notifyFinalized (self, comp)
	procComponentArgs (self, comp_arg, comp_id, comp_conf)
	bool procComponentArgs(const char* comp_arg, coil.Properties& comp_id, coil.Properties& comp_conf)
	configureComponent (self, comp, prop)
	void configureComponent(RTObject_impl* comp, const coil.Properties& prop);
	mergeProperty (self, prop, file_name)
	formatString (self, naming_format, prop)
	getLogbuf (self, name="manager")
	getConfig (self)
	publishPorts (self, comp)
	subscribePorts (self, comp)
	getPortsOnNameServers (self, nsname, kind)
	connectDataPorts (self, port, target_ports)
	connectServicePorts (self, port, target_ports)
	initPreConnection (self)
	initPreActivation (self)
	initPreCreation (self)
	invokeInitProc (self)
	getManagerServant (self)
	getNaming (self)
	addTask (self, fn, period)
	invoke (self, fn, delay)
	removeTask (self, task)
	addExecutionContext (self, ec)
	removeExecutionContext (self, ec)
	createdExecutionContexts (self)

Detailed Description

Manager class

Constructor & Destructor Documentation

__init__()

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

Protected Copy Constructor

Member Function Documentation

activateManager()

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().

addExecutionContext()

OpenRTM_aist.Manager.Manager.addExecutionContext	(		self,
			ec )

Parameters

self
ec	Execution context

Returns

addTask()

OpenRTM_aist.Manager.Manager.addTask	(		self,
			fn,
			period )

Add a task to the Manager timer.

This operation add a function or functional object to Manger's timer. It run until removeTask(). DO NOT block (Ex. sleep) in the registerd function.

Parameters

self
fn	The Function run periodically.
period	Period of fn execution.

Returns

id ID for removetask().

PeriodicFunction

cleanupComponents()

OpenRTM_aist.Manager.Manager.cleanupComponents

(

self

)

This method deletes RT-Components.

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

void cleanupComponents();

connectDataPorts()

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

Parameters

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

connectServicePorts()

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

Parameters

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

createComponent()

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

createContext()

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

Create Context

Returns

Created Context's instances

ExecutionContextBase* createContext(const char* ec_args);

createdExecutionContexts()

OpenRTM_aist.Manager.Manager.createdExecutionContexts

(

self

)

Parameters

self

Returns

createORBEndpointOption()

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);

createORBEndpoints()

OpenRTM_aist.Manager.Manager.createORBEndpoints

(

self

)

Create Endpoints

Create Endpoints from the configuration.

Parameters

endpoints

Endpoints list

void createORBEndpoints(coil.vstring& endpoints);

createORBOptions()

OpenRTM_aist.Manager.Manager.createORBOptions

(

self

)

ORB command option creation

deleteComponent()

OpenRTM_aist.Manager.Manager.deleteComponent	(		self,
			instance_name = None,
			comp = None )

Unregister RT-Component that is registered in the Manager

endpointPropertySwitch()

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

getComponent()

OpenRTM_aist.Manager.Manager.getComponent	(		self,
			instance_name )

Get RT-Component's pointer

getComponents()

OpenRTM_aist.Manager.Manager.getComponents

(

self

)

Get all RT-Component's pointer

getFactoryProfiles()

OpenRTM_aist.Manager.Manager.getFactoryProfiles

(

self

)

Get profiles of factories.

Get profiles of factories.

Returns

profiles of factories

getLoadableModules()

OpenRTM_aist.Manager.Manager.getLoadableModules

(

self

)

Get loadable module names

getLoadedModules()

OpenRTM_aist.Manager.Manager.getLoadedModules

(

self

)

Get loaded module names std.vector<coil.Properties> getLoadedModules();

getManagerServant()

OpenRTM_aist.Manager.Manager.getManagerServant

(

self

)

Parameters

self

Returns

ManagerServant* getManagerServant()

getModulesFactories()

OpenRTM_aist.Manager.Manager.getModulesFactories

(

self

)

Get the list of all RT-Component Factory

getNaming()

OpenRTM_aist.Manager.Manager.getNaming

(

self

)

Parameters

self

Returns

NamingManager* getNaming()

getORB()

OpenRTM_aist.Manager.Manager.getORB

(

self

)

Get the pointer to the ORB

getPOA()

OpenRTM_aist.Manager.Manager.getPOA

(

self

)

Get the pointer to the RootPOA

getPortsOnNameServers()

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

Parameters

self
nsname
kind

Returns

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

init()

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.

initComposite()

OpenRTM_aist.Manager.Manager.initComposite

(

self

)

PeriodicECSharedComposite initialization

Returns

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

initCpuAffinity()

OpenRTM_aist.Manager.Manager.initCpuAffinity

(

self

)

Parameters

self

initFactories()

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)

initLogger()

OpenRTM_aist.Manager.Manager.initLogger

(

self

)

System logger initialization

initLogstreamFile()

OpenRTM_aist.Manager.Manager.initLogstreamFile

(

self

)

Parameters

self

initLogstreamOthers()

OpenRTM_aist.Manager.Manager.initLogstreamOthers

(

self

)

Parameters

self

initLogstreamPlugins()

OpenRTM_aist.Manager.Manager.initLogstreamPlugins

(

self

)

Parameters

self

initManager()

OpenRTM_aist.Manager.Manager.initManager	(		self,
			argv )

Manager internal initialization

initManagerServant()

OpenRTM_aist.Manager.Manager.initManagerServant

(

self

)

ManagerServant initialization

Returns

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

initORB()

OpenRTM_aist.Manager.Manager.initORB

(

self

)

CORBA ORB initialization

initPreActivation()

OpenRTM_aist.Manager.Manager.initPreActivation

(

self

)

Parameters

self	void initPreActivation()

initPreConnection()

OpenRTM_aist.Manager.Manager.initPreConnection

(

self

)

Parameters

self	void initPreConnection()

initPreCreation()

OpenRTM_aist.Manager.Manager.initPreCreation

(

self

)

Parameters

self	void initPreCreation()

instance()

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

invoke()

OpenRTM_aist.Manager.Manager.invoke	(		self,
			fn,
			delay )

Run a function on the Manager main thread.

The specified function run on the Manager main thread. DO NOT block the thread in the function.

Parameters

self
fn	The Function run on the Manager main thread.
delay	The delay time for the function execution.

Returns

DelayedFunction

invokeInitProc()

OpenRTM_aist.Manager.Manager.invokeInitProc

(

self

)

Parameters

self	void invokeInitProc()

join()

OpenRTM_aist.Manager.Manager.join

(

self

)

Wait for Manager's termination

Parameters

self

load()

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

main()

OpenRTM_aist.Manager.Manager.main

(

self

)

The main function of the Manager main thread.

Parameters

self

notifyFinalized()

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);

publishPorts()

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

Parameters

self
comp

void publishPorts(RTObject_impl* comp)

registerComponent()

OpenRTM_aist.Manager.Manager.registerComponent	(		self,
			comp )

Register RT-Component directly without Factory

registerECFactory()

OpenRTM_aist.Manager.Manager.registerECFactory	(		self,
			name,
			new_func,
			delete_func )

Register ExecutionContext Factory

registerFactory()

OpenRTM_aist.Manager.Manager.registerFactory	(		self,
			profile,
			new_func,
			delete_func )

Register RT-Component Factory

removeExecutionContext()

OpenRTM_aist.Manager.Manager.removeExecutionContext	(		self,
			ec )

Parameters

self
ec	Execution context

Returns

removeTask()

OpenRTM_aist.Manager.Manager.removeTask	(		self,
			task )

Remove the task from the Manager timer.

This operation remove the specify function.

Parameters

self
id	Task ID

runManager()

OpenRTM_aist.Manager.Manager.runManager	(		self,
			no_block = False )

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.

setEndpointProperty()

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

setModuleInitProc()

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

shutdownLogger()

OpenRTM_aist.Manager.Manager.shutdownLogger

(

self

)

System Logger finalization

shutdownOnNoRtcs()

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();

shutdownORB()

OpenRTM_aist.Manager.Manager.shutdownORB

(

self

)

ORB finalization

subscribePorts()

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

Parameters

self
comp

void subscribePorts(RTObject_impl* comp)

unload()

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

Unload module

Unload shared library.

Parameters

pathname

Module file name

unloadAll()

OpenRTM_aist.Manager.Manager.unloadAll

(

self

)

Unload module

Unload all loaded shared library.

unregisterComponent()

OpenRTM_aist.Manager.Manager.unregisterComponent	(		self,
			comp )

Register RT-Component directly without Factory

---

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

• Manager.py