[openrtm-commit:00311] r437 - in branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer: . test
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2011年 8月 4日 (木) 16:52:39 JST
Author: kurihara
Date: 2011-08-04 16:52:39 +0900 (Thu, 04 Aug 2011)
New Revision: 437
Added:
branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/setup.bat
branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/setup.sh
branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/setup.bat
branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/setup.sh
Removed:
branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/RTC.idl
branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/SDOPackage.idl
branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/BasicDataType.idl
branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/ComponentObserver.idl
branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/DataPort.idl
branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/OpenRTM.idl
branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/RTC.idl
branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/SDOPackage.idl
Log:
setup files has been added.
idl-files has been removed.
Deleted: branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/RTC.idl
===================================================================
--- branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/RTC.idl 2011-08-04 07:19:10 UTC (rev 436)
+++ branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/RTC.idl 2011-08-04 07:52:39 UTC (rev 437)
@@ -1,2649 +0,0 @@
-// RTC.idl
-
-#include "SDOPackage.idl"
-
-#pragma prefix "omg.org"
-
-#define EXECUTION_HANDLE_TYPE_NATIVE long
-
-module RTC
-{
- /*!
- * @if jp
- * @brief
- * @else
- * @brief ExecutionContextHandle_t
- *
- * @section Description
- *
- * This data type represents the association between an RTC and an
- * ExecutionContext in which it participates.
- *
- * @section Semantics
- *
- * This is an opaque DataType. It has no attributes or operations.
- *
- * @endif
- */
- typedef EXECUTION_HANDLE_TYPE_NATIVE ExecutionContextHandle_t;
-
- typedef SDOPackage::UniqueIdentifier UniqueIdentifier;
- typedef SDOPackage::NVList NVList;
-
- /*!
- * @if jp
- * @brief ReturnCode_t
- *
- * OMG RTC 1.0 仕様中の多くのオペレーションは、クラインとに対して考え
- * られるエラー状態を報告する必要がある。これは、ReturnCode_t型の所謂
- * リターンコードにより行われる。
- *
- * OMG RTC 1.0 の PIM 内において、ReturnCode_t型の値を返さないオペレーションは
- * それらの戻り値の型に依存して、次の方法によりエラーを報告するものとする。
- * -オペレーションが正数値を返す場合 (OMG RTC 1.0 Section 5.2.2.6.4 の
- * get_rateのように)、負数値を返すことによりエラーを示すものとする。
- * - オペレーションがオブジェクトリファレンス(RTObject::get_component_profile
- * OMG RTC 1.0 5.4.2.2.1を参照) を通常返す場合、nil参照を返すことにより
- * エラーを示すものとする。
- *
- * @else
- * @brief ReturnCode_t
- *
- * A number of operations in this specification will need to report
- * potential error conditions to their clients. This task shall be
- * accomplished by means of operation "return codes" of type
- * ReturnCode_t
- *
- * Operations in the PIM that do not return a value of type
- * ReturnCode_t shall report errors in the following ways, depending
- * on their return type:
- * - If an operation normally returns a positive numerical value (such as
- * get_rate, see [OMG RTC 1.0 Section 5.2.2.6.4]), it shall indicate
- * failure by returning a negative value.
- * - If an operation normally returns an object reference (such as
- * RTObject::get_component_profile, see [OMG RTC 1.0 Section 5.4.2.2.1]),
- * it shall indicate failure by returning a nil reference.
- *
- * @param RTC_OK The operation completed successfully.
- * @param RTC_ERROR The operation failed with a generic, unspecified error.
- * @param BAD_PARAMETER The operation failed because an illegal argument was
- * passed to it.
- * @param UNSUPPORTED The operation is unsupported by the implementation
- * (e.g., it belongs to a compliance point that is not implemented).
- * @param OUT_OF_RESOURCES The target of the operation ran out of the
- * resources needed to complete the operation.
- * @param PRECONDITION_NOT_MET A pre-condition for the operation was not met.
- *
- * @endif
- */
- enum ReturnCode_t
- {
- RTC_OK,
- RTC_ERROR,
- BAD_PARAMETER,
- UNSUPPORTED,
- OUT_OF_RESOURCES,
- PRECONDITION_NOT_MET
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief LifeCycleState
- *
- * @section Description
- * LifeCycleState is an enumeration of the states in the lifecycle above.
- *
- * @endif
- */
- enum LifeCycleState
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief CREATED
- *
- * @section Description
- *
- * The RTC object has been instantiated but not yet fully initialized.
- * @endif
- */
- CREATED_STATE,
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief INACTIVE
- *
- * @section Description
- *
- * The RTC is Alive but is not being invoked in any execution
- * context (see Section 5.2.2.5), regardless of whether the context
- * is Running or not.
- *
- * @section Semantics
- *
- * An instance of this state exists for each execution context in
- * which the RTC participates. If the RTC does not participate in
- * any execution context, a single instance of this state exists.
- *
- * @endif
- */
- INACTIVE_STATE,
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief ACTIVE
- *
- * @section Description
- *
- * The RTC is Alive and will be invoked in the execution context
- * if the context is Running.
- *
- * @section Semantics
- *
- * An instance of this state exists for each execution context in
- * which the RTC participates. If the RTC does not participate in
- * any execution context, this state shall never be observed.
- *
- * @endif
- */
- ACTIVE_STATE,
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief ERROR
- *
- * @section Description
- *
- * The RTC has encountered a problem in a given execution context
- * and cannot continue functioning in that context without being
- * reset.
- *
- * @endif
- */
- ERROR_STATE
- };
-
- interface ExecutionContext;
- typedef sequence<ExecutionContext> ExecutionContextList;
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief ComponentAction
- *
- * @section Description
- *
- * The ComponentAction interface provides callbacks corresponding to
- * the execution of the lifecycle operations of LightweightRTObject
- * (see Section 5.2.2.2) and ExecutionContext (see Section
- * 5.2.2.5). An RTC developer may implement these callback
- * operations in order to execute application-specific logic
- * pointing response to those transitions.
- *
- * @section Semantics
- *
- * Clients of an RTC are not expected to invoke these operations
- * directly; they are provided for the benefit of the RTC middleware
- * implementation.
- *
- * @endif
- */
- interface ComponentAction
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief on_initialize
- *
- * @section Description
- *
- * The RTC has been initialized and entered the Alive state.
- *
- * @section Semantics
- *
- * Any RTC-specific initialization logic should be performed here.
- *
- * @endif
- */
- ReturnCode_t on_initialize();
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief on_finalize
- *
- * @section Description
- *
- * The RTC is being destroyed.
- *
- * @section Semantics
- *
- * Any final RTC-specific tear-down logic should be performed here.
- *
- * @endif
- */
- ReturnCode_t on_finalize();
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief on_startup
- *
- * @section Description
- *
- * The given execution context, in which the RTC is participating,
- * has transitioned from Stopped to Running.
- *
- * @endif
- */
- ReturnCode_t on_startup(in ExecutionContextHandle_t exec_handle);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief on_shutdown
- *
- * @section Description
- *
- * The given execution context, in which the RTC is participating,
- * has transitioned from Running to Stopped.
- *
- * @endif
- */
- ReturnCode_t on_shutdown(in ExecutionContextHandle_t exec_handle);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief on_activated
- *
- * @section Description
- *
- * The RTC has been activated in the given execution context.
- *
- * @endif
- */
- ReturnCode_t on_activated(in ExecutionContextHandle_t exec_handle);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief on_deactivated
- *
- * @section Description
- *
- * The RTC has been deactivated in the given execution context.
- *
- * @endif
- */
- ReturnCode_t on_deactivated(in ExecutionContextHandle_t exec_handle);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief on_aborting
- *
- * @section Description
- *
- * The RTC is transitioning from the Active state to the Error
- * state in some execution context.
- *
- * @section Semantics
- *
- * 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.
- *
- * @endif
- */
- ReturnCode_t on_aborting(in ExecutionContextHandle_t exec_handle);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief on_error
- *
- * @section Description
- *
- * The RTC remains in the Error state.
- *
- * @section Semantics
- *
- * 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.
- *
- * @endif
- */
- ReturnCode_t on_error(in ExecutionContextHandle_t exec_handle);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief on_reset
- *
- * @section Description
- *
- * The RTC is in the Error state. An attempt is being made to
- * recover it such that it can return to the Inactive state.
- *
- * @section Semantics
- *
- * 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.
- *
- * @endif
- */
- ReturnCode_t on_reset(in ExecutionContextHandle_t exec_handle);
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief LightweightRTObject
- *
- * @section Description
- *
- * This interface is realized by all lightweight RTCs (as required
- * by the lightweightRTComponent stereotype). It defines the states
- * and transitions through which all RTCs will pass from the time
- * they are created until the time they are destroyed.
- *
- * @section Semantics
- * @subsection Initialization
- *
- * An RTC begins in the Created state; at this point, it has been
- * instantiated but not yet fully initialized. Note that this state
- * is highly implementation-dependent. For example, it may
- * correspond to the invocation of a constructor in languages that
- * support that concept, but not all languages do. Furthermore, how
- * soon this state is entered before initialize is invoked is
- * implementation-dependent. Therefore, it should be relied on by
- * RTC implementers only to the minimum extent possible. An RTC
- * that has completed its initialization and has not been finalized
- * is said to be Alive.
- *
- * @subsection Execution Context
- *
- * An RTC in the Alive state may participate in any number of
- * execution contexts (see Section 5.2.2.5 ). These contexts shall
- * be represented to an RTC as distinct instances of the
- * ExecutionContext class. The ExecutionContext manages the behavior
- * of each RTC that participates in it. This relationship is defined
- * by the following state machine, which is embedded within the
- * ExecutionContext's own lifecycle (see Figure 5.5 ). Each
- * participating RTC is represented as a separate parallel region.
- *
- * Relative to a given execution context, an RTC may either be
- * Active, Inactive, or in Error. When the RTC is Active in a
- * Running execution context, the ComponentAction callbacks (see
- * Section 5.2.2.4) shall be invoked as appropriate for the context’
- * s ExecutionKind. The callbacks shall not be invoked relative to
- * that context when either the RTC is Inactive in that context or
- * the context is Stopped. (Note that starting and stopping an
- * execution context shall not impact whether its participating RTCs
- * are Active or Inactive.) It may be that a given RTC does not
- * directly participate in any execution contexts. Such an RTC is
- * referred to as passive. A passive RTC may provide services to
- * other components upon request. At any other time, it shall not be
- * required to perform any ongoing activity of its own; therefore,
- * instances of such an RTC typically exist only as parts (directly
- * or indirectly) of a containing active RTC.
- *
- * @subsection Error Handling
- *
- * If an operation fails while the RTC is Active in a given
- * execution context, the RTC will transition to the Error state
- * corresponding to that context. While the RTC is in Error, the
- * ComponentAction::on_error callback will be invoked in place of
- * those callbacks that would otherwise have been invoked according
- * to the context’s ExecutionKind. For example, if the kind is
- * PERIODIC, on_error shall be invoked instead of the pair of
- * on_execute, and on_state_update. When an RTC is in Error, it may
- * be reset. If resetting is successful, the RTC shall return to the
- * Inactive state. If resetting is unsuccessful, it shall remain in
- * the Error state.
- *
- * @endif
- */
- interface LightweightRTObject
- : ComponentAction
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief initialize
- *
- * @section Description
- * Initialize the RTC that realizes this interface.
- *
- * @section Semantics
- * The invocation of this operation shall result in the invocation
- * of the callback ComponentAction::on_initialize.
- *
- * @section 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.
- *
- * @endif
- */
- ReturnCode_t initialize();
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief finalize
- *
- * @section Description
- *
- * Finalize the RTC that realizes this interface, preparing it for
- * destruction.
- *
- * @section Semantics
- *
- * This invocation of this operation shall result in the
- * invocation of the callback ComponentAction::on_finalize
- *
- * @section Constraints
- *
- * - An RTC may not be finalized while it is participating in any
- * execution context. It must first be removed with
- * ExecutionContextOperations::remove_component. Otherwise, this
- * operation shall fail with
- * ReturnCode_t::PRECONDITION_NOT_MET. See Figure 5.9.
- *
- * - 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.
- *
- * @endif
- */
- ReturnCode_t finalize();
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief is_alive
- *
- * @section Description
- *
- * 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) (see Figure 5.7) 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.
- *
- * @endif
- *
- */
- boolean is_alive(in ExecutionContext exec_context);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief exit
- *
- * @section Description
- *
- * Stop the RTC’s execution context(s) and finalize it along with
- * its contents.
- *
- * @section Semantics
- *
- * 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.
- *
- * @section 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.
- *
- * @endif
- */
- ReturnCode_t exit();
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief attach_context
- *
- * @section Description
- *
- * 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.
- *
- * @section Semantics
- *
- * This operation is intended to be invoked by
- * ExecutionContextOperations::add_component (see Section
- * 5.2.2.6.6). It is not intended for use by other clients.
- *
- * @endif
- */
- ExecutionContextHandle_t attach_context(in ExecutionContext exec_context);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief detach_context
- * @section Description
- *
- * Inform this RTC that it is no longer participating in the given
- * execution context.
- *
- * @section Semantics
- *
- * This operation is intended to be invoked by
- * ExecutionContextOperations::remove_component (see Section
- * 5.2.2.6.7). It is not intended for use by other clients.
- *
- * @section 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.
- *
- * @endif
- */
- ReturnCode_t detach_context(in ExecutionContextHandle_t exec_handle);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_context
- *
- * @section Description
- *
- * Obtain a reference to the execution context represented by the
- * given handle.
- *
- * @section Semantics
- *
- * 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.
- *
- * @endif
- */
- ExecutionContext get_context(in ExecutionContextHandle_t exec_handle);
-
- /*!
- * @if jp
- * @brief get_owned_contexts
- *
- * @section Description
- *
- * この RTC が所有する ExecutionContext のリストを取得する。
- *
- * @else
- * @brief get_owned_contexts
- *
- * @section Description
- *
- * This operation returns a list of all execution contexts owned
- * by this RTC.
- *
- * @endif
- */
- ExecutionContextList get_owned_contexts();
-
- /*!
- * @if jp
- * @brief get_participating_contexts
- *
- * @section Description
- *
- * この RTC が参加しているすべての ExecutionContext のリストを取得する。
- *
- * @section Semantics
- *
- * このリストに含まれる実行コンテキストは、attach_context が呼び出
- * されるごとに、リストに追加され、detach_context が呼び出されるご
- * とに、リストから削除される。
- *
- * @else
- * @brief* get_participating_contexts
- *
- * @section Description
- *
- * This operation returns a list of all execution contexts in
- * which this RTC participates.
- *
- * @section Semantics
- *
- * Each call to attach_context causes the provided context to be
- * added to this list. Each call to detach_context causes the
- * provided context to be removed from this list.
- *
- * @endif
- */
- ExecutionContextList get_participating_contexts();
-
- /*!
- * @if jp
- * ### [誤植] RTC.idl には含まれていないがPIMには含まれている。
- * ### PIMが正しい。
- *
- * @brief
- * @else
- * @brief get_context_handle
- *
- * @section Description
- *
- * This operation returns a handle that is associated with the given
- * execution context.
- *
- * @endif
- */
- ExecutionContextHandle_t get_context_handle(in ExecutionContext cxt);
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief ExecutionKind
- *
- * @sectioni Description
- *
- * The ExecutionKind enumeration defines the execution semantics
- * (see Section 5.3) of the RTCs that participate in an execution
- * context.
- *
- * @endif
- */
- enum ExecutionKind
- {
- /*!
- * @if jp
- * @brief
- *
- * @else
- * @brief PERIODIC
- *
- * @section Description
- *
- * The participant RTCs are executing according to periodic
- * sampled data semantics (see Section 5.3.1).
- *
- * @endif
- */
- PERIODIC,
- /*!
- * @if jp
- * @brief
- *
- * @else
- * @brief EVENT_DRIVEN
- *
- * @section Description
- *
- * The participant RTCs are executing according to stimulus
- * response semantics (see Section 5.3.2).
- *
- * @endif
- */
- EVENT_DRIVEN,
- /*!
- * @if jp
- * @brief
- *
- * @else
- * @brief OTHER
- *
- * @section Description
- *
- * The participant RTCs are executing according to some semantics
- * not defined by this specification.
- *
- * @endif
- */
- OTHER
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief ExecutionContext
- *
- * @section Description
- *
- * An ExecutionContext allows the business logic of an RTC to be
- * decoupled from the thread of control in which it is executed. The
- * context represents a logical thread of control and is provided to
- * RTCs at runtime as an argument to various operations, allowing
- * them to query and modify their own state, and that of other RTCs
- * executing within the same context, in the lifecycle. This
- * separation of concerns is important for two primary reasons:
- *
- * - Large number of components may collaborate tightly within a
- * single node or process. If each component were to run within its
- * own thread of control, the infrastructure may not be able to
- * satisfy the timeliness and determinism requirements of real-time
- * applications due to the large number of threads and the required
- * synchronization between them.
- *
- * - A single application may carry out a number of independent
- * tasks that require different execution rates. For example, it may
- * need to sample a sensor periodically at a very high rate and update a
- * user interface at a much lower rate.
- *
- * @section Semantics
- *
- * The state machine of an ExecutionContext has two parts. The
- * behavior of the ExecutionContext itself is defined by the upper
- * region in the above figure. The behavior of the RTCs that
- * participate in the context is defined by the lower region. The
- * contents of that region are displayed in more detail in Figure
- * 5.5 in Section 5.2.2.2. Ownership and Participation Each
- * execution context is owned by a single RTC and may be used to
- * execute that RTC and the RTCs contained within it, directly or
- * indirectly. An RTC that owns one or more execution contexts is
- * known as an autonomous RTC. An autonomous RTC and some subset of
- * the RTCs within it (to be defined by the application developer)
- * shall be executed by the infrastructure according to the context’
- * s execution kind, which defines when each RTC’s operations will
- * be invoked when and in which order. These RTCs are said to
- * participate in the context. The available execution kinds are
- * described in Section 5.2.2.7. The relationship between RTCs and
- * execution contexts may be many-to-many in the general case:
- * multiple RTCs may be invoked from the same execution context, and
- * a single RTC may be invoked from multiple contexts. In the case
- * where multiple RTCs are invoked from the same context, starting
- * or stopping the context shall result in the corresponding
- * lifecycle transitions for all of those components.
- *
- * @section Logical and Physical Threads
- *
- * Although an execution context represents a logical thread of
- * control, the choice of how it maps to a physical thread shall be
- * left to the application’s deployment
- * environment. Implementations may elect to associate contexts with
- * threads with a one-to-one mapping, to serve multiple contexts
- * from a single thread, or by any other means. In the case where a
- * given RTC may be invoked from multiple contexts, concurrency
- * management is implementation-dependent.
- *
- * @endif
- */
- interface ExecutionContext
- {
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief is_running
- * @section Description
- *
- * This operation shall return true if the context is in the
- * Running state.
- *
- * @section Semantics
- *
- * While the context is Running, all Active RTCs participating in
- * the context shall be executed according to the context’s
- * execution kind.
- *
- * @endif
- */
- boolean is_running();
-
- /*!
- * @if jp
- * @brief
- * @else
- *
- * @brief start
- *
- * @section Description
- *
- * Request that the context enter the Running state. Once the
- * state transition occurs, the ComponentAction::on_startup
- * operation (see Section 5.2.2.4.3) will be invoked. @section *
- *
- * @section Semantics
- *
- * An execution context may not be started
- * until the RT components that participate in it have been
- * initialized. An execution context may be started and stopped
- * multiple times.
- *
- * @section Constraints
- *
- * - This operation shall fail with
- * ReturnCode_t::PRECONDITION_NOT_MET if the context is not in the
- * Stopped state.
- *
- * - This operation shall fail with
- * ReturnCode_t::PRECONDITION_NOT_MET if any of the participating
- * components are not in their Alive state.
- *
- * @endif
- */
- ReturnCode_t start();
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief stop
- *
- * @section Description
- *
- * Request that the context enter the Stopped state. Once the
- * transition occurs, the ComponentAction::on_shutdown operation
- * (see Section 5.2.2.4.4) will be invoked.
- *
- * @section Semantics
- *
- * An execution context must be stopped before the RT components
- * that participate in it are finalized.
- *
- * An execution context may be started and stopped multiple times.
- *
- * @section Constraints
- *
- * - This operation shall fail with
- * ReturnCode_t::PRECONDITION_NOT_MET if the context is not in the
- * Running state.
- *
- * @endif
- */
- ReturnCode_t stop();
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_rate
- *
- * @section Description
- *
- * This operation shall return the rate (in hertz) at which its
- * Active participating RTCs are being invoked.
- *
- * @section Semantics
- *
- * An implementation is permitted to perform some periodic or
- * quasi-periodic processing within an execution context with an
- * ExecutionKind other than PERIODIC. In such a case, the result
- * of this operation is implementation-defined. If no periodic
- * processing of any kind is taking place within the context, this
- * operation shall fail as described in Section 5.2.1.
- *
- * @section Constraints
- *
- * - If the context has an ExecutionKind of PERIODIC, this
- * operation shall return a rate greater than zero.
- *
- * @endif
- */
- double get_rate();
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief set_rate
- *
- * @section Description
- *
- * This operation shall set the rate (in hertz) at which this
- * context’s Active participating RTCs are being called.
- *
- * @section Semantics
- *
- * If the execution kind of the context is PERIODIC, a rate change
- * shall result in the invocation of on_rate_changed on any RTCs
- * realizing DataFlowComponentAction that are registered with any
- * RTCs participating in the context. An implementation is
- * permitted to perform some periodic or quasi-periodic processing
- * within an execution context with an ExecutionKind other than
- * PERIODIC. If such is the case, and the implementation reports a
- * rate from get_rate, this operation shall set that rate
- * successfully provided that the given rate is valid. If no
- * periodic processing of any kind is taking place within the
- * context, this operation shall fail with
- * ReturnCode_t::UNSUPPORTED.
- *
- * @section Constraints
- *
- * - The given rate must be greater than zero. Otherwise, this
- * operation shall fail with ReturnCode_t::BAD_PARAMETER.
- *
- * @endif
- */
- ReturnCode_t set_rate(in double rate);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief add_component
- *
- * @section Description
- *
- * The operation causes the given RTC to begin participating in
- * the execution context.
- *
- * @section Semantics
- *
- * The newly added RTC will receive a call to
- * LightweightRTComponent::attach_context (see Section 5.2.2.2.5)
- * and then enter the Inactive state.
- *
- * @section Constraints
- *
- * - If the ExecutionKind of this context is PERIODIC, the RTC
- * must be a data flow component (see Section 5.3.1.1).
- * Otherwise, this operation shall fail with
- * ReturnCode_t::PRECONDITION_NOT_MET.
- *
- * - If the ExecutionKind of this context is EVENT_DRIVEN, the RTC
- * must be an FSM participant (see Section 5.3.2.3). Otherwise,
- * this operation shall fail with
- * ReturnCode_t::PRECONDITION_NOT_MET.
- *
- * @endif
- */
- ReturnCode_t add_component(in LightweightRTObject comp);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief remove_component
- *
- * @section Description
- *
- * This operation causes a participant RTC to stop participating
- * in the execution context.
- *
- * @section Semantics
- *
- * The removed RTC will receive a call to
- * LightweightRTComponent::detach_context (see Section 5.2.2.2.6).
- *
- * @section Constraints
- *
- * - If the given RTC is not currently participating in the
- * execution context, this operation shall fail with
- * ReturnCode_t::BAD_PARAMETER.
- *
- * - An RTC must be deactivated before it can be removed from an
- * execution context. If the given RTC is participating in the
- * execution context but is still in the Active state, this
- * operation shall fail with ReturnCode_t::PRECONDITION_NOT_MET.
- *
- * @endif
- */
- ReturnCode_t remove_component(in LightweightRTObject comp);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief activate_component
- *
- * @section Description
- *
- * The given participant RTC is Inactive and is therefore not
- * being invoked according to the execution context’s execution
- * kind. This operation shall cause the RTC to transition to the
- * Active state such that it may subsequently be invoked in this
- * execution context.
- *
- * @section Semantics
- *
- * The callback on_activate shall be called as a result of calling
- * this operation. This operation shall not return until the
- * callback has returned, and shall result in an error if the
- * callback does. The following figure is a non-normative example
- * sequence diagram for activate_component.
- *
- * @section Constraints
- *
- * - An execution context can only activate its participant
- * components. If the given RTC is not participating in the
- * execution context, this operation shall fail with
- * ReturnCode_t::BAD_PARAMETER.
- *
- * - An RTC that is in the Error state cannot be activated until
- * after it has been reset. If the given RTC is in the Error
- * state, this operation shall fail with
- * ReturnCode_t::PRECONDITION_NOT_MET.
- *
- * - This operation shall fail with ReturnCode_t::BAD_PARAMETER if
- * the given component is not in its Alive state.
- *
- * @endif
- */
- ReturnCode_t activate_component(in LightweightRTObject comp);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief deactivate_component
- *
- * @section Description
- *
- * The given RTC is Active in the execution context. Cause it to
- * transition to the Inactive state such that it will not be
- * subsequently invoked from the context unless and until it is
- * activated again.
- *
- * @section Semantics
- *
- * The callback on_deactivate shall be called as a result of
- * calling this operation. This operation shall not return until
- * the callback has returned, and shall result in an error if the
- * callback does. The following figure is a non-normative example
- * sequence diagram for deactivate_component.
- *
- * @section Constraints
- *
- * - An execution context can only deactivate its participant
- * components. If the given RTC is not participating in the
- * execution context, this operation shall fail with
- * ReturnCode_t::BAD_PARAMETER.
- *
- * - This operation shall fail with ReturnCode_t::BAD_PARAMETER if
- * the given component is not in its Alive state.
- *
- * @endif
- */
- ReturnCode_t deactivate_component(in LightweightRTObject comp);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief reset_component
- *
- * @section Description
- *
- * Attempt to recover the RTC when it is in Error.
- *
- * @section Semantics
- *
- * The ComponentAction::on_reset callback shall be invoked. This
- * operation shall not return until the callback has returned, and
- * shall result in an error if the callback does. If possible, the
- * RTC developer should implement that callback such that the RTC
- * may be returned to a valid state. * If this operation fails,
- * the RTC will remain in Error.
- *
- * @section Constraints
- *
- * - An RTC may only be reset in an execution context in which it
- * is in error. If the RTC is not in Error in the identified
- * context, this operation shall fail with
- * ReturnCode_t::PRECONDITION_NOT_MET. However, that failure shall
- * not cause the RTC to enter the Error state.
- *
- * - An RTC may not be reset while in the Created state. Any
- * attempt to invoke this operation while the RTC is in that state
- * shall fail with ReturnCode_t::PRECONDITION_NOT_MET. However,
- * that failure shall not cause the RTC to enter the Error state.
- *
- * @endif
- */
- ReturnCode_t reset_component(in LightweightRTObject comp);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_component_state
- *
- * @section Description
- *
- * This operation shall report the LifeCycleState of the given
- * participant RTC.
- *
- * @section Constraints
- *
- * - The given RTC must be Alive.
- *
- * - The given RTC must be a participant in the target execution context.
- *
- * - The LifeCycleState returned by this operation shall be one of
- * LifeCycleState::INACTIVE, ACTIVE, or ERROR.
- *
- * @endif
- */
- LifeCycleState get_component_state(in LightweightRTObject comp);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_kind
- *
- * @section Description
- *
- * This operation shall report the execution kind of the execution
- * context.
- *
- * @endif
- */
- ExecutionKind get_kind();
- };
-
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief DataFlowComponentAction
- *
- * @section Description
- *
- * DataFlowComponentAction is a companion to ComponentAction (see
- * Section 5.2.2.4) that provides additional callbacks for
- * intercepting the two execution passes defined in Section
- * 5.3.1.1.2.
- *
- * @endif
- */
- interface DataFlowComponentAction
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief on_execute
- * @section Description
- *
- * 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.
- *
- * @section Semantics
- *
- This callback occurs during the first execution pass.
- *
- * @section Constraints
- *
- * - The execution context of the given context shall be PERIODIC.
- *
- * @endif
- */
- ReturnCode_t on_execute(in ExecutionContextHandle_t exec_handle);
- /*!
- * @if jp
- * @brief
- * @else
- * @brief on_state_update
- *
- * @section Description
- *
- * 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.
- *
- * @section Semantics
- *
- * This callback occurs during the second execution pass.
- *
- * @section Constraints
- *
- * - The execution context of the given context shall be PERIODIC.
- *
- *
- * @endif
- */
- ReturnCode_t on_state_update(in ExecutionContextHandle_t exec_handle);
- /*!
- * @if jp
- * @brief
- * @else
- * @brief on_rate_changed
- *
- * @section Description
- *
- * This operation is a notification that the rate of the indicated
- * execution context (see Section 5.2.2.6.4) has changed.
- *
- * @section Constraints
- *
- * - The execution context of the given context shall be PERIODIC.
- *
- *
- * @endif
- */
- ReturnCode_t on_rate_changed(in ExecutionContextHandle_t exec_handle);
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief dataFlowComponent
- *
- * @section Description
- *
- * The dataFlowComponent stereotype may be applied to a component
- * type to indicate that its instances should be executed in sorted
- * order by a periodic execution context.
- *
- * @section Constraints
- *
- * - An instance of a component extended by the dataFlowComponent
- * stereotype must participate in at least one * execution context
- * of kind PERIODIC, which shall also be used for the execution of
- * any contained data flow components.
- *
- * - A component extended by dataFlowComponent must realize the
- * interface DataFlowComponentAction.
- *
- *
- * @endif
- */
- interface DataFlowComponent
- : LightweightRTObject, DataFlowComponentAction
- {
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief fsm
- *
- * @section Description
- *
- * Applying the fsm stereotype to a component implies the ability to
- * define component-specific states and transitions.
- *
- * @section Semantics
- *
- * In creating a state machine such as is depicted in Figure 5.22,
- * the RTC developer is implicitly defining the Active state to be a
- * submachine state. * The BehaviorStateMachines package described
- * in [UML] is considered the normative definition of a state
- * machine.
- *
- * @endif
- */
- interface Fsm
- : LightweightRTObject
- {
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief FsmParticipantAction
- *
- * @section Description
- *
- * FsmParticipantAction is companion to ComponentAction (see Section
- * 5.2.2.4) that is intended for use with FSM participant RTCs. It
- * adds a callback for the interception of state transitions, state
- * entries, and state exits.
- *
- * @endif
- */
- interface FsmParticipantAction
- {
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief on_action
- *
- * @section Description
- *
- * The indicated FSM participant RTC has been invoked as a result
- * of a transition, state entry, or state exit in its containing
- * FSM.
- *
- * @section Constraints
- *
- * - The given execution context shall be of kind EVENT_DRIVEN.
- *
- * @endif
- */
- ReturnCode_t on_action(in ExecutionContextHandle_t exec_handle);
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief
- * @endif
- */
- interface FsmParticipant
- : LightweightRTObject, FsmParticipantAction
- {
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief Mode
- *
- * @section Description
- *
- * Each mode defined by a given RTC shall be represented by an
- * instance of Mode.
- *
- * @endif
- */
- interface Mode
- {
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief ModeCapable
- *
- * @section Description
- *
- * The ModeCapable interface provides access to an object’s modes
- * and a means to set the current mode.
- *
- * @section Semantics
- *
- * A given RTC may support multiple modes as well as multiple
- * execution contexts. In such a case, a request for a mode change
- * (e.g., from "cruise control on" to "cruise control off") may
- * come asynchronously with respect to one or more of those
- * execution contexts. The mode of an RTC may therefore be observed
- * to be different from one execution context to another. - A mode
- * is pending in a given execution context when a mode change has
- * been requested but the new mode has not yet been observed by that
- * context.
- *
- * - The new mode has been committed in a given execution context
- * when the context finally observes the new mode.
- *
- * - The new mode has stabilized once it has been committed in all
- * execution contexts in which the RTC participates.
- *
- * Figure 5.26 depicts a state machine that describes mode
- * changes. Each parallel region in the composite state Mode Pending
- * represents an execution context. The trigger "sample" within
- * that state is considered to have occurred: - …just before the
- * next call to on_execute (see Section 5.3.1.2.1) in the case where
- * immediate is false and the execution kind is PERIODIC, …
- *
- * - …just before the processing of the next stimulus in the case
- * where immediate is false and the execution kind is
- * EVENT_DRIVEN, or …- …immediately in all other cases.
- *
- * @endif
- */
- interface ModeCapable
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_default_mode
- *
- * @section Description
- *
- * This operation shall return the mode in which the RTC shall be
- * when no other mode has been set.
- *
- * @section Constraints
- *
- * - This operation shall not return nil.
- *
- * @endif
- */
- Mode get_default_mode();
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_current_mode
- *
- * @section Description
- *
- * This operation shall return the last mode to have
- * stabilized. If no mode has been explicitly set, the current
- * mode shall be the default mode.
- *
- * @section Constraints
- *
- * - This operation shall never return nil.
- *
- * @endif
- */
- Mode get_current_mode();
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_current_mode_in_context
- *
- * @section Description
- *
- * This operation returns the current mode of the component as
- * seen by the indicated execution context.
- *
- * @section Semantics
- *
- * The manner in which this property changes is described in Figure 5.26.
- *
- * @endif
- */
- Mode get_current_mode_in_context(in ExecutionContext exec_context);
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_pending_mode
- *
- * @section Description
- *
- * This operation shall return the last mode to have been passed
- * to set_mode that has not yet stabilized. Once the RTC’s mode
- * has stabilized, this operation shall return nil.
- *
- * @endif
- */
- Mode get_pending_mode();
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_pending_mode_in_context
- *
- * @section Description
- *
- * If the last mode to be requested by a call to set_mode is
- * different than the current mode as seen by the indicated
- * execution context (see get_current_mode_in_context), this
- * operation returns the former. If the requested mode has already
- * been seen in that context, it returns nil.
- *
- * @section Semantics
- *
- * See Figure 5.26 for a description of how the pending mode
- * relates to the current mode within a given execution context.
- *
- * @endif
- */
- Mode get_pending_mode_in_context(in ExecutionContext exec_context);
- /*!
- * @if jp
- * @brief
- * @else
- * @brief set_mode
- *
- * @section Description
- *
- * This operation shall request that the RTC change to the indicated mode.
- *
- * @section Semantics
- *
- * Usually, the new mode will be pending in each execution context
- * in which the component executes until the next sample period
- * (if the execution kind is PERIODIC); at that point it will
- * become the current mode in that context and there will no
- * longer be a pending mode. However, in some cases it is
- * important for a mode change to take place immediately; for
- * example, a serious fault has occurred and the component must
- * enter an emergency mode to ensure fail-safe behavior in a
- * safety-critical system. In such a case, immediate should be
- * true and the mode change will take place in all contexts
- * without waiting for the next sample period.
- *
- * @endif
- */
- ReturnCode_t set_mode(in Mode new_mode,
- in boolean immediate);
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief MultiModeComponentAction
- *
- * MultiModeComponentAction is a companion to ComponentAction that
- is realized by RTCs that support multiple modes.
- *
- * @endif
- */
- interface MultiModeComponentAction
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief on_mode_changed
- *
- * @section Description
- *
- * This callback is invoked each time the observed mode of a
- * component has changed with respect to a particular execution
- * context.
- *
- * @section Semantics
- *
- * If the context is PERIODIC, this callback shall come before the
- * next call to on_execute (see Section 5.3.1.2.1) within that
- * context. The new mode can be retrieved with
- * get_current_mode_in_context. If the result is the same as the
- * result of get_current_mode, the mode has stabilized.
- *
- * @endif
- */
- ReturnCode_t on_mode_changed(in ExecutionContextHandle_t exec_handle);
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief
- * @endif
- */
- interface MultiModeObject
- : LightweightRTObject, ModeCapable, MultiModeComponentAction
- {
- };
-
- interface RTObject;
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief PortInterfacePolarity
- *
- * @section Description
- *
- * The PortInterfacePolarity enumeration identifies exposed
- * interface instances as provided or required. @endif
- */
- enum PortInterfacePolarity
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief PROVIDED
- *
- * @section Description
- *
- * The target interface is provided as an output by the target
- * port.
- *
- * @endif
- */
- PROVIDED,
- /*!
- * @if jp
- * @brief
- * @else
- * @brief REQUIRED
- *
- * @section Description
- *
- * The target interface is required as an input by the target port.
- *
- * @endif
- */
- REQUIRED
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief PortInterfaceProfile
- *
- * @section Description
- *
- * PortInterfaceProfile describes an instance of a particular
- * interface as it is exposed by a particular port. These objects
- * are referred to below as the "target interface" and "target
- * port" respectively.
- *
- * @endif
- */
- struct PortInterfaceProfile
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief instance_name
- *
- * @section Description
- *
- * This attribute stores the name of the target interface instance.
- *
- * @endif
- */
- string instance_name;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief type_name
- *
- * @section Description
- *
- * This attribute stores the name of the target interface type.
- *
- * @endif
- */
- string type_name;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief polarity
- *
- * @section Description
- *
- * This attribute indicates whether the target interface instance
- * is provided or required by the RTC.
- *
- * @endif
- */
- PortInterfacePolarity polarity;
- };
-
- typedef sequence<PortInterfaceProfile> PortInterfaceProfileList;
-
- interface PortService;
- typedef sequence<PortService> PortServiceList;
- typedef sequence<RTObject> RTCList;
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief ConnectorProfile
- *
- * @section Description
- *
- * The ConnectorProfile contains information about a connection
- * between the ports of collaborating RTCs.
- *
- * @endif
- */
- struct ConnectorProfile
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief name
- *
- * @section Description
- *
- * This attribute contains the name of this connection.
- *
- * @endif
- */
- string name;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief connector_id
- *
- * @section Description
- *
- * Each connector has a unique identifier that is assigned when
- * connection is established. This attribute stores that
- * identifier.
- *
- * @endif
- */
- UniqueIdentifier connector_id;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief ports
- *
- * @section Description
- *
- * This field stores references to all ports connected by the
- * target connector.
- *
- * @endif
- */
- PortServiceList ports;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief properties
- *
- * @section Description
- *
- * This attribute contains additional properties of the connection.
- *
- * @section Semantics
- *
- * This attribute provides implementations the opportunity to
- * describe additional characteristics of a particular connection
- * that are outside of the scope of this specification.
- *
- * @endif
- */
- NVList properties;
- };
-
- typedef sequence<ConnectorProfile> ConnectorProfileList;
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief PortProfile
- *
- * @section Description
- *
- * A PortProfile describes a port of an RTC (referred to as the
- * "target" RTC). This port is referred to as the "target" port.
- * From this profile, other components and tools can obtain Port’s
- * name, type, object reference, and so on.
- *
- * @endif
- */
- struct PortProfile
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief name
- *
- * @section Description
- *
- * This attribute contains the name of the target port.
- *
- * @section Semantics
- *
- * Ports owned by an RTC are distinguished by their
- * names. Therefore, this name should be unique within the target
- * RTC.
- *
- * @endif
- */
- string name;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief interfaces
- *
- * @section Description
- *
- * This attribute contains the name and polarity of each interface
- * exposed by the target port.
- *
- * @endif
- */
- PortInterfaceProfileList interfaces;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief port_ref
- *
- * @section Description
- *
- * This attributes contains a reference to the target port.
- *
- * @endif
- */
- PortService port_ref;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief connector_profiles
- *
- * @section Description
- *
- * This attribute contains a collection of profiles describing the
- * connections to the target port.
- *
- * @endif
- */
- ConnectorProfileList connector_profiles;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief owner
- *
- * @section Description
- *
- * This attribute contains a reference to the target RTC.
- *
- * @endif
- */
- RTObject owner;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief properties
- *
- * @section Description
- *
- * This attribute contains additional properties of the port.
- *
- * @section Semantics
- *
- * This attribute provides implementations the opportunity to
- * describe additional characteristics of a particular port that
- * are otherwise outside of the scope of this specification.
- *
- * @endif
- */
- NVList properties;
- };
-
- typedef sequence<PortProfile> PortProfileList;
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief
- * @endif
- */
- struct ExecutionContextProfile
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief kind
- *
- * @section Description
- *
- * This attribute stores the context’s ExecutionKind.
- *
- * @endif
- */
- ExecutionKind kind;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief rate
- *
- * @section Description
- *
- * This attribute stores execution rate.
- *
- * @section Semantics
- *
- * If the execution kind is not PERIODIC, the value here may not
- * be valid (and should be negative in that case). See
- * ExecutionContext::get_rate (see Section 5.2.2.6.4) and set_rate
- * (see Section 5.2.2.6.5) for more information.
- *
- * @endif
- */
- double rate;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief owner
- *
- * @section Description
- *
- * This attribute stores a reference to the RTC that owns the context.
- *
- * @endif
- */
- RTObject owner;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief participants
- *
- * @section Description
- *
- * This attribute stores references to the context’s participant RTCs.
- *
- * @endif
- */
- RTCList participants;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief properties
- *
- * @section Description
- *
- * This attribute contains additional properties of the execution
- * context.
- *
- * @section Semantics
- *
- * This attribute provides implementations the opportunity to
- * describe additional characteristics of a particular execution
- * context that are outside the scope of this specification.
- *
- * @endif
- */
- NVList properties;
- };
-
- typedef sequence<ExecutionContextProfile>
- ExecutionContextProfileList;
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief FsmObject
- *
- * @section Description
- *
- * The FsmObject interface allows programs to send stimuli to a
- * finite state machine, possibly causing it to change states.
- *
- * @endif
- */
- interface FsmObject
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief send_stimulus
- *
- * @section Description
- *
- * Send a stimulus to an FSM that realizes this interface.
- *
- * @section Semantics
- *
- * If the stimulus corresponds to any outgoing transition of the
- * current state, that transition shall be taken and the state
- * shall change. Any FSM participants associated with the exit of
- * the current state, the transition to the new state, or the
- * entry to the new state shall be invoked. If the stimulus does
- * not correspond to any such transition, this operation shall
- * succeed but have no effect.
- *
- * If the given execution context is a non-nil reference to a
- * context in which this FSM participates, the transition shall be
- * executed in that context. If the argument is nil, the FSM shall
- * choose an EVENT_DRIVEN context in which to execute the
- * transition. If the argument is non-nil, but this FSM does not
- * participate in the given context, this operation shall fail
- * with * ReturnCode_t::BAD_PARAMETER.
- *
- * @section Constraints
- *
- * - The given execution context shall be of kind EVENT_DRIVEN.
- *
- * @endif
- */
- ReturnCode_t send_stimulus(in string message,
- in ExecutionContextHandle_t exec_handle);
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief FsmBehaviorProfile
- *
- * @section Description
- *
- * FsmBehaviorProfile represents the association of an FSM
- * participant with a transition, state entry, or state exit in an
- * FSM.
- *
- * @section Semantics
- *
- * The assignment of identifiers to particular transitions, state
- * entries, or state exits is implementation-dependent.
- *
- * @endif
- */
- struct FsmBehaviorProfile
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief action_component
- *
- * @section Description
- *
- * This attribute stores a reference to the FSM participant that
- * is invoked when the containing Fsm receives a message
- * distinguished by id.
- *
- * @endif
- */
- FsmParticipantAction action_component;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief id
- *
- * @section Description
- *
- * This attribute stores the message identifier.
- *
- * @endif
- */
- UniqueIdentifier id;
- };
-
- typedef sequence<FsmBehaviorProfile> FsmBehaviorProfileList;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief FsmProfile
- *
- * @section Description
- *
- * The FsmProfile describes the correspondence between an FSM and
- * its contained FSM participants. This Profile is necessary for
- * Stimulus Response Processing.
- *
- * @endif
- */
- struct FsmProfile
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief behavior_profiles
- *
- * @section Description
- *
- * This attribute lists the correspondences between an FSM and its
- * contained FSM participants.
- *
- * @endif
- */
- FsmBehaviorProfileList behavior_profiles;
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief FsmService
- *
- * @section Description
- *
- * The FsmService interface defines operations necessary for
- * Stimulus Response Processing as an SDO service.
- *
- * @endif
- */
- interface FsmService
- : SDOPackage::SDOService
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_fsm_profile
- *
- * @section Description
- *
- * Get the current state of the FSM.
- *
- * @section Semantics
- *
- * Modifications to the object returned by this operation will not
- * be reflected in the FSM until and unless set_fsm_profile is
- * called.
- *
- * @endif
- */
- FsmProfile get_fsm_profile();
- /*!
- * @if jp
- * @brief
- * @else
- * @brief set_fsm_profile
- *
- * @section Description
- *
- * This operation will be used to modify the behavior of an FSM as
- * described in Stimulus Response Processing.
- *
- * @endif
- */
- ReturnCode_t set_fsm_profile(in FsmProfile fsm_profile);
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief ComponentProfile
- *
- * @section Description
- *
- * ComponentProfile represents the static state of an RTC that is
- * referred to here as the "target" RTC.
- *
- * @endif
- */
- struct ComponentProfile
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief instance_name
- *
- * @section Description
- *
- * This attribute shall contain the name of the target RTC instance.
- *
- * @section Semantics
- *
- * The instance_name should be unique among RTC instances
- * contained within the same containing component.
- *
- * @endif
- */
- string instance_name;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief type_name
- *
- * @section Description
- *
- * This attribute shall contain the name of the target RTC class.
- *
- * @section Semantics
- *
- * Each RTC class must have a name that is unique within an
- * application.
- *
- * @endif
- */
- string type_name;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief description
- *
- * @section Description
- *
- * This attribute shall briefly describe the target RTC for the
- * benefit of a human operator.
- *
- * @endif
- */
- string description;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief version
- *
- * @section Description
- *
- * This attribute shall contain the version number of the target
- * RTC class.
- *
- * @section Semantics
- *
- * The format of the version number is outside of the scope of
- * this specification.
- *
- * @endif
- */
- string version;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief vendor
- *
- * @section Description
- *
- * The name of the individual or organization that produced the
- * target RTC class.
- *
- * @endif
- */
- string vendor;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief category
- *
- * @section Description
- *
- * This attribute contains the name of a "category" or group to
- * which the target RTC belongs.
- *
- *
- * @endif
- */
- string category;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief port_profiles
- *
- * @section Description
- *
- * This attribute contains a list of PortProfiles that describe
- * the ports of the target RTC.
- *
- * @section Semantics
- *
- * There shall be a one-to-one correspondence between the members
- * of this list and the ports of the target RTC.
- *
- *
- * @endif
- */
- PortProfileList port_profiles;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief parent
- *
- * @section Description
- *
- * This attribute contains a reference to the RTC that contains
- * the target RTC instance. If the target RTC instance is not
- * owned by any other RTC, this field stores a nil reference.
- *
- * @endif
- */
- RTObject parent;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief properties
- *
- * @section Description
- *
- * This attribute contains additional properties of the target RTC.
- *
- * @section Semantics
- *
- * This attribute provides implementations the opportunity to
- * describe additional characteristics of a particular RTC that
- * are otherwise outside of the scope of this specification.
- *
- * @endif
- */
- NVList properties;
- };
-
- typedef sequence<ComponentProfile> ComponentProfileList;
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief PortService
- *
- * @section Description
- *
- * An instance of the PortService interface represents a port (i.e.,
- * UML::Composite Structures::Ports::Port) of an RTC. It provides
- * operations that allow it to be connected to and disconnected from
- * other ports.
- *
- * @section Semantics
- *
- * A port service can support unidirectional or bidirectional
- * communication. A port service may allow for a service-oriented
- * connection, in which other connected ports, invoke methods on
- * it. It may also allow for a data-centric connection, in which
- * data values are streamed in or out. In either case, the
- * connection is described by an instance of
- * ConnectorProfile. However, the behavioral contracts of such
- * connections are dependent on the interfaces exposed by the ports
- * and are not described normatively by this specification.
- *
- * @endif
- */
- interface PortService
- : SDOPackage::SDOService
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_port_profile
- *
- * @section Description
- *
- * This operation returns the PortProfile of the PortService.
- *
- * @endif
- */
- PortProfile get_port_profile();
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_connector_profiles
- *
- * @section Description
- *
- * This operation returns a list of the ConnectorProfiles of the
- * PortService.
- *
- * @endif
- */
- ConnectorProfileList get_connector_profiles();
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_connector_profiles
- *
- * @section Description
- *
- * This operation returns a list of the ConnectorProfiles of the
- * PortService.
- *
- * @endif
- */
- ConnectorProfile get_connector_profile(in UniqueIdentifier connector_id);
- /*!
- * @if jp
- * @brief
- * @else
- * @brief connect
- *
- * @section Description
- *
- * This operation establishes connection between this port and the
- * peer ports according to given ConnectionProfile.
- *
- * @section Semantics
- *
- * A ConnectorProfile has a sequence of port references. This port
- * invokes the notify_connect operation of one of the ports
- * included in the sequence. It follows that the notification of
- * connection is propagated by the notify_connect operation with
- * ConnectorProfile. This operation returns ConnectorProfile
- * return value and returns ReturnCode_t as return codes.
- *
- * @endif
- */
- ReturnCode_t connect(inout ConnectorProfile connector_profile);
- /*!
- * @if jp
- * @brief
- * @else
- * @brief disconnect
- *
- * @section Description
- *
- * This operation destroys the connection between this port and
- * its peer ports using the ID that was given when the connection
- * was established.
- *
- * @section Semantics
- *
- * This port invokes the notify_disconnect operation of one of the
- * ports included in the sequence of the ConnectorProfile stored
- * when the connection was established. The notification of
- * disconnection is propagated by the notify_disconnect operation.
- *
- * @endif
- */
- ReturnCode_t disconnect(in UniqueIdentifier connector_id);
- /*!
- * @if jp
- * @brief
- * @else
- * @brief disconnect_all
- *
- * @section Description
- *
- * This operation destroys all connection channels owned by the
- * PortService.
- *
- * @endif
- */
- ReturnCode_t disconnect_all();
- /*!
- * @if jp
- * @brief
- * @else
- * @brief notify_connect
- *
- * @section Description
- *
- * This operation notifies this PortService of the connection
- * between its corresponding port and the other ports and
- * propagates the given ConnectionProfile.
- *
- * @section Semantics
- *
- * A ConnectorProfile has a sequence of port references. This
- * PortService stores the ConnectorProfile and invokes the
- * notify_connect operation of the next PortService in the
- * sequence. As ports are added to the connector, PortService
- * references are added to the ConnectorProfile and provided to
- * the caller. In this way, notification of connection is
- * propagated with the ConnectorProfile.
- *
- * @endif
- */
- ReturnCode_t notify_connect(inout ConnectorProfile connector_profile);
- /*!
- * @if jp
- * @brief
- * @else
- * @brief notify_disconnect
- *
- * @section Description
- *
- * This operation notifies a PortService of a disconnection
- * between its corresponding port and the other ports. The
- * disconnected connector is identified by the given ID, which was
- * given when the connection was established.
- *
- * @section Semantics
- *
- * This port invokes the notify_disconnect operation of the next
- * PortService in the sequence of the ConnectorProfile that was
- * stored when the connection was established. As ports are
- * disconnected, PortService references are removed from the
- * ConnectorProfile. In this way, the notification of
- * disconnection is propagated by the notify_disconnect operation.
- *
- * @endif
- */
- ReturnCode_t notify_disconnect(in UniqueIdentifier connector_id);
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief ExecutionContextService
- *
- * @section Description
- *
- * An ExecutionContextService exposes an ExecutionContext as an SDO
- * service such that the context may be controlled remotely.
- *
- * @section Semantics
- *
- * Depending on the implementation, this interface may itself be an
- * execution context (that is, it may be passed to the operations of
- * ComponentAction) or it may represent a remote execution context
- * that is not of type ExecutionContextService. @endif
- */
- interface ExecutionContextService
- : ExecutionContext, SDOPackage::SDOService
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_profile
- *
- * @section Description
- *
- * This operation provides a profile "descriptor" for the
- * execution context.
- *
- * @endif
- */
- ExecutionContextProfile get_profile();
- };
-
- typedef sequence<ExecutionContextService>
- ExecutionContextServiceList;
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief RTObject
- *
- * @section Description
- *
- * The RTObject interface defines the operations that all SDO-based
- * RTCs must provide. It is required by the rtComponent stereotype.
- *
- * @endif
- */
- interface RTObject
- : LightweightRTObject, SDOPackage::SDO
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_component_profile
- *
- * @section Description
- *
- * This operation returns the ComponentProfile of the RTC.
- *
- * @endif
- */
- ComponentProfile get_component_profile();
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_ports
- *
- * @section Description
- *
- * This operation returns a list of the RTCs ports.
- *
- * @endif
- */
- PortServiceList get_ports();
- };
-};
-
Deleted: branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/SDOPackage.idl
===================================================================
--- branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/SDOPackage.idl 2011-08-04 07:19:10 UTC (rev 436)
+++ branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/SDOPackage.idl 2011-08-04 07:52:39 UTC (rev 437)
@@ -1,294 +0,0 @@
-//Platform Independent Model (PIM) and Platform Specific Model (PSM)
-//for Super Distributed Objects (SDO) Specification, v1.1 - OMG IDL Summary File
-//Object Management Group, Inc.
-//Copyright (c) 2003, Fraunhofer FOKUS
-//Copyright (c) 2003, Hitachi, Ltd.
-//The companies listed above have granted to the Object Management Group, Inc.
-//(OMG) a nonexclusive, royalty-free, paid up, worldwide license to copy and
-//distribute this document and to modify this document and distribute copies of
-//the modified version. Each of the copyright holders listed above has agreed
-//that no person shall be deemed to have infringed the copyright in the included
-//material of any such copyright holder by reason of having used the
-//specification set forth herein or having conformed any computer software to
-//the specification.
-//
-//This file contains OMG IDL from the Naming Service Specification, v1.2.
-//OMG regularly publishes a summary file that contains all the "code" parts of
-//an OMG formal document. Every formal document line that is IDL, PIDL, or
-//language code is included in the summary file. The reason for such a listing
-//is to give readers an electronic version of the "code" so that they can
-//extract pieces of it. Readers might want to test an example, include it in
-//their own code, or use it for documentation purposes. Having the code lines
-//available electronically means there is less likelihood of a transcription
-//error.
-//
-// ver 1.0 formal/2004-11-02
-// ver 1.1 (RTF report: dtc/2008-03-05)
-//
-//SDOPackage.idl
-
-#ifndef _SDO_PACKAGE_IDL_
-#define _SDO_PACKAGE_IDL_
-
-#ifdef TAO_IDL
-#include <orb.idl>
-#endif
-#ifdef USE_MONITORING
-#include <CosNotifyComm.idl>
-#endif
-#ifndef ORBIT2_IDL
-#define TypeCode CORBA::TypeCode
-#endif
-/** CORBA specific model for SDOs */
-
-#pragma prefix "org.omg"
-#define exception_body { string description; }
-
-module SDOPackage
-{
- interface SDO;
- interface SDOService;
- interface SDOSystemElement;
- interface Configuration;
- interface Monitoring;
- interface Organization;
-
- /** ------- Data Types -------*/
- typedef sequence<string> StringList;
- typedef sequence<SDO> SDOList;
- typedef sequence<Organization> OrganizationList;
- typedef string UniqueIdentifier;
-
- struct NameValue
- {
- string name;
- any value;
- };
-
- typedef sequence<NameValue> NVList;
-
- enum NumericType
- {
- SHORT_TYPE,
- LONG_TYPE,
- FLOAT_TYPE,
- DOUBLE_TYPE
- };
-
- union Numeric switch (NumericType)
- {
- case SHORT_TYPE: short short_value;
- case LONG_TYPE: long long_value;
- case FLOAT_TYPE: float float_value;
- case DOUBLE_TYPE: double double_value;
- };
-
- struct EnumerationType
- {
- StringList enumerated_values;
- };
-
- struct RangeType
- {
- Numeric min;
- Numeric max;
- boolean min_inclusive;
- boolean max_inclusive;
- };
-
- struct IntervalType
- {
- Numeric min;
- Numeric max;
- boolean min_inclusive;
- boolean max_inclusive;
- Numeric step;
- };
-
- enum ComplexDataType
- {
- ENUMERATION, RANGE, INTERVAL
- };
-
- union AllowedValues switch (ComplexDataType)
- {
- case ENUMERATION: EnumerationType allowed_enum;
- case INTERVAL: IntervalType allowed_interval;
- case RANGE: RangeType allowed_range;
- };
-
- struct Parameter
- {
- string name;
- TypeCode type;
- AllowedValues allowed_values;
- };
-
- typedef sequence<Parameter> ParameterList;
- struct OrganizationProperty
- {
- NVList properties;
- };
- enum DependencyType
- {
- OWN,
- OWNED,
- NO_DEPENDENCY
- };
-
- struct DeviceProfile
- {
- string device_type;
- string manufacturer;
- string model;
- string version;
- NVList properties;
- };
-
- struct ServiceProfile
- {
- string id;
- string interface_type;
- NVList properties;
- SDOService service;
- };
-
- typedef sequence <ServiceProfile> ServiceProfileList;
- struct ConfigurationSet
- {
- string id;
- string description;
- NVList configuration_data;
- };
-
- typedef sequence<ConfigurationSet> ConfigurationSetList;
-
-
- /** ------- Exceptions -------*/
- exception NotAvailable exception_body;
- exception InterfaceNotImplemented exception_body;
- exception InvalidParameter exception_body;
- exception InternalError exception_body;
-
- /** ------- Interfaces -------*/
- interface SDOSystemElement
- {
- OrganizationList get_owned_organizations()
- raises (NotAvailable,InternalError);
- };
- interface SDO : SDOSystemElement
- {
- UniqueIdentifier get_sdo_id()
- raises (NotAvailable, InternalError);
- string get_sdo_type()
- raises (NotAvailable, InternalError);
- DeviceProfile get_device_profile ()
- raises (NotAvailable, InternalError);
- ServiceProfileList get_service_profiles ()
- raises (NotAvailable, InternalError);
- ServiceProfile get_service_profile (in UniqueIdentifier id)
- raises (InvalidParameter, NotAvailable, InternalError);
- SDOService get_sdo_service (in UniqueIdentifier id)
- raises (InvalidParameter, NotAvailable, InternalError);
- Configuration get_configuration ()
- raises (InterfaceNotImplemented, NotAvailable, InternalError);
- Monitoring get_monitoring ()
- raises (InterfaceNotImplemented, NotAvailable, InternalError);
- OrganizationList get_organizations ()
- raises (NotAvailable, InternalError);
- NVList get_status_list ()
- raises (NotAvailable, InternalError);
- any get_status (in string nme)
- raises (InvalidParameter, NotAvailable, InternalError);
- };
-
-
- interface Configuration
- {
- boolean set_device_profile (in DeviceProfile dProfile)
- raises (InvalidParameter, NotAvailable, InternalError);
- boolean add_service_profile (in ServiceProfile sProfile)
- raises (InvalidParameter, NotAvailable, InternalError);
- boolean add_organization (in Organization organization_object)
- raises (InvalidParameter, NotAvailable, InternalError);
- boolean remove_service_profile (in UniqueIdentifier id)
- raises (InvalidParameter, NotAvailable, InternalError);
- boolean remove_organization (in UniqueIdentifier organization_id)
- raises (InvalidParameter, NotAvailable, InternalError);
- ParameterList get_configuration_parameters ()
- raises (NotAvailable, InternalError);
- NVList get_configuration_parameter_values ()
- raises (NotAvailable, InternalError);
- any get_configuration_parameter_value (in string name)
- raises (InvalidParameter, NotAvailable, InternalError);
- boolean set_configuration_parameter (in string name,
- in any value)
- raises (InvalidParameter, NotAvailable, InternalError);
- ConfigurationSetList get_configuration_sets ()
- raises (NotAvailable, InternalError);
- ConfigurationSet get_configuration_set (in UniqueIdentifier config_id)
- raises (NotAvailable, InternalError);
- boolean set_configuration_set_values (in ConfigurationSet configuration_set)
- raises (InvalidParameter, NotAvailable, InternalError);
- ConfigurationSet get_active_configuration_set ()
- raises (NotAvailable, InternalError);
- boolean add_configuration_set (in ConfigurationSet configuration_set)
- raises (InvalidParameter, NotAvailable, InternalError);
- boolean remove_configuration_set (in UniqueIdentifier config_id)
- raises (InvalidParameter, NotAvailable, InternalError);
- boolean activate_configuration_set (in UniqueIdentifier config_id)
- raises (InvalidParameter, NotAvailable, InternalError);
- };
-
-
-#ifdef USE_MONITORING
- interface Monitoring : CosNotifyComm::StructuredPushConsumer,
- CosNotifyComm::StructuredPushSupplier
- {
- any get_monitoring_parameter_value (in string name)
- raises (InvalidParameter, NotAvailable, InternalError);
- ParameterList get_monitoring_parameters ()
- raises (NotAvailable, InternalError);
- NVList get_monitoring_parameter_values ()
- raises (NotAvailable, InternalError);
- };
-#else
- interface Monitoring {};
-#endif
-
- interface SDOService {};
-
- interface Organization
- {
- UniqueIdentifier get_organization_id ()
- raises (InvalidParameter, NotAvailable, InternalError);
- OrganizationProperty get_organization_property ()
- raises (NotAvailable, InternalError);
- any get_organization_property_value (in string name)
- raises (InvalidParameter, NotAvailable, InternalError);
- boolean add_organization_property (in OrganizationProperty organization_property)
- raises (InvalidParameter, NotAvailable, InternalError);
- boolean set_organization_property_value (in string name,
- in any value)
- raises (InvalidParameter, NotAvailable, InternalError);
- boolean remove_organization_property ( in string name )
- raises (InvalidParameter, NotAvailable, InternalError);
- SDOSystemElement get_owner ()
- raises (NotAvailable, InternalError);
- boolean set_owner (in SDOSystemElement sdo)
- raises (InvalidParameter, NotAvailable, InternalError);
- SDOList get_members ()
- raises (NotAvailable, InternalError);
- boolean set_members (in SDOList sdos)
- raises (InvalidParameter, NotAvailable, InternalError);
- boolean add_members ( in SDOList sdo_list)
- raises (InvalidParameter, NotAvailable, InternalError);
- boolean remove_member (in UniqueIdentifier id)
- raises (InvalidParameter, NotAvailable, InternalError);
- DependencyType get_dependency()
- raises (NotAvailable, InternalError);
- boolean set_dependency (in DependencyType dependency)
- raises (NotAvailable, InternalError);
- };
-};
-#endif //_SDO_PACKAGE_IDL_
Added: branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/setup.bat
===================================================================
--- branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/setup.bat (rev 0)
+++ branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/setup.bat 2011-08-04 07:52:39 UTC (rev 437)
@@ -0,0 +1,15 @@
+ at echo off
+echo "<<< ComponentObserverConsumer setup start >>>"
+
+set idlfiles=RTC.idl SDOPackage.idl
+
+rem # idl file copy
+for %%x in (%idlfiles%) do copy ..\..\..\RTM_IDL\%%x .
+
+rem # idl file compile
+set idlfiles=%idlfiles% ComponentObserver.idl
+for %%x in (%idlfiles%) do omniidl -I. -bpython %%x
+
+echo "<<< ComponentObserverConsumer setup Complete >>>"
+echo ""
+
Added: branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/setup.sh
===================================================================
--- branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/setup.sh (rev 0)
+++ branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/setup.sh 2011-08-04 07:52:39 UTC (rev 437)
@@ -0,0 +1,14 @@
+#!/bin/sh
+
+echo "<<< ComponentObserverConsumer Test setup start >>>"
+
+# idl file copy
+cp -pf ../../../RTM_IDL/RTC.idl .
+cp -pf ../../../RTM_IDL/SDOPackage.idl .
+
+# idl file compile
+omniidl -bpython *.idl
+
+echo "<<< ComponentObserverConsumer Test setup Complete >>>"
+echo ""
+
Deleted: branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/BasicDataType.idl
===================================================================
--- branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/BasicDataType.idl 2011-08-04 07:19:10 UTC (rev 436)
+++ branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/BasicDataType.idl 2011-08-04 07:52:39 UTC (rev 437)
@@ -1,189 +0,0 @@
-// -*- IDL -*-
-/*!
- * @file DataType.idl
- * @brief Basic Data Type definition
- * @date $Date: 2007-01-09 15:36:29 $
- * @author Noriaki Ando <n-ando at aist.go.jp>
- *
- * Copyright (C) 2003-2006
- * Task-intelligence Research Group,
- * Intelligent Systems Research Institute,
- * National Institute of
- * Advanced Industrial Science and Technology (AIST), Japan
- * All rights reserved.
- *
- * $Id: BasicDataType.idl 1580 2009-12-07 08:54:10Z kurihara $
- *
- */
-
-#ifndef BasicDataType_idl
-#define BasicDataType_idl
-
-module RTC {
- //------------------------------------------------------------
- // Basic data type definition
- //------------------------------------------------------------
- struct Time
- {
- unsigned long sec; // sec
- unsigned long nsec; // nano sec
- };
-
- struct TimedState
- {
- Time tm;
- short data;
- };
-
- struct TimedShort
- {
- Time tm;
- short data;
- };
-
- struct TimedLong
- {
- Time tm;
- long data;
- };
-
- struct TimedUShort
- {
- Time tm;
- unsigned short data;
- };
-
- struct TimedULong
- {
- Time tm;
- unsigned long data;
- };
-
- struct TimedFloat
- {
- Time tm;
- float data;
- };
-
- struct TimedDouble
- {
- Time tm;
- double data;
- };
-
- struct TimedChar
- {
- Time tm;
- char data;
- };
-
- struct TimedWChar
- {
- Time tm;
- wchar data;
- };
-
- struct TimedBoolean
- {
- Time tm;
- boolean data;
- };
-
- struct TimedOctet
- {
- Time tm;
- octet data;
- };
-
- struct TimedString
- {
- Time tm;
- string data;
- };
-
-
- struct TimedWString
- {
- Time tm;
- wstring data;
- };
-
-
- /*!
- * Sequence data type
- */
- struct TimedShortSeq
- {
- Time tm;
- sequence<short> data;
- };
-
- struct TimedLongSeq
- {
- Time tm;
- sequence<long> data;
- };
-
- struct TimedUShortSeq
- {
- Time tm;
- sequence<unsigned short> data;
- };
-
- struct TimedULongSeq
- {
- Time tm;
- sequence<unsigned long> data;
- };
-
- struct TimedFloatSeq
- {
- Time tm;
- sequence<float> data;
- };
-
- struct TimedDoubleSeq
- {
- Time tm;
- sequence<double> data;
- };
-
- struct TimedCharSeq
- {
- Time tm;
- sequence<char> data;
- };
-
- struct TimedWCharSeq
- {
- Time tm;
- sequence<wchar> data;
- };
-
- struct TimedBooleanSeq
- {
- Time tm;
- sequence<boolean> data;
- };
-
- struct TimedOctetSeq
- {
- Time tm;
- sequence<octet> data;
- };
-
- struct TimedStringSeq
- {
- Time tm;
- sequence<string> data;
- };
-
- struct TimedWStringSeq
- {
- Time tm;
- sequence<wstring> data;
- };
-
-};
-
-#endif // end of BasicDataType_idl
Deleted: branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/ComponentObserver.idl
===================================================================
--- branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/ComponentObserver.idl 2011-08-04 07:19:10 UTC (rev 436)
+++ branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/ComponentObserver.idl 2011-08-04 07:52:39 UTC (rev 437)
@@ -1,512 +0,0 @@
-// -*- IDL -*-
-/*!
- * @file ComponentObserver.idl
- * @brief Component observer SDO service
- * @date $Date$
- * @author Noriaki Ando <n-ando at aist.go.jp>
- *
- * Copyright (C) 2011
- * Noriaki Ando
- * Intelligent Systems Research Institute,
- * National Institute of
- * Advanced Industrial Science and Technology (AIST), Japan
- * All rights reserved.
- *
- * $Id$
- *
- */
-
-#include <SDOPackage.idl>
-#include <RTC.idl>
-
-/*!
- * @if jp
- * @brief コンポーネント状態オブザーバインターフェース
- *
- * コンポーネントの状態を監視するためのオブザーバインターフェース。オブ
- * ザーバパターンに従い、外部ツールがコンポーネントにオブザーバオブジェ
- * クトをセットし、コンポーネントは各種内部状態変更時にをオブザーバオブ
- * ジェクトをコールし、オブザーバに対して変更を通知する。
- *
- * @since 1.1
- *
- * @else
- * @brief Component state observer interface
- *
- * This interface defines observer interface for component states.
- * According to the observer pattern, tools which want to observe
- * component state set observer objects to the RT-Component, and weh
- * RT-Component changes its status, the observer object is called and
- * notice the changes to tools.
- *
- *
- * @since 1.1
- * @endif
- */
-module OpenRTM
-{
- /*!
- * @if jp
- *
- * @brief 更新された状態の種類
- *
- * ターゲットRTCで更新された状態の種類を分類する列挙型。
- *
- * @else
- *
- * @brief A kind of updated status
- *
- * This is a enumeration type to classify updated status in target RTC.
- *
- * @endif
- */
- enum StatusKind
- {
- /*!
- * @if jp
- *
- * @brief コンポーネントプロファイル
- *
- * コンポーネントプロファイル RTC::ComponentProfile が更新されたこ
- * とを示す列挙型。
- *
- * RTC::ComponentProfile のメンバーのうち、instance_name,
- * type_name, description, version, vendor, category はRTC動作中に
- * 変更されることはない。これらが変更された場合には、
- * ComponentObserver::updatestatus() の hint には、それぞれのメンバー
- * 名が文字列で指定される。また、parent に対する変更は通知されない。
- * さらに、properties に対する変更は、hint に "<key0>, <key1>,
- * ..." の形で通知される。
- *
- * port_profiles に対する変更は、後述の PORT_PROFILE によって通知さ
- * れるため、COMPONENT_PROFILE では通知されない。
- *
- * @else
- *
- * @brief Component profile
- *
- * This is enumeration member to specify that the target
- * component's RTC::componentProfile has been changed.
- *
- * In the member of RTC::ComponentProfile, instance_name,
- * type_name, description, version, vendor, category are not
- * modified during RTC running. If these members are changed, each
- * member's name is specified in the
- * ComponentObserver::updateStatus() 's hint argument. And,
- * modification to parent is not notified. In the properties, the
- * modification is notified as "<key0>, <key1>, ..." in the hint
- * argument.
- *
- * The modification to port_profiles is not notified as
- * COMPONENT_PROFILE becauase it is notified as PORT_PROFILE.
- *
- * @endif
- */
- COMPONENT_PROFILE,
- /*!
- * @if jp
- *
- * @brief コンポーネントの状態
- *
- * コンポーネントの状態が変化したことを示す列挙子。
- *
- * RTCにはECの状態として、INACTIVE_STATE, ACTIVE_STATE,
- * ERROR_STATE があるが、この状態が変化したことを通知するための列挙
- * 子。
- *
- * ComponentObserver::updatestatus() の hint には、状態と、どの実行
- * コンテキストで変化があったかを知らせる以下の文字列が hint に引数
- * として与えられる。
- *
- * hint: (INACTIVE, ACTIVE, ERROR):<Execution Context ID>
- * 例:
- * ACTIVE:0 (デフォルトコンテキストでRTCがアクティブになった)
- * ERROR:1002 (実行コンテキスト1002でRTCがエラーになった)
- *
- * @else
- *
- * @brief Component status
- *
- * This is INACTIVE_STATE, ACTIVE_STATE,
- * ERROR_STATE status, and this enumerator specify a status of RTC changed.
- *
- * A status and ExecutionContext's id is specified in the argument of
- * ComponentObserver::updateStatus() 's hint.
- *
- * hint: (INACTIVE, ACTIVE, ERROR):<Execution Context ID>
- * Example:
- * ACTIVE:0 (RTC is activated in the default ExecuionContext)
- * ERROR:1002 (RTC go to ERROR state in the EC of id 1002)
- *
- * @endif
- */
- RTC_STATUS,
- /*!
- * @if jp
- *
- * @brief ExecutionContextの状態
- *
- * ExecutionContextの状態が変化したことを示す列挙子。
- *
- * RTCにECが attach/detach/rate_change/startup/shutdown されたことを
- * 示す列挙子。
- *
- * ComponentObserver::updatestatus() の hint には、
- * attach/detach/rate_change/startup/shutdow のいずれが行われたかと、
- * 対象となるECのidが与えられる。
- *
- * hint: (ATTACHED, DETACHED, RATE_CHANGED, STARTUP,
- * SHUTDOWN):<Execution Context ID>
- *
- * 例:
- * ATTACHED:1002 (ECがアタッチされ、そのIDは1002)
- *
- * @else
- *
- * @brief The stauts of ExecutionContext
- *
- * This is enumerator notifies that ExecutionContext is
- * attach/detach/rate_change/startup/shutdown. Attach or detach
- * operation and target ExecutionContext's id is given in the
- * argument of ComponentObserver::updateStatus() 's hint.
- *
- * hint: (ATTACHED, DETACHED, RATE_CHANGED, STARTUP,
- * SHUTDOWN):<Execution Context ID>
- *
- * Example:
- * ATTACHED:1002 (EC is attached and its ID is 1002)
- *
- * @endif
- */
- EC_STATUS,
- /*!
- * @if jp
- *
- * @brief Portの状態
- *
- * Portの状態が変化したことを示す列挙子。Portの追加、削除、接続、切
- * 断が行われたことを示す。ComponentObserver::updatestatus() の
- * hint には、いずれかのアクションが行われたかと、対象となるポート
- * の名前が与えられる。
- *
- * hint: (ADD, REMOVE, CONNECT, DISCONNECT):<port name>
- * 例:
- * CONNECT:velocity (velocity ポートで接続が確立された)
- *
- * @else
- *
- * @brief The stauts of ports
- *
- * This is enumerator which notifies that port is added, removed,
- * connected and/or disconnected. Which action is performed and
- * target port's name is given to the hint argument in
- * ComponentObserver::updateStatus() operation.
- *
- * hint: (ADD, REMOVE, CONNECT, DISCONNECT):<port name>
- * Example:
- * CONNECT:velocity (A connection established in the velocity port)
- *
- * @endif
- */
- PORT_PROFILE,
- /*!
- * @if jp
- *
- * @brief Configurationの状態
- *
- * Configurationの状態が変化したことを示す列挙子。Configurationに対
- * して、コンフィギュレーションパラメータが更新された
- * (UPDATE_CONFIG_PARAM)、コンフィギュレーションがセット(更新)さ
- * れた (SET_CONFIG_SET)、コンフィギュレーションセットが追加された
- * (ADD_CONFIG_SET)、コンフィギュレーションが更新された
- * (UPDATE_CONFIG_SET)、コンフィギュレーションセットが削除された
- * (REMOVE_CONFIG_SET)、コンフィギュレーションセットがアクティブに
- * された (ACTIVATE_CONFIG_SET) といったアクションがあったことが通
- * 知される。
- *
- * - UPDATE_CONFIG_PARAM: <config set name>.<config param name>
- * - SDOPackage::Configuration::set_configuration_parameter
- * - SET_CONFIG_SET: <config set name>
- * - SDOPackage::Configuration::set_configuration_set_values
- * - ADD_CONFIG_SET: <config set name>
- * - SDOPackage::Configuration::add_configuration_set
- * - UPDATE_CONFIG_SET: <config set name>
- * - 内部のコンフィグセットを実際の変数に反映する
- * - REMOVE_CONFIG_SET: <config set name>
- * - SDOPackage::Configuration::remove_configuration_set
- * - ACTIVATE_CONFIG_SET: <config set name>
- * - SDOPackage::Configuration::activate_configuration_set
- *
- * @else
- *
- * @brief The stauts of ports
- *
- * This is enumerator which notifies that configuration is
- * changed. To the configuration, a configuration parameter has
- * been updated (UPDATE_CONFIG_PARAM), a configuration-set is set
- * (SET_CONFIG_SET), a configuration set has been updated
- * (UPDATE_CONFIG_SET), a configuration set has been added
- * (ADD_CONFIG_SET) or removed (REMOVE_CONFIG_SET), the active
- * configuration set has been changed (ACTIVATE_CONFIG_SET), these
- * actions would be notified.
- *
- * - UPDATE_CONFIG_PARAM: <config set name>.<config param name>
- * - SDOPackage::Configuration::set_configuration_parameter
- * - SET_CONFIG_SET: <config set name>
- * - SDOPackage::Configuration::set_configuration_set_values
- * - ADD_CONFIG_SET: <config set name>
- * - SDOPackage::Configuration::add_configuration_set
- * - UPDATE_CONFIG_SET: <config set name>
- * - Apply configuration-set values into actual variables.
- * - REMOVE_CONFIG_SET: <config set name>
- * - SDOPackage::Configuration::remove_configuration_set
- * - ACTIVATE_CONFIG_SET: <config set name>
- * - SDOPackage::Configuration::activate_configuration_set
- *
- * @endif
- */
- CONFIGURATION,
- /*!
- * @if jp
- *
- * @brief ハートビートイベント
- *
- * 当該RTCが生存していることをオブザーバー側に通知する列挙子。
- *
- * ハートビートを利用するかどうか、およびハートビートの周期は、
- * ServiceProfile::properties の以下のプロパティによって与えられる。
- *
- * heartbeat.enable: YES/NO
- * heartbeat.interval: x [s]
- *
- * @else
- *
- * @brief The stauts of ports
- *
- * This enumerator is heart beat notification.
- *
- * Whether if the heart-beat function is used is specified in the
- * ServiceProfile::properties as the following properties.
- *
- * heartbeat.enable: YES/NO
- * heartbeat.interval: x [s]
- *
- * @endif
- */
- HEARTBEAT,
-
- STATUS_KIND_NUM
- };
-
- /*!
- * @if jp
- *
- * @interface ComponentObserver
- *
- * RTCの各種状態の更新を知らせるためのオブザーバーオブジェクトのため
- * のインターフェース。SDO Service として、対象となるRTC/SDOに対して
- * アタッチされ、RTC/SDO内の状態が変更された場合に、変更された状態の
- * 種類とヒントを同時に通知する。ツールなどで、ポーリングによらずRTC
- * の状態の変化を知りたい場合などに利用する。
- *
- * 想定している利用方法は以下のとおりである。
- *
- * -# SDO::get_configuration() により Configuration オブジェクトを取得
- * -# Configuration::add_service_profile() によりTool側の
- * ComponentObserver を ServiceProfile により RTC に与える。
- * ServiceProfile のメンバーは以下のように設定すること
- * - id: UUID など一意なIDを設定する。削除時にも必要になるので、Tool
- * 側ではIDを保持しておかなければならない。
- * - interface_type: 当該サービスのIFRのIDを文字列として指定。RTC側で
- * はこの文字列により当該サービスオブジェクトを受け入れるか決定す
- * るため指定は必須となる。
- * - properties: RTC側のサービスの受け入れ側に通知するプロパティを設
- * 定する。このサービスでは、下記の heartbeat 関連のプロパティを
- * 指定する。
- * - service: SDOService オブジェクトの参照を指定する。
- * -# RTC側で状態の変化があった場合に update_status() オペレーション
- * が StatusKind および hint の文字列とともに呼び出される。Tool側
- * では、StatusKind と hint に基づき RTC のある部分の状態が変化し
- * たことを知り、必要な処理を行う。
- * -# 最終的にComponentObserverオブジェクトが不要になった場合には、
- * Configuration::remove_service_profile() を id とともに呼び出し
- * RTC から削除する。
- *
- * <pre>
- *
- * [RTC] [Configuration] [Observer] [Tool]
- * | | | |
- * | | get_configuration() | |
- * |<------------------------------------------------|
- * | | | |
- * | | add_service_profile(prof) |
- * | |<-----------------------------------|
- * | | | |
- * | | update_status(kind, hint) |
- * |----------------------------------->| |
- * | | update_status(kind, hint) |
- * |----------------------------------->| |
- * | | : | |
- * | | | |
- * | | remove_service_profile(id) |
- * | |<-----------------------------------|
- * | | | |
- * | | x x
- *
- * </pre>
- *
- * なお、ServiceProfile::properties に指定するプロパティとしては、
- *
- * - observed_status: ALL or kind of status
- * - heartbeat.enable: YES/NO
- * - heartbeat.interval: x [s]
- *
- * がある。
- *
- * - observed_staus: ALL または状態の種類をカンマ区切りで指定
- * 監視する状態を指定する。指定可能な状態を表す文字列は、
- * COMPONENT_PROFILE, RTC_STATUS, EC_STATUS, PORT_PROFILE,
- * CONFIGURATION 5種類である。監視したい対象をカンマで区切り複数指
- * 定することができる。また、すべての状態を監視する場合、ALL を指定
- * することができる。指定文字列は大文字、小文字を問わない。
- *
- * - heartbeat.interval: 秒単位で数値で指定
- * ハートビートを送信する周期を秒単位で指定する。なお、指定した秒数
- * でハートビートが必ず送信される保証はない。したがって、RTCが死ん
- * だかどうかを確認するには、heartbeat.interval 数回分の時間を待つ
- * 必要がある。
- *
- * - heartbeat.enable: YES または NOで指定
- * Tool側では、状態に変化があるまで RTC が生存しているかどうか知る
- * ことはできないため、突然RTCが死んだ場合には、これを知ることがで
- * きない。そこで、HEART_BEAT イベントを周期的にRTC側から送らせるこ
- * とができる。ハートビートを有効にするか否かをこのオプションで指定
- * する。
- *
- *
- * @else
- *
- * @interface ComponentObserver
- *
- * This is an interface to notify various status changed in RTC to
- * others. This is attached into a target RTC/SDO as a SDO service,
- * and if an RTC/SDO's status change, a kind of changed status and
- * its hints are notified to observers. For example, it can be used
- * to notify RTC's status changed without polling in certain tools.
- *
- * An assumed usage is as follows.
- *
- * -# SDO::get_configuration() is called to get a Configuration object
- *
- * -# Configuration::add_service_profile() is called by Tool.
- * A ComponentObserver in a ServiceProfile is given to RTC.
- * ServiceProfile members should be set as follows.
- *
- * - id: UUID and other unique ID should be specified. Since this ID
- * is used when the service is removed, tools should remember
- * this ID.
- *
- * - interface_type: IFR ID should be specified here. Since the RTC
- * decides if the given SDO service object can be accepted by
- * using the interface_type string, this member is mandatory.
- *
- * - properties: This member specifies properties to be notified to
- * RTC side. In this service, the following heartbeat related
- * properties should be specified.
- *
- * - service: SDOService object reference should be specified.
- *
- * -# If some changes happen in RTC, the update_status() operation
- * is called with StatusKind and hint string. RTC's status change
- * is notified to tool and some processes would be performed by
- * the tool according to the StatusKind and hint.
- *
- * -# Finally, When the ComponentObserver object becomes
- * unnecessary, Configuration::remove_service_profile() is called
- * with id and it is removed from RTC.
- *
- * <pre>
- *
- * [RTC] [Configuration] [Observer] [Tool]
- * | | | |
- * | | get_configuration() | |
- * |<------------------------------------------------|
- * | | | |
- * | | add_service_profile(prof) |
- * | |<-----------------------------------|
- * | | | |
- * | | update_status(kind, hint) |
- * |----------------------------------->| |
- * | | update_status(kind, hint) |
- * |----------------------------------->| |
- * | | : | |
- * | | | |
- * | | remove_service_profile(id) |
- * | |<-----------------------------------|
- * | | | |
- * | | x x
- *
- * </pre>
- *
- * Properties which is specified in ServiceProfile::properties is as follows.
- *
- * - observed_status: ALL or kind of status
- * - heartbeat.enable: YES/NO
- * - heartbeat.interval: x [s]
- *
- *
- * - observed_staus: ALL or comma separated status kinds This
- * property specifies kind of status to be observed. Available
- * kind of statuses are COMPONENT_PROFILE, RTC_STATUS, EC_STATUS,
- * PORT_PROFILE, CONFIGURATION. You can specify comma-separated
- * status list to be observed. And if you want to observe all the
- * status, you just specify ALL instead of all the status kind
- * list. Uppercase, lowercase and mixture are allowed in the
- * specified status kind.
- *
- * - heartbeat.enable: YES or NO
- *
- * Since tools cannot know whether the RTC is alive or not until
- * status change happens, if the RTC suddenly died, the tools
- * cannot know it forever. To eliminate this problems, Observer
- * object can send periodic heartbeat signals to observers. The
- * heartbeat.enable option specifies whether the functionality is
- * activated or not.
- *
- * - heartbeat.interval: Heartbeat interval should be specified in
- * seconds. This specification does not guarantee that heartbeat
- * signals precisely send back to observer. Therefore if you need
- * to decide whether an RTC died or not, you have to wait for
- * several heartbeat signals.
- *
- * @endif
- */
- interface ComponentObserver
- : SDOPackage::SDOService
- {
- /*!
- * @if jp
- *
- * @brief 状態が更新されたことを知らせる
- *
- * 状態が更新されたことを知らせるオペレーション。status_kind によっ
- * て更新された状態の種類、hint によってどのような状態が変更された
- * かに関するヒントが与えられる。
- *
- * @param status_kind: StatusKind 型の状態の種類
- * @param hint; StatusKind 毎に決まる状態変更に関するヒント
- *
- * @else
- *
- * @brief Notifies the status updated
- *
- * This operation notifies the updated status. The status_kind
- * notifies kind of updated status, and the hint give some hint
- * about updated status.
- *
- * @endif
- */
- oneway void update_status(in StatusKind status_kind, in string hint);
- };
-
-};
Deleted: branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/DataPort.idl
===================================================================
--- branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/DataPort.idl 2011-08-04 07:19:10 UTC (rev 436)
+++ branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/DataPort.idl 2011-08-04 07:52:39 UTC (rev 437)
@@ -1,48 +0,0 @@
-// -*- IDL -*-
-/*!
- * @file DataPort.idl
- * @brief DataPort interface definition
- * @date $Date: 2007-01-09 15:40:14 $
- * @author Noriaki Ando <n-ando at aist.go.jp>
- *
- * Copyright (C) 2006
- * Noriaki Ando
- * Task-intelligence Research Group,
- * Intelligent Systems Research Institute,
- * National Institute of
- * Advanced Industrial Science and Technology (AIST), Japan
- *
- * All rights reserved.
- *
- * $Id: DataPort.idl 1597 2009-12-22 02:26:17Z n-ando $
- *
- */
-
-#ifndef DataInPort_idl
-#define DataInPort_idl
-
-module OpenRTM
-{
- enum PortStatus
- {
- PORT_OK,
- PORT_ERROR,
- BUFFER_FULL,
- BUFFER_EMPTY,
- BUFFER_TIMEOUT,
- UNKNOWN_ERROR
- };
-
- typedef sequence<octet> CdrData;
-
- interface InPortCdr
- {
- PortStatus put(in CdrData data);
- };
-
- interface OutPortCdr
- {
- PortStatus get(out CdrData data);
- };
-};
-#endif
Deleted: branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/OpenRTM.idl
===================================================================
--- branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/OpenRTM.idl 2011-08-04 07:19:10 UTC (rev 436)
+++ branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/OpenRTM.idl 2011-08-04 07:52:39 UTC (rev 437)
@@ -1,64 +0,0 @@
-// -*- IDL -*-
-/*!
- * @file OpenRTM.idl
- * @brief OpenRTM interface definition
- * @date $Date: 2007-09-21 09:19:33 $
- * @author Noriaki Ando <n-ando at aist.go.jp>
- *
- * Copyright (C) 2007
- * Task-intelligence Research Group,
- * Intelligent Systems Research Institute,
- * National Institute of
- * Advanced Industrial Science and Technology (AIST), Japan
- * All rights reserved.
- *
- * $Id: OpenRTM.idl 1338 2009-05-18 05:58:25Z n-ando $
- *
- */
-
-#include "RTC.idl"
-
-#pragma prefix "openrtm.aist.go.jp"
-
-module OpenRTM
-{
-
- interface DataFlowComponent
- : RTC::RTObject, RTC::DataFlowComponent
- {
- };
-
-// interface FiniteStateMachineComponent
-// : RTC::RTObject, RTC::FsmParticipant
-// {
-// };
-//
-// interface DataFlowFiniteStateMachineComponent
-// : RTC::RTObject, RTC::DataFlowComponent, RTC::FsmParticipant
-// {
-// };
-//
-// interface DataFlowMultiModeComponent
-// : RTC::RTObject, RTC::DataFlowComponent, RTC::MultiModeObject
-// {
-// };
-//
-// interface FiniteStateMachineMultiModeComponent
-// : RTC::RTObject, RTC::FsmParticipant, RTC::MultiModeObject
-// {
-// };
-//
-// interface DataFlowFiniteStateMachineMultiModeComponent
-// : RTC::RTObject, RTC::DataFlowComponent,
-// RTC::FsmParticipant, RTC::MultiModeObject
-// {
-// };
-
-
- interface ExtTrigExecutionContextService
- : RTC::ExecutionContextService
- {
- void tick();
- };
-
-};
Deleted: branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/RTC.idl
===================================================================
--- branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/RTC.idl 2011-08-04 07:19:10 UTC (rev 436)
+++ branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/RTC.idl 2011-08-04 07:52:39 UTC (rev 437)
@@ -1,2649 +0,0 @@
-// RTC.idl
-
-#include "SDOPackage.idl"
-
-#pragma prefix "omg.org"
-
-#define EXECUTION_HANDLE_TYPE_NATIVE long
-
-module RTC
-{
- /*!
- * @if jp
- * @brief
- * @else
- * @brief ExecutionContextHandle_t
- *
- * @section Description
- *
- * This data type represents the association between an RTC and an
- * ExecutionContext in which it participates.
- *
- * @section Semantics
- *
- * This is an opaque DataType. It has no attributes or operations.
- *
- * @endif
- */
- typedef EXECUTION_HANDLE_TYPE_NATIVE ExecutionContextHandle_t;
-
- typedef SDOPackage::UniqueIdentifier UniqueIdentifier;
- typedef SDOPackage::NVList NVList;
-
- /*!
- * @if jp
- * @brief ReturnCode_t
- *
- * OMG RTC 1.0 仕様中の多くのオペレーションは、クラインとに対して考え
- * られるエラー状態を報告する必要がある。これは、ReturnCode_t型の所謂
- * リターンコードにより行われる。
- *
- * OMG RTC 1.0 の PIM 内において、ReturnCode_t型の値を返さないオペレーションは
- * それらの戻り値の型に依存して、次の方法によりエラーを報告するものとする。
- * -オペレーションが正数値を返す場合 (OMG RTC 1.0 Section 5.2.2.6.4 の
- * get_rateのように)、負数値を返すことによりエラーを示すものとする。
- * - オペレーションがオブジェクトリファレンス(RTObject::get_component_profile
- * OMG RTC 1.0 5.4.2.2.1を参照) を通常返す場合、nil参照を返すことにより
- * エラーを示すものとする。
- *
- * @else
- * @brief ReturnCode_t
- *
- * A number of operations in this specification will need to report
- * potential error conditions to their clients. This task shall be
- * accomplished by means of operation "return codes" of type
- * ReturnCode_t
- *
- * Operations in the PIM that do not return a value of type
- * ReturnCode_t shall report errors in the following ways, depending
- * on their return type:
- * - If an operation normally returns a positive numerical value (such as
- * get_rate, see [OMG RTC 1.0 Section 5.2.2.6.4]), it shall indicate
- * failure by returning a negative value.
- * - If an operation normally returns an object reference (such as
- * RTObject::get_component_profile, see [OMG RTC 1.0 Section 5.4.2.2.1]),
- * it shall indicate failure by returning a nil reference.
- *
- * @param RTC_OK The operation completed successfully.
- * @param RTC_ERROR The operation failed with a generic, unspecified error.
- * @param BAD_PARAMETER The operation failed because an illegal argument was
- * passed to it.
- * @param UNSUPPORTED The operation is unsupported by the implementation
- * (e.g., it belongs to a compliance point that is not implemented).
- * @param OUT_OF_RESOURCES The target of the operation ran out of the
- * resources needed to complete the operation.
- * @param PRECONDITION_NOT_MET A pre-condition for the operation was not met.
- *
- * @endif
- */
- enum ReturnCode_t
- {
- RTC_OK,
- RTC_ERROR,
- BAD_PARAMETER,
- UNSUPPORTED,
- OUT_OF_RESOURCES,
- PRECONDITION_NOT_MET
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief LifeCycleState
- *
- * @section Description
- * LifeCycleState is an enumeration of the states in the lifecycle above.
- *
- * @endif
- */
- enum LifeCycleState
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief CREATED
- *
- * @section Description
- *
- * The RTC object has been instantiated but not yet fully initialized.
- * @endif
- */
- CREATED_STATE,
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief INACTIVE
- *
- * @section Description
- *
- * The RTC is Alive but is not being invoked in any execution
- * context (see Section 5.2.2.5), regardless of whether the context
- * is Running or not.
- *
- * @section Semantics
- *
- * An instance of this state exists for each execution context in
- * which the RTC participates. If the RTC does not participate in
- * any execution context, a single instance of this state exists.
- *
- * @endif
- */
- INACTIVE_STATE,
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief ACTIVE
- *
- * @section Description
- *
- * The RTC is Alive and will be invoked in the execution context
- * if the context is Running.
- *
- * @section Semantics
- *
- * An instance of this state exists for each execution context in
- * which the RTC participates. If the RTC does not participate in
- * any execution context, this state shall never be observed.
- *
- * @endif
- */
- ACTIVE_STATE,
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief ERROR
- *
- * @section Description
- *
- * The RTC has encountered a problem in a given execution context
- * and cannot continue functioning in that context without being
- * reset.
- *
- * @endif
- */
- ERROR_STATE
- };
-
- interface ExecutionContext;
- typedef sequence<ExecutionContext> ExecutionContextList;
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief ComponentAction
- *
- * @section Description
- *
- * The ComponentAction interface provides callbacks corresponding to
- * the execution of the lifecycle operations of LightweightRTObject
- * (see Section 5.2.2.2) and ExecutionContext (see Section
- * 5.2.2.5). An RTC developer may implement these callback
- * operations in order to execute application-specific logic
- * pointing response to those transitions.
- *
- * @section Semantics
- *
- * Clients of an RTC are not expected to invoke these operations
- * directly; they are provided for the benefit of the RTC middleware
- * implementation.
- *
- * @endif
- */
- interface ComponentAction
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief on_initialize
- *
- * @section Description
- *
- * The RTC has been initialized and entered the Alive state.
- *
- * @section Semantics
- *
- * Any RTC-specific initialization logic should be performed here.
- *
- * @endif
- */
- ReturnCode_t on_initialize();
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief on_finalize
- *
- * @section Description
- *
- * The RTC is being destroyed.
- *
- * @section Semantics
- *
- * Any final RTC-specific tear-down logic should be performed here.
- *
- * @endif
- */
- ReturnCode_t on_finalize();
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief on_startup
- *
- * @section Description
- *
- * The given execution context, in which the RTC is participating,
- * has transitioned from Stopped to Running.
- *
- * @endif
- */
- ReturnCode_t on_startup(in ExecutionContextHandle_t exec_handle);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief on_shutdown
- *
- * @section Description
- *
- * The given execution context, in which the RTC is participating,
- * has transitioned from Running to Stopped.
- *
- * @endif
- */
- ReturnCode_t on_shutdown(in ExecutionContextHandle_t exec_handle);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief on_activated
- *
- * @section Description
- *
- * The RTC has been activated in the given execution context.
- *
- * @endif
- */
- ReturnCode_t on_activated(in ExecutionContextHandle_t exec_handle);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief on_deactivated
- *
- * @section Description
- *
- * The RTC has been deactivated in the given execution context.
- *
- * @endif
- */
- ReturnCode_t on_deactivated(in ExecutionContextHandle_t exec_handle);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief on_aborting
- *
- * @section Description
- *
- * The RTC is transitioning from the Active state to the Error
- * state in some execution context.
- *
- * @section Semantics
- *
- * 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.
- *
- * @endif
- */
- ReturnCode_t on_aborting(in ExecutionContextHandle_t exec_handle);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief on_error
- *
- * @section Description
- *
- * The RTC remains in the Error state.
- *
- * @section Semantics
- *
- * 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.
- *
- * @endif
- */
- ReturnCode_t on_error(in ExecutionContextHandle_t exec_handle);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief on_reset
- *
- * @section Description
- *
- * The RTC is in the Error state. An attempt is being made to
- * recover it such that it can return to the Inactive state.
- *
- * @section Semantics
- *
- * 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.
- *
- * @endif
- */
- ReturnCode_t on_reset(in ExecutionContextHandle_t exec_handle);
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief LightweightRTObject
- *
- * @section Description
- *
- * This interface is realized by all lightweight RTCs (as required
- * by the lightweightRTComponent stereotype). It defines the states
- * and transitions through which all RTCs will pass from the time
- * they are created until the time they are destroyed.
- *
- * @section Semantics
- * @subsection Initialization
- *
- * An RTC begins in the Created state; at this point, it has been
- * instantiated but not yet fully initialized. Note that this state
- * is highly implementation-dependent. For example, it may
- * correspond to the invocation of a constructor in languages that
- * support that concept, but not all languages do. Furthermore, how
- * soon this state is entered before initialize is invoked is
- * implementation-dependent. Therefore, it should be relied on by
- * RTC implementers only to the minimum extent possible. An RTC
- * that has completed its initialization and has not been finalized
- * is said to be Alive.
- *
- * @subsection Execution Context
- *
- * An RTC in the Alive state may participate in any number of
- * execution contexts (see Section 5.2.2.5 ). These contexts shall
- * be represented to an RTC as distinct instances of the
- * ExecutionContext class. The ExecutionContext manages the behavior
- * of each RTC that participates in it. This relationship is defined
- * by the following state machine, which is embedded within the
- * ExecutionContext's own lifecycle (see Figure 5.5 ). Each
- * participating RTC is represented as a separate parallel region.
- *
- * Relative to a given execution context, an RTC may either be
- * Active, Inactive, or in Error. When the RTC is Active in a
- * Running execution context, the ComponentAction callbacks (see
- * Section 5.2.2.4) shall be invoked as appropriate for the context’
- * s ExecutionKind. The callbacks shall not be invoked relative to
- * that context when either the RTC is Inactive in that context or
- * the context is Stopped. (Note that starting and stopping an
- * execution context shall not impact whether its participating RTCs
- * are Active or Inactive.) It may be that a given RTC does not
- * directly participate in any execution contexts. Such an RTC is
- * referred to as passive. A passive RTC may provide services to
- * other components upon request. At any other time, it shall not be
- * required to perform any ongoing activity of its own; therefore,
- * instances of such an RTC typically exist only as parts (directly
- * or indirectly) of a containing active RTC.
- *
- * @subsection Error Handling
- *
- * If an operation fails while the RTC is Active in a given
- * execution context, the RTC will transition to the Error state
- * corresponding to that context. While the RTC is in Error, the
- * ComponentAction::on_error callback will be invoked in place of
- * those callbacks that would otherwise have been invoked according
- * to the context’s ExecutionKind. For example, if the kind is
- * PERIODIC, on_error shall be invoked instead of the pair of
- * on_execute, and on_state_update. When an RTC is in Error, it may
- * be reset. If resetting is successful, the RTC shall return to the
- * Inactive state. If resetting is unsuccessful, it shall remain in
- * the Error state.
- *
- * @endif
- */
- interface LightweightRTObject
- : ComponentAction
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief initialize
- *
- * @section Description
- * Initialize the RTC that realizes this interface.
- *
- * @section Semantics
- * The invocation of this operation shall result in the invocation
- * of the callback ComponentAction::on_initialize.
- *
- * @section 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.
- *
- * @endif
- */
- ReturnCode_t initialize();
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief finalize
- *
- * @section Description
- *
- * Finalize the RTC that realizes this interface, preparing it for
- * destruction.
- *
- * @section Semantics
- *
- * This invocation of this operation shall result in the
- * invocation of the callback ComponentAction::on_finalize
- *
- * @section Constraints
- *
- * - An RTC may not be finalized while it is participating in any
- * execution context. It must first be removed with
- * ExecutionContextOperations::remove_component. Otherwise, this
- * operation shall fail with
- * ReturnCode_t::PRECONDITION_NOT_MET. See Figure 5.9.
- *
- * - 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.
- *
- * @endif
- */
- ReturnCode_t finalize();
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief is_alive
- *
- * @section Description
- *
- * 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) (see Figure 5.7) 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.
- *
- * @endif
- *
- */
- boolean is_alive(in ExecutionContext exec_context);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief exit
- *
- * @section Description
- *
- * Stop the RTC’s execution context(s) and finalize it along with
- * its contents.
- *
- * @section Semantics
- *
- * 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.
- *
- * @section 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.
- *
- * @endif
- */
- ReturnCode_t exit();
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief attach_context
- *
- * @section Description
- *
- * 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.
- *
- * @section Semantics
- *
- * This operation is intended to be invoked by
- * ExecutionContextOperations::add_component (see Section
- * 5.2.2.6.6). It is not intended for use by other clients.
- *
- * @endif
- */
- ExecutionContextHandle_t attach_context(in ExecutionContext exec_context);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief detach_context
- * @section Description
- *
- * Inform this RTC that it is no longer participating in the given
- * execution context.
- *
- * @section Semantics
- *
- * This operation is intended to be invoked by
- * ExecutionContextOperations::remove_component (see Section
- * 5.2.2.6.7). It is not intended for use by other clients.
- *
- * @section 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.
- *
- * @endif
- */
- ReturnCode_t detach_context(in ExecutionContextHandle_t exec_handle);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_context
- *
- * @section Description
- *
- * Obtain a reference to the execution context represented by the
- * given handle.
- *
- * @section Semantics
- *
- * 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.
- *
- * @endif
- */
- ExecutionContext get_context(in ExecutionContextHandle_t exec_handle);
-
- /*!
- * @if jp
- * @brief get_owned_contexts
- *
- * @section Description
- *
- * この RTC が所有する ExecutionContext のリストを取得する。
- *
- * @else
- * @brief get_owned_contexts
- *
- * @section Description
- *
- * This operation returns a list of all execution contexts owned
- * by this RTC.
- *
- * @endif
- */
- ExecutionContextList get_owned_contexts();
-
- /*!
- * @if jp
- * @brief get_participating_contexts
- *
- * @section Description
- *
- * この RTC が参加しているすべての ExecutionContext のリストを取得する。
- *
- * @section Semantics
- *
- * このリストに含まれる実行コンテキストは、attach_context が呼び出
- * されるごとに、リストに追加され、detach_context が呼び出されるご
- * とに、リストから削除される。
- *
- * @else
- * @brief* get_participating_contexts
- *
- * @section Description
- *
- * This operation returns a list of all execution contexts in
- * which this RTC participates.
- *
- * @section Semantics
- *
- * Each call to attach_context causes the provided context to be
- * added to this list. Each call to detach_context causes the
- * provided context to be removed from this list.
- *
- * @endif
- */
- ExecutionContextList get_participating_contexts();
-
- /*!
- * @if jp
- * ### [誤植] RTC.idl には含まれていないがPIMには含まれている。
- * ### PIMが正しい。
- *
- * @brief
- * @else
- * @brief get_context_handle
- *
- * @section Description
- *
- * This operation returns a handle that is associated with the given
- * execution context.
- *
- * @endif
- */
- ExecutionContextHandle_t get_context_handle(in ExecutionContext cxt);
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief ExecutionKind
- *
- * @sectioni Description
- *
- * The ExecutionKind enumeration defines the execution semantics
- * (see Section 5.3) of the RTCs that participate in an execution
- * context.
- *
- * @endif
- */
- enum ExecutionKind
- {
- /*!
- * @if jp
- * @brief
- *
- * @else
- * @brief PERIODIC
- *
- * @section Description
- *
- * The participant RTCs are executing according to periodic
- * sampled data semantics (see Section 5.3.1).
- *
- * @endif
- */
- PERIODIC,
- /*!
- * @if jp
- * @brief
- *
- * @else
- * @brief EVENT_DRIVEN
- *
- * @section Description
- *
- * The participant RTCs are executing according to stimulus
- * response semantics (see Section 5.3.2).
- *
- * @endif
- */
- EVENT_DRIVEN,
- /*!
- * @if jp
- * @brief
- *
- * @else
- * @brief OTHER
- *
- * @section Description
- *
- * The participant RTCs are executing according to some semantics
- * not defined by this specification.
- *
- * @endif
- */
- OTHER
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief ExecutionContext
- *
- * @section Description
- *
- * An ExecutionContext allows the business logic of an RTC to be
- * decoupled from the thread of control in which it is executed. The
- * context represents a logical thread of control and is provided to
- * RTCs at runtime as an argument to various operations, allowing
- * them to query and modify their own state, and that of other RTCs
- * executing within the same context, in the lifecycle. This
- * separation of concerns is important for two primary reasons:
- *
- * - Large number of components may collaborate tightly within a
- * single node or process. If each component were to run within its
- * own thread of control, the infrastructure may not be able to
- * satisfy the timeliness and determinism requirements of real-time
- * applications due to the large number of threads and the required
- * synchronization between them.
- *
- * - A single application may carry out a number of independent
- * tasks that require different execution rates. For example, it may
- * need to sample a sensor periodically at a very high rate and update a
- * user interface at a much lower rate.
- *
- * @section Semantics
- *
- * The state machine of an ExecutionContext has two parts. The
- * behavior of the ExecutionContext itself is defined by the upper
- * region in the above figure. The behavior of the RTCs that
- * participate in the context is defined by the lower region. The
- * contents of that region are displayed in more detail in Figure
- * 5.5 in Section 5.2.2.2. Ownership and Participation Each
- * execution context is owned by a single RTC and may be used to
- * execute that RTC and the RTCs contained within it, directly or
- * indirectly. An RTC that owns one or more execution contexts is
- * known as an autonomous RTC. An autonomous RTC and some subset of
- * the RTCs within it (to be defined by the application developer)
- * shall be executed by the infrastructure according to the context’
- * s execution kind, which defines when each RTC’s operations will
- * be invoked when and in which order. These RTCs are said to
- * participate in the context. The available execution kinds are
- * described in Section 5.2.2.7. The relationship between RTCs and
- * execution contexts may be many-to-many in the general case:
- * multiple RTCs may be invoked from the same execution context, and
- * a single RTC may be invoked from multiple contexts. In the case
- * where multiple RTCs are invoked from the same context, starting
- * or stopping the context shall result in the corresponding
- * lifecycle transitions for all of those components.
- *
- * @section Logical and Physical Threads
- *
- * Although an execution context represents a logical thread of
- * control, the choice of how it maps to a physical thread shall be
- * left to the application’s deployment
- * environment. Implementations may elect to associate contexts with
- * threads with a one-to-one mapping, to serve multiple contexts
- * from a single thread, or by any other means. In the case where a
- * given RTC may be invoked from multiple contexts, concurrency
- * management is implementation-dependent.
- *
- * @endif
- */
- interface ExecutionContext
- {
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief is_running
- * @section Description
- *
- * This operation shall return true if the context is in the
- * Running state.
- *
- * @section Semantics
- *
- * While the context is Running, all Active RTCs participating in
- * the context shall be executed according to the context’s
- * execution kind.
- *
- * @endif
- */
- boolean is_running();
-
- /*!
- * @if jp
- * @brief
- * @else
- *
- * @brief start
- *
- * @section Description
- *
- * Request that the context enter the Running state. Once the
- * state transition occurs, the ComponentAction::on_startup
- * operation (see Section 5.2.2.4.3) will be invoked. @section *
- *
- * @section Semantics
- *
- * An execution context may not be started
- * until the RT components that participate in it have been
- * initialized. An execution context may be started and stopped
- * multiple times.
- *
- * @section Constraints
- *
- * - This operation shall fail with
- * ReturnCode_t::PRECONDITION_NOT_MET if the context is not in the
- * Stopped state.
- *
- * - This operation shall fail with
- * ReturnCode_t::PRECONDITION_NOT_MET if any of the participating
- * components are not in their Alive state.
- *
- * @endif
- */
- ReturnCode_t start();
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief stop
- *
- * @section Description
- *
- * Request that the context enter the Stopped state. Once the
- * transition occurs, the ComponentAction::on_shutdown operation
- * (see Section 5.2.2.4.4) will be invoked.
- *
- * @section Semantics
- *
- * An execution context must be stopped before the RT components
- * that participate in it are finalized.
- *
- * An execution context may be started and stopped multiple times.
- *
- * @section Constraints
- *
- * - This operation shall fail with
- * ReturnCode_t::PRECONDITION_NOT_MET if the context is not in the
- * Running state.
- *
- * @endif
- */
- ReturnCode_t stop();
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_rate
- *
- * @section Description
- *
- * This operation shall return the rate (in hertz) at which its
- * Active participating RTCs are being invoked.
- *
- * @section Semantics
- *
- * An implementation is permitted to perform some periodic or
- * quasi-periodic processing within an execution context with an
- * ExecutionKind other than PERIODIC. In such a case, the result
- * of this operation is implementation-defined. If no periodic
- * processing of any kind is taking place within the context, this
- * operation shall fail as described in Section 5.2.1.
- *
- * @section Constraints
- *
- * - If the context has an ExecutionKind of PERIODIC, this
- * operation shall return a rate greater than zero.
- *
- * @endif
- */
- double get_rate();
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief set_rate
- *
- * @section Description
- *
- * This operation shall set the rate (in hertz) at which this
- * context’s Active participating RTCs are being called.
- *
- * @section Semantics
- *
- * If the execution kind of the context is PERIODIC, a rate change
- * shall result in the invocation of on_rate_changed on any RTCs
- * realizing DataFlowComponentAction that are registered with any
- * RTCs participating in the context. An implementation is
- * permitted to perform some periodic or quasi-periodic processing
- * within an execution context with an ExecutionKind other than
- * PERIODIC. If such is the case, and the implementation reports a
- * rate from get_rate, this operation shall set that rate
- * successfully provided that the given rate is valid. If no
- * periodic processing of any kind is taking place within the
- * context, this operation shall fail with
- * ReturnCode_t::UNSUPPORTED.
- *
- * @section Constraints
- *
- * - The given rate must be greater than zero. Otherwise, this
- * operation shall fail with ReturnCode_t::BAD_PARAMETER.
- *
- * @endif
- */
- ReturnCode_t set_rate(in double rate);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief add_component
- *
- * @section Description
- *
- * The operation causes the given RTC to begin participating in
- * the execution context.
- *
- * @section Semantics
- *
- * The newly added RTC will receive a call to
- * LightweightRTComponent::attach_context (see Section 5.2.2.2.5)
- * and then enter the Inactive state.
- *
- * @section Constraints
- *
- * - If the ExecutionKind of this context is PERIODIC, the RTC
- * must be a data flow component (see Section 5.3.1.1).
- * Otherwise, this operation shall fail with
- * ReturnCode_t::PRECONDITION_NOT_MET.
- *
- * - If the ExecutionKind of this context is EVENT_DRIVEN, the RTC
- * must be an FSM participant (see Section 5.3.2.3). Otherwise,
- * this operation shall fail with
- * ReturnCode_t::PRECONDITION_NOT_MET.
- *
- * @endif
- */
- ReturnCode_t add_component(in LightweightRTObject comp);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief remove_component
- *
- * @section Description
- *
- * This operation causes a participant RTC to stop participating
- * in the execution context.
- *
- * @section Semantics
- *
- * The removed RTC will receive a call to
- * LightweightRTComponent::detach_context (see Section 5.2.2.2.6).
- *
- * @section Constraints
- *
- * - If the given RTC is not currently participating in the
- * execution context, this operation shall fail with
- * ReturnCode_t::BAD_PARAMETER.
- *
- * - An RTC must be deactivated before it can be removed from an
- * execution context. If the given RTC is participating in the
- * execution context but is still in the Active state, this
- * operation shall fail with ReturnCode_t::PRECONDITION_NOT_MET.
- *
- * @endif
- */
- ReturnCode_t remove_component(in LightweightRTObject comp);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief activate_component
- *
- * @section Description
- *
- * The given participant RTC is Inactive and is therefore not
- * being invoked according to the execution context’s execution
- * kind. This operation shall cause the RTC to transition to the
- * Active state such that it may subsequently be invoked in this
- * execution context.
- *
- * @section Semantics
- *
- * The callback on_activate shall be called as a result of calling
- * this operation. This operation shall not return until the
- * callback has returned, and shall result in an error if the
- * callback does. The following figure is a non-normative example
- * sequence diagram for activate_component.
- *
- * @section Constraints
- *
- * - An execution context can only activate its participant
- * components. If the given RTC is not participating in the
- * execution context, this operation shall fail with
- * ReturnCode_t::BAD_PARAMETER.
- *
- * - An RTC that is in the Error state cannot be activated until
- * after it has been reset. If the given RTC is in the Error
- * state, this operation shall fail with
- * ReturnCode_t::PRECONDITION_NOT_MET.
- *
- * - This operation shall fail with ReturnCode_t::BAD_PARAMETER if
- * the given component is not in its Alive state.
- *
- * @endif
- */
- ReturnCode_t activate_component(in LightweightRTObject comp);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief deactivate_component
- *
- * @section Description
- *
- * The given RTC is Active in the execution context. Cause it to
- * transition to the Inactive state such that it will not be
- * subsequently invoked from the context unless and until it is
- * activated again.
- *
- * @section Semantics
- *
- * The callback on_deactivate shall be called as a result of
- * calling this operation. This operation shall not return until
- * the callback has returned, and shall result in an error if the
- * callback does. The following figure is a non-normative example
- * sequence diagram for deactivate_component.
- *
- * @section Constraints
- *
- * - An execution context can only deactivate its participant
- * components. If the given RTC is not participating in the
- * execution context, this operation shall fail with
- * ReturnCode_t::BAD_PARAMETER.
- *
- * - This operation shall fail with ReturnCode_t::BAD_PARAMETER if
- * the given component is not in its Alive state.
- *
- * @endif
- */
- ReturnCode_t deactivate_component(in LightweightRTObject comp);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief reset_component
- *
- * @section Description
- *
- * Attempt to recover the RTC when it is in Error.
- *
- * @section Semantics
- *
- * The ComponentAction::on_reset callback shall be invoked. This
- * operation shall not return until the callback has returned, and
- * shall result in an error if the callback does. If possible, the
- * RTC developer should implement that callback such that the RTC
- * may be returned to a valid state. * If this operation fails,
- * the RTC will remain in Error.
- *
- * @section Constraints
- *
- * - An RTC may only be reset in an execution context in which it
- * is in error. If the RTC is not in Error in the identified
- * context, this operation shall fail with
- * ReturnCode_t::PRECONDITION_NOT_MET. However, that failure shall
- * not cause the RTC to enter the Error state.
- *
- * - An RTC may not be reset while in the Created state. Any
- * attempt to invoke this operation while the RTC is in that state
- * shall fail with ReturnCode_t::PRECONDITION_NOT_MET. However,
- * that failure shall not cause the RTC to enter the Error state.
- *
- * @endif
- */
- ReturnCode_t reset_component(in LightweightRTObject comp);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_component_state
- *
- * @section Description
- *
- * This operation shall report the LifeCycleState of the given
- * participant RTC.
- *
- * @section Constraints
- *
- * - The given RTC must be Alive.
- *
- * - The given RTC must be a participant in the target execution context.
- *
- * - The LifeCycleState returned by this operation shall be one of
- * LifeCycleState::INACTIVE, ACTIVE, or ERROR.
- *
- * @endif
- */
- LifeCycleState get_component_state(in LightweightRTObject comp);
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_kind
- *
- * @section Description
- *
- * This operation shall report the execution kind of the execution
- * context.
- *
- * @endif
- */
- ExecutionKind get_kind();
- };
-
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief DataFlowComponentAction
- *
- * @section Description
- *
- * DataFlowComponentAction is a companion to ComponentAction (see
- * Section 5.2.2.4) that provides additional callbacks for
- * intercepting the two execution passes defined in Section
- * 5.3.1.1.2.
- *
- * @endif
- */
- interface DataFlowComponentAction
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief on_execute
- * @section Description
- *
- * 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.
- *
- * @section Semantics
- *
- This callback occurs during the first execution pass.
- *
- * @section Constraints
- *
- * - The execution context of the given context shall be PERIODIC.
- *
- * @endif
- */
- ReturnCode_t on_execute(in ExecutionContextHandle_t exec_handle);
- /*!
- * @if jp
- * @brief
- * @else
- * @brief on_state_update
- *
- * @section Description
- *
- * 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.
- *
- * @section Semantics
- *
- * This callback occurs during the second execution pass.
- *
- * @section Constraints
- *
- * - The execution context of the given context shall be PERIODIC.
- *
- *
- * @endif
- */
- ReturnCode_t on_state_update(in ExecutionContextHandle_t exec_handle);
- /*!
- * @if jp
- * @brief
- * @else
- * @brief on_rate_changed
- *
- * @section Description
- *
- * This operation is a notification that the rate of the indicated
- * execution context (see Section 5.2.2.6.4) has changed.
- *
- * @section Constraints
- *
- * - The execution context of the given context shall be PERIODIC.
- *
- *
- * @endif
- */
- ReturnCode_t on_rate_changed(in ExecutionContextHandle_t exec_handle);
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief dataFlowComponent
- *
- * @section Description
- *
- * The dataFlowComponent stereotype may be applied to a component
- * type to indicate that its instances should be executed in sorted
- * order by a periodic execution context.
- *
- * @section Constraints
- *
- * - An instance of a component extended by the dataFlowComponent
- * stereotype must participate in at least one * execution context
- * of kind PERIODIC, which shall also be used for the execution of
- * any contained data flow components.
- *
- * - A component extended by dataFlowComponent must realize the
- * interface DataFlowComponentAction.
- *
- *
- * @endif
- */
- interface DataFlowComponent
- : LightweightRTObject, DataFlowComponentAction
- {
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief fsm
- *
- * @section Description
- *
- * Applying the fsm stereotype to a component implies the ability to
- * define component-specific states and transitions.
- *
- * @section Semantics
- *
- * In creating a state machine such as is depicted in Figure 5.22,
- * the RTC developer is implicitly defining the Active state to be a
- * submachine state. * The BehaviorStateMachines package described
- * in [UML] is considered the normative definition of a state
- * machine.
- *
- * @endif
- */
- interface Fsm
- : LightweightRTObject
- {
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief FsmParticipantAction
- *
- * @section Description
- *
- * FsmParticipantAction is companion to ComponentAction (see Section
- * 5.2.2.4) that is intended for use with FSM participant RTCs. It
- * adds a callback for the interception of state transitions, state
- * entries, and state exits.
- *
- * @endif
- */
- interface FsmParticipantAction
- {
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief on_action
- *
- * @section Description
- *
- * The indicated FSM participant RTC has been invoked as a result
- * of a transition, state entry, or state exit in its containing
- * FSM.
- *
- * @section Constraints
- *
- * - The given execution context shall be of kind EVENT_DRIVEN.
- *
- * @endif
- */
- ReturnCode_t on_action(in ExecutionContextHandle_t exec_handle);
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief
- * @endif
- */
- interface FsmParticipant
- : LightweightRTObject, FsmParticipantAction
- {
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief Mode
- *
- * @section Description
- *
- * Each mode defined by a given RTC shall be represented by an
- * instance of Mode.
- *
- * @endif
- */
- interface Mode
- {
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief ModeCapable
- *
- * @section Description
- *
- * The ModeCapable interface provides access to an object’s modes
- * and a means to set the current mode.
- *
- * @section Semantics
- *
- * A given RTC may support multiple modes as well as multiple
- * execution contexts. In such a case, a request for a mode change
- * (e.g., from "cruise control on" to "cruise control off") may
- * come asynchronously with respect to one or more of those
- * execution contexts. The mode of an RTC may therefore be observed
- * to be different from one execution context to another. - A mode
- * is pending in a given execution context when a mode change has
- * been requested but the new mode has not yet been observed by that
- * context.
- *
- * - The new mode has been committed in a given execution context
- * when the context finally observes the new mode.
- *
- * - The new mode has stabilized once it has been committed in all
- * execution contexts in which the RTC participates.
- *
- * Figure 5.26 depicts a state machine that describes mode
- * changes. Each parallel region in the composite state Mode Pending
- * represents an execution context. The trigger "sample" within
- * that state is considered to have occurred: - …just before the
- * next call to on_execute (see Section 5.3.1.2.1) in the case where
- * immediate is false and the execution kind is PERIODIC, …
- *
- * - …just before the processing of the next stimulus in the case
- * where immediate is false and the execution kind is
- * EVENT_DRIVEN, or …- …immediately in all other cases.
- *
- * @endif
- */
- interface ModeCapable
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_default_mode
- *
- * @section Description
- *
- * This operation shall return the mode in which the RTC shall be
- * when no other mode has been set.
- *
- * @section Constraints
- *
- * - This operation shall not return nil.
- *
- * @endif
- */
- Mode get_default_mode();
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_current_mode
- *
- * @section Description
- *
- * This operation shall return the last mode to have
- * stabilized. If no mode has been explicitly set, the current
- * mode shall be the default mode.
- *
- * @section Constraints
- *
- * - This operation shall never return nil.
- *
- * @endif
- */
- Mode get_current_mode();
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_current_mode_in_context
- *
- * @section Description
- *
- * This operation returns the current mode of the component as
- * seen by the indicated execution context.
- *
- * @section Semantics
- *
- * The manner in which this property changes is described in Figure 5.26.
- *
- * @endif
- */
- Mode get_current_mode_in_context(in ExecutionContext exec_context);
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_pending_mode
- *
- * @section Description
- *
- * This operation shall return the last mode to have been passed
- * to set_mode that has not yet stabilized. Once the RTC’s mode
- * has stabilized, this operation shall return nil.
- *
- * @endif
- */
- Mode get_pending_mode();
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_pending_mode_in_context
- *
- * @section Description
- *
- * If the last mode to be requested by a call to set_mode is
- * different than the current mode as seen by the indicated
- * execution context (see get_current_mode_in_context), this
- * operation returns the former. If the requested mode has already
- * been seen in that context, it returns nil.
- *
- * @section Semantics
- *
- * See Figure 5.26 for a description of how the pending mode
- * relates to the current mode within a given execution context.
- *
- * @endif
- */
- Mode get_pending_mode_in_context(in ExecutionContext exec_context);
- /*!
- * @if jp
- * @brief
- * @else
- * @brief set_mode
- *
- * @section Description
- *
- * This operation shall request that the RTC change to the indicated mode.
- *
- * @section Semantics
- *
- * Usually, the new mode will be pending in each execution context
- * in which the component executes until the next sample period
- * (if the execution kind is PERIODIC); at that point it will
- * become the current mode in that context and there will no
- * longer be a pending mode. However, in some cases it is
- * important for a mode change to take place immediately; for
- * example, a serious fault has occurred and the component must
- * enter an emergency mode to ensure fail-safe behavior in a
- * safety-critical system. In such a case, immediate should be
- * true and the mode change will take place in all contexts
- * without waiting for the next sample period.
- *
- * @endif
- */
- ReturnCode_t set_mode(in Mode new_mode,
- in boolean immediate);
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief MultiModeComponentAction
- *
- * MultiModeComponentAction is a companion to ComponentAction that
- is realized by RTCs that support multiple modes.
- *
- * @endif
- */
- interface MultiModeComponentAction
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief on_mode_changed
- *
- * @section Description
- *
- * This callback is invoked each time the observed mode of a
- * component has changed with respect to a particular execution
- * context.
- *
- * @section Semantics
- *
- * If the context is PERIODIC, this callback shall come before the
- * next call to on_execute (see Section 5.3.1.2.1) within that
- * context. The new mode can be retrieved with
- * get_current_mode_in_context. If the result is the same as the
- * result of get_current_mode, the mode has stabilized.
- *
- * @endif
- */
- ReturnCode_t on_mode_changed(in ExecutionContextHandle_t exec_handle);
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief
- * @endif
- */
- interface MultiModeObject
- : LightweightRTObject, ModeCapable, MultiModeComponentAction
- {
- };
-
- interface RTObject;
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief PortInterfacePolarity
- *
- * @section Description
- *
- * The PortInterfacePolarity enumeration identifies exposed
- * interface instances as provided or required. @endif
- */
- enum PortInterfacePolarity
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief PROVIDED
- *
- * @section Description
- *
- * The target interface is provided as an output by the target
- * port.
- *
- * @endif
- */
- PROVIDED,
- /*!
- * @if jp
- * @brief
- * @else
- * @brief REQUIRED
- *
- * @section Description
- *
- * The target interface is required as an input by the target port.
- *
- * @endif
- */
- REQUIRED
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief PortInterfaceProfile
- *
- * @section Description
- *
- * PortInterfaceProfile describes an instance of a particular
- * interface as it is exposed by a particular port. These objects
- * are referred to below as the "target interface" and "target
- * port" respectively.
- *
- * @endif
- */
- struct PortInterfaceProfile
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief instance_name
- *
- * @section Description
- *
- * This attribute stores the name of the target interface instance.
- *
- * @endif
- */
- string instance_name;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief type_name
- *
- * @section Description
- *
- * This attribute stores the name of the target interface type.
- *
- * @endif
- */
- string type_name;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief polarity
- *
- * @section Description
- *
- * This attribute indicates whether the target interface instance
- * is provided or required by the RTC.
- *
- * @endif
- */
- PortInterfacePolarity polarity;
- };
-
- typedef sequence<PortInterfaceProfile> PortInterfaceProfileList;
-
- interface PortService;
- typedef sequence<PortService> PortServiceList;
- typedef sequence<RTObject> RTCList;
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief ConnectorProfile
- *
- * @section Description
- *
- * The ConnectorProfile contains information about a connection
- * between the ports of collaborating RTCs.
- *
- * @endif
- */
- struct ConnectorProfile
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief name
- *
- * @section Description
- *
- * This attribute contains the name of this connection.
- *
- * @endif
- */
- string name;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief connector_id
- *
- * @section Description
- *
- * Each connector has a unique identifier that is assigned when
- * connection is established. This attribute stores that
- * identifier.
- *
- * @endif
- */
- UniqueIdentifier connector_id;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief ports
- *
- * @section Description
- *
- * This field stores references to all ports connected by the
- * target connector.
- *
- * @endif
- */
- PortServiceList ports;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief properties
- *
- * @section Description
- *
- * This attribute contains additional properties of the connection.
- *
- * @section Semantics
- *
- * This attribute provides implementations the opportunity to
- * describe additional characteristics of a particular connection
- * that are outside of the scope of this specification.
- *
- * @endif
- */
- NVList properties;
- };
-
- typedef sequence<ConnectorProfile> ConnectorProfileList;
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief PortProfile
- *
- * @section Description
- *
- * A PortProfile describes a port of an RTC (referred to as the
- * "target" RTC). This port is referred to as the "target" port.
- * From this profile, other components and tools can obtain Port’s
- * name, type, object reference, and so on.
- *
- * @endif
- */
- struct PortProfile
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief name
- *
- * @section Description
- *
- * This attribute contains the name of the target port.
- *
- * @section Semantics
- *
- * Ports owned by an RTC are distinguished by their
- * names. Therefore, this name should be unique within the target
- * RTC.
- *
- * @endif
- */
- string name;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief interfaces
- *
- * @section Description
- *
- * This attribute contains the name and polarity of each interface
- * exposed by the target port.
- *
- * @endif
- */
- PortInterfaceProfileList interfaces;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief port_ref
- *
- * @section Description
- *
- * This attributes contains a reference to the target port.
- *
- * @endif
- */
- PortService port_ref;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief connector_profiles
- *
- * @section Description
- *
- * This attribute contains a collection of profiles describing the
- * connections to the target port.
- *
- * @endif
- */
- ConnectorProfileList connector_profiles;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief owner
- *
- * @section Description
- *
- * This attribute contains a reference to the target RTC.
- *
- * @endif
- */
- RTObject owner;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief properties
- *
- * @section Description
- *
- * This attribute contains additional properties of the port.
- *
- * @section Semantics
- *
- * This attribute provides implementations the opportunity to
- * describe additional characteristics of a particular port that
- * are otherwise outside of the scope of this specification.
- *
- * @endif
- */
- NVList properties;
- };
-
- typedef sequence<PortProfile> PortProfileList;
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief
- * @endif
- */
- struct ExecutionContextProfile
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief kind
- *
- * @section Description
- *
- * This attribute stores the context’s ExecutionKind.
- *
- * @endif
- */
- ExecutionKind kind;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief rate
- *
- * @section Description
- *
- * This attribute stores execution rate.
- *
- * @section Semantics
- *
- * If the execution kind is not PERIODIC, the value here may not
- * be valid (and should be negative in that case). See
- * ExecutionContext::get_rate (see Section 5.2.2.6.4) and set_rate
- * (see Section 5.2.2.6.5) for more information.
- *
- * @endif
- */
- double rate;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief owner
- *
- * @section Description
- *
- * This attribute stores a reference to the RTC that owns the context.
- *
- * @endif
- */
- RTObject owner;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief participants
- *
- * @section Description
- *
- * This attribute stores references to the context’s participant RTCs.
- *
- * @endif
- */
- RTCList participants;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief properties
- *
- * @section Description
- *
- * This attribute contains additional properties of the execution
- * context.
- *
- * @section Semantics
- *
- * This attribute provides implementations the opportunity to
- * describe additional characteristics of a particular execution
- * context that are outside the scope of this specification.
- *
- * @endif
- */
- NVList properties;
- };
-
- typedef sequence<ExecutionContextProfile>
- ExecutionContextProfileList;
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief FsmObject
- *
- * @section Description
- *
- * The FsmObject interface allows programs to send stimuli to a
- * finite state machine, possibly causing it to change states.
- *
- * @endif
- */
- interface FsmObject
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief send_stimulus
- *
- * @section Description
- *
- * Send a stimulus to an FSM that realizes this interface.
- *
- * @section Semantics
- *
- * If the stimulus corresponds to any outgoing transition of the
- * current state, that transition shall be taken and the state
- * shall change. Any FSM participants associated with the exit of
- * the current state, the transition to the new state, or the
- * entry to the new state shall be invoked. If the stimulus does
- * not correspond to any such transition, this operation shall
- * succeed but have no effect.
- *
- * If the given execution context is a non-nil reference to a
- * context in which this FSM participates, the transition shall be
- * executed in that context. If the argument is nil, the FSM shall
- * choose an EVENT_DRIVEN context in which to execute the
- * transition. If the argument is non-nil, but this FSM does not
- * participate in the given context, this operation shall fail
- * with * ReturnCode_t::BAD_PARAMETER.
- *
- * @section Constraints
- *
- * - The given execution context shall be of kind EVENT_DRIVEN.
- *
- * @endif
- */
- ReturnCode_t send_stimulus(in string message,
- in ExecutionContextHandle_t exec_handle);
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief FsmBehaviorProfile
- *
- * @section Description
- *
- * FsmBehaviorProfile represents the association of an FSM
- * participant with a transition, state entry, or state exit in an
- * FSM.
- *
- * @section Semantics
- *
- * The assignment of identifiers to particular transitions, state
- * entries, or state exits is implementation-dependent.
- *
- * @endif
- */
- struct FsmBehaviorProfile
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief action_component
- *
- * @section Description
- *
- * This attribute stores a reference to the FSM participant that
- * is invoked when the containing Fsm receives a message
- * distinguished by id.
- *
- * @endif
- */
- FsmParticipantAction action_component;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief id
- *
- * @section Description
- *
- * This attribute stores the message identifier.
- *
- * @endif
- */
- UniqueIdentifier id;
- };
-
- typedef sequence<FsmBehaviorProfile> FsmBehaviorProfileList;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief FsmProfile
- *
- * @section Description
- *
- * The FsmProfile describes the correspondence between an FSM and
- * its contained FSM participants. This Profile is necessary for
- * Stimulus Response Processing.
- *
- * @endif
- */
- struct FsmProfile
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief behavior_profiles
- *
- * @section Description
- *
- * This attribute lists the correspondences between an FSM and its
- * contained FSM participants.
- *
- * @endif
- */
- FsmBehaviorProfileList behavior_profiles;
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief FsmService
- *
- * @section Description
- *
- * The FsmService interface defines operations necessary for
- * Stimulus Response Processing as an SDO service.
- *
- * @endif
- */
- interface FsmService
- : SDOPackage::SDOService
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_fsm_profile
- *
- * @section Description
- *
- * Get the current state of the FSM.
- *
- * @section Semantics
- *
- * Modifications to the object returned by this operation will not
- * be reflected in the FSM until and unless set_fsm_profile is
- * called.
- *
- * @endif
- */
- FsmProfile get_fsm_profile();
- /*!
- * @if jp
- * @brief
- * @else
- * @brief set_fsm_profile
- *
- * @section Description
- *
- * This operation will be used to modify the behavior of an FSM as
- * described in Stimulus Response Processing.
- *
- * @endif
- */
- ReturnCode_t set_fsm_profile(in FsmProfile fsm_profile);
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief ComponentProfile
- *
- * @section Description
- *
- * ComponentProfile represents the static state of an RTC that is
- * referred to here as the "target" RTC.
- *
- * @endif
- */
- struct ComponentProfile
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief instance_name
- *
- * @section Description
- *
- * This attribute shall contain the name of the target RTC instance.
- *
- * @section Semantics
- *
- * The instance_name should be unique among RTC instances
- * contained within the same containing component.
- *
- * @endif
- */
- string instance_name;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief type_name
- *
- * @section Description
- *
- * This attribute shall contain the name of the target RTC class.
- *
- * @section Semantics
- *
- * Each RTC class must have a name that is unique within an
- * application.
- *
- * @endif
- */
- string type_name;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief description
- *
- * @section Description
- *
- * This attribute shall briefly describe the target RTC for the
- * benefit of a human operator.
- *
- * @endif
- */
- string description;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief version
- *
- * @section Description
- *
- * This attribute shall contain the version number of the target
- * RTC class.
- *
- * @section Semantics
- *
- * The format of the version number is outside of the scope of
- * this specification.
- *
- * @endif
- */
- string version;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief vendor
- *
- * @section Description
- *
- * The name of the individual or organization that produced the
- * target RTC class.
- *
- * @endif
- */
- string vendor;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief category
- *
- * @section Description
- *
- * This attribute contains the name of a "category" or group to
- * which the target RTC belongs.
- *
- *
- * @endif
- */
- string category;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief port_profiles
- *
- * @section Description
- *
- * This attribute contains a list of PortProfiles that describe
- * the ports of the target RTC.
- *
- * @section Semantics
- *
- * There shall be a one-to-one correspondence between the members
- * of this list and the ports of the target RTC.
- *
- *
- * @endif
- */
- PortProfileList port_profiles;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief parent
- *
- * @section Description
- *
- * This attribute contains a reference to the RTC that contains
- * the target RTC instance. If the target RTC instance is not
- * owned by any other RTC, this field stores a nil reference.
- *
- * @endif
- */
- RTObject parent;
- /*!
- * @if jp
- * @brief
- * @else
- * @brief properties
- *
- * @section Description
- *
- * This attribute contains additional properties of the target RTC.
- *
- * @section Semantics
- *
- * This attribute provides implementations the opportunity to
- * describe additional characteristics of a particular RTC that
- * are otherwise outside of the scope of this specification.
- *
- * @endif
- */
- NVList properties;
- };
-
- typedef sequence<ComponentProfile> ComponentProfileList;
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief PortService
- *
- * @section Description
- *
- * An instance of the PortService interface represents a port (i.e.,
- * UML::Composite Structures::Ports::Port) of an RTC. It provides
- * operations that allow it to be connected to and disconnected from
- * other ports.
- *
- * @section Semantics
- *
- * A port service can support unidirectional or bidirectional
- * communication. A port service may allow for a service-oriented
- * connection, in which other connected ports, invoke methods on
- * it. It may also allow for a data-centric connection, in which
- * data values are streamed in or out. In either case, the
- * connection is described by an instance of
- * ConnectorProfile. However, the behavioral contracts of such
- * connections are dependent on the interfaces exposed by the ports
- * and are not described normatively by this specification.
- *
- * @endif
- */
- interface PortService
- : SDOPackage::SDOService
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_port_profile
- *
- * @section Description
- *
- * This operation returns the PortProfile of the PortService.
- *
- * @endif
- */
- PortProfile get_port_profile();
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_connector_profiles
- *
- * @section Description
- *
- * This operation returns a list of the ConnectorProfiles of the
- * PortService.
- *
- * @endif
- */
- ConnectorProfileList get_connector_profiles();
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_connector_profiles
- *
- * @section Description
- *
- * This operation returns a list of the ConnectorProfiles of the
- * PortService.
- *
- * @endif
- */
- ConnectorProfile get_connector_profile(in UniqueIdentifier connector_id);
- /*!
- * @if jp
- * @brief
- * @else
- * @brief connect
- *
- * @section Description
- *
- * This operation establishes connection between this port and the
- * peer ports according to given ConnectionProfile.
- *
- * @section Semantics
- *
- * A ConnectorProfile has a sequence of port references. This port
- * invokes the notify_connect operation of one of the ports
- * included in the sequence. It follows that the notification of
- * connection is propagated by the notify_connect operation with
- * ConnectorProfile. This operation returns ConnectorProfile
- * return value and returns ReturnCode_t as return codes.
- *
- * @endif
- */
- ReturnCode_t connect(inout ConnectorProfile connector_profile);
- /*!
- * @if jp
- * @brief
- * @else
- * @brief disconnect
- *
- * @section Description
- *
- * This operation destroys the connection between this port and
- * its peer ports using the ID that was given when the connection
- * was established.
- *
- * @section Semantics
- *
- * This port invokes the notify_disconnect operation of one of the
- * ports included in the sequence of the ConnectorProfile stored
- * when the connection was established. The notification of
- * disconnection is propagated by the notify_disconnect operation.
- *
- * @endif
- */
- ReturnCode_t disconnect(in UniqueIdentifier connector_id);
- /*!
- * @if jp
- * @brief
- * @else
- * @brief disconnect_all
- *
- * @section Description
- *
- * This operation destroys all connection channels owned by the
- * PortService.
- *
- * @endif
- */
- ReturnCode_t disconnect_all();
- /*!
- * @if jp
- * @brief
- * @else
- * @brief notify_connect
- *
- * @section Description
- *
- * This operation notifies this PortService of the connection
- * between its corresponding port and the other ports and
- * propagates the given ConnectionProfile.
- *
- * @section Semantics
- *
- * A ConnectorProfile has a sequence of port references. This
- * PortService stores the ConnectorProfile and invokes the
- * notify_connect operation of the next PortService in the
- * sequence. As ports are added to the connector, PortService
- * references are added to the ConnectorProfile and provided to
- * the caller. In this way, notification of connection is
- * propagated with the ConnectorProfile.
- *
- * @endif
- */
- ReturnCode_t notify_connect(inout ConnectorProfile connector_profile);
- /*!
- * @if jp
- * @brief
- * @else
- * @brief notify_disconnect
- *
- * @section Description
- *
- * This operation notifies a PortService of a disconnection
- * between its corresponding port and the other ports. The
- * disconnected connector is identified by the given ID, which was
- * given when the connection was established.
- *
- * @section Semantics
- *
- * This port invokes the notify_disconnect operation of the next
- * PortService in the sequence of the ConnectorProfile that was
- * stored when the connection was established. As ports are
- * disconnected, PortService references are removed from the
- * ConnectorProfile. In this way, the notification of
- * disconnection is propagated by the notify_disconnect operation.
- *
- * @endif
- */
- ReturnCode_t notify_disconnect(in UniqueIdentifier connector_id);
- };
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief ExecutionContextService
- *
- * @section Description
- *
- * An ExecutionContextService exposes an ExecutionContext as an SDO
- * service such that the context may be controlled remotely.
- *
- * @section Semantics
- *
- * Depending on the implementation, this interface may itself be an
- * execution context (that is, it may be passed to the operations of
- * ComponentAction) or it may represent a remote execution context
- * that is not of type ExecutionContextService. @endif
- */
- interface ExecutionContextService
- : ExecutionContext, SDOPackage::SDOService
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_profile
- *
- * @section Description
- *
- * This operation provides a profile "descriptor" for the
- * execution context.
- *
- * @endif
- */
- ExecutionContextProfile get_profile();
- };
-
- typedef sequence<ExecutionContextService>
- ExecutionContextServiceList;
-
- /*!
- * @if jp
- * @brief
- * @else
- * @brief RTObject
- *
- * @section Description
- *
- * The RTObject interface defines the operations that all SDO-based
- * RTCs must provide. It is required by the rtComponent stereotype.
- *
- * @endif
- */
- interface RTObject
- : LightweightRTObject, SDOPackage::SDO
- {
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_component_profile
- *
- * @section Description
- *
- * This operation returns the ComponentProfile of the RTC.
- *
- * @endif
- */
- ComponentProfile get_component_profile();
- /*!
- * @if jp
- * @brief
- * @else
- * @brief get_ports
- *
- * @section Description
- *
- * This operation returns a list of the RTCs ports.
- *
- * @endif
- */
- PortServiceList get_ports();
- };
-};
-
Deleted: branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/SDOPackage.idl
===================================================================
--- branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/SDOPackage.idl 2011-08-04 07:19:10 UTC (rev 436)
+++ branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/SDOPackage.idl 2011-08-04 07:52:39 UTC (rev 437)
@@ -1,294 +0,0 @@
-//Platform Independent Model (PIM) and Platform Specific Model (PSM)
-//for Super Distributed Objects (SDO) Specification, v1.1 - OMG IDL Summary File
-//Object Management Group, Inc.
-//Copyright (c) 2003, Fraunhofer FOKUS
-//Copyright (c) 2003, Hitachi, Ltd.
-//The companies listed above have granted to the Object Management Group, Inc.
-//(OMG) a nonexclusive, royalty-free, paid up, worldwide license to copy and
-//distribute this document and to modify this document and distribute copies of
-//the modified version. Each of the copyright holders listed above has agreed
-//that no person shall be deemed to have infringed the copyright in the included
-//material of any such copyright holder by reason of having used the
-//specification set forth herein or having conformed any computer software to
-//the specification.
-//
-//This file contains OMG IDL from the Naming Service Specification, v1.2.
-//OMG regularly publishes a summary file that contains all the "code" parts of
-//an OMG formal document. Every formal document line that is IDL, PIDL, or
-//language code is included in the summary file. The reason for such a listing
-//is to give readers an electronic version of the "code" so that they can
-//extract pieces of it. Readers might want to test an example, include it in
-//their own code, or use it for documentation purposes. Having the code lines
-//available electronically means there is less likelihood of a transcription
-//error.
-//
-// ver 1.0 formal/2004-11-02
-// ver 1.1 (RTF report: dtc/2008-03-05)
-//
-//SDOPackage.idl
-
-#ifndef _SDO_PACKAGE_IDL_
-#define _SDO_PACKAGE_IDL_
-
-#ifdef TAO_IDL
-#include <orb.idl>
-#endif
-#ifdef USE_MONITORING
-#include <CosNotifyComm.idl>
-#endif
-#ifndef ORBIT2_IDL
-#define TypeCode CORBA::TypeCode
-#endif
-/** CORBA specific model for SDOs */
-
-#pragma prefix "org.omg"
-#define exception_body { string description; }
-
-module SDOPackage
-{
- interface SDO;
- interface SDOService;
- interface SDOSystemElement;
- interface Configuration;
- interface Monitoring;
- interface Organization;
-
- /** ------- Data Types -------*/
- typedef sequence<string> StringList;
- typedef sequence<SDO> SDOList;
- typedef sequence<Organization> OrganizationList;
- typedef string UniqueIdentifier;
-
- struct NameValue
- {
- string name;
- any value;
- };
-
- typedef sequence<NameValue> NVList;
-
- enum NumericType
- {
- SHORT_TYPE,
- LONG_TYPE,
- FLOAT_TYPE,
- DOUBLE_TYPE
- };
-
- union Numeric switch (NumericType)
- {
- case SHORT_TYPE: short short_value;
- case LONG_TYPE: long long_value;
- case FLOAT_TYPE: float float_value;
- case DOUBLE_TYPE: double double_value;
- };
-
- struct EnumerationType
- {
- StringList enumerated_values;
- };
-
- struct RangeType
- {
- Numeric min;
- Numeric max;
- boolean min_inclusive;
- boolean max_inclusive;
- };
-
- struct IntervalType
- {
- Numeric min;
- Numeric max;
- boolean min_inclusive;
- boolean max_inclusive;
- Numeric step;
- };
-
- enum ComplexDataType
- {
- ENUMERATION, RANGE, INTERVAL
- };
-
- union AllowedValues switch (ComplexDataType)
- {
- case ENUMERATION: EnumerationType allowed_enum;
- case INTERVAL: IntervalType allowed_interval;
- case RANGE: RangeType allowed_range;
- };
-
- struct Parameter
- {
- string name;
- TypeCode type;
- AllowedValues allowed_values;
- };
-
- typedef sequence<Parameter> ParameterList;
- struct OrganizationProperty
- {
- NVList properties;
- };
- enum DependencyType
- {
- OWN,
- OWNED,
- NO_DEPENDENCY
- };
-
- struct DeviceProfile
- {
- string device_type;
- string manufacturer;
- string model;
- string version;
- NVList properties;
- };
-
- struct ServiceProfile
- {
- string id;
- string interface_type;
- NVList properties;
- SDOService service;
- };
-
- typedef sequence <ServiceProfile> ServiceProfileList;
- struct ConfigurationSet
- {
- string id;
- string description;
- NVList configuration_data;
- };
-
- typedef sequence<ConfigurationSet> ConfigurationSetList;
-
-
- /** ------- Exceptions -------*/
- exception NotAvailable exception_body;
- exception InterfaceNotImplemented exception_body;
- exception InvalidParameter exception_body;
- exception InternalError exception_body;
-
- /** ------- Interfaces -------*/
- interface SDOSystemElement
- {
- OrganizationList get_owned_organizations()
- raises (NotAvailable,InternalError);
- };
- interface SDO : SDOSystemElement
- {
- UniqueIdentifier get_sdo_id()
- raises (NotAvailable, InternalError);
- string get_sdo_type()
- raises (NotAvailable, InternalError);
- DeviceProfile get_device_profile ()
- raises (NotAvailable, InternalError);
- ServiceProfileList get_service_profiles ()
- raises (NotAvailable, InternalError);
- ServiceProfile get_service_profile (in UniqueIdentifier id)
- raises (InvalidParameter, NotAvailable, InternalError);
- SDOService get_sdo_service (in UniqueIdentifier id)
- raises (InvalidParameter, NotAvailable, InternalError);
- Configuration get_configuration ()
- raises (InterfaceNotImplemented, NotAvailable, InternalError);
- Monitoring get_monitoring ()
- raises (InterfaceNotImplemented, NotAvailable, InternalError);
- OrganizationList get_organizations ()
- raises (NotAvailable, InternalError);
- NVList get_status_list ()
- raises (NotAvailable, InternalError);
- any get_status (in string nme)
- raises (InvalidParameter, NotAvailable, InternalError);
- };
-
-
- interface Configuration
- {
- boolean set_device_profile (in DeviceProfile dProfile)
- raises (InvalidParameter, NotAvailable, InternalError);
- boolean add_service_profile (in ServiceProfile sProfile)
- raises (InvalidParameter, NotAvailable, InternalError);
- boolean add_organization (in Organization organization_object)
- raises (InvalidParameter, NotAvailable, InternalError);
- boolean remove_service_profile (in UniqueIdentifier id)
- raises (InvalidParameter, NotAvailable, InternalError);
- boolean remove_organization (in UniqueIdentifier organization_id)
- raises (InvalidParameter, NotAvailable, InternalError);
- ParameterList get_configuration_parameters ()
- raises (NotAvailable, InternalError);
- NVList get_configuration_parameter_values ()
- raises (NotAvailable, InternalError);
- any get_configuration_parameter_value (in string name)
- raises (InvalidParameter, NotAvailable, InternalError);
- boolean set_configuration_parameter (in string name,
- in any value)
- raises (InvalidParameter, NotAvailable, InternalError);
- ConfigurationSetList get_configuration_sets ()
- raises (NotAvailable, InternalError);
- ConfigurationSet get_configuration_set (in UniqueIdentifier config_id)
- raises (NotAvailable, InternalError);
- boolean set_configuration_set_values (in ConfigurationSet configuration_set)
- raises (InvalidParameter, NotAvailable, InternalError);
- ConfigurationSet get_active_configuration_set ()
- raises (NotAvailable, InternalError);
- boolean add_configuration_set (in ConfigurationSet configuration_set)
- raises (InvalidParameter, NotAvailable, InternalError);
- boolean remove_configuration_set (in UniqueIdentifier config_id)
- raises (InvalidParameter, NotAvailable, InternalError);
- boolean activate_configuration_set (in UniqueIdentifier config_id)
- raises (InvalidParameter, NotAvailable, InternalError);
- };
-
-
-#ifdef USE_MONITORING
- interface Monitoring : CosNotifyComm::StructuredPushConsumer,
- CosNotifyComm::StructuredPushSupplier
- {
- any get_monitoring_parameter_value (in string name)
- raises (InvalidParameter, NotAvailable, InternalError);
- ParameterList get_monitoring_parameters ()
- raises (NotAvailable, InternalError);
- NVList get_monitoring_parameter_values ()
- raises (NotAvailable, InternalError);
- };
-#else
- interface Monitoring {};
-#endif
-
- interface SDOService {};
-
- interface Organization
- {
- UniqueIdentifier get_organization_id ()
- raises (InvalidParameter, NotAvailable, InternalError);
- OrganizationProperty get_organization_property ()
- raises (NotAvailable, InternalError);
- any get_organization_property_value (in string name)
- raises (InvalidParameter, NotAvailable, InternalError);
- boolean add_organization_property (in OrganizationProperty organization_property)
- raises (InvalidParameter, NotAvailable, InternalError);
- boolean set_organization_property_value (in string name,
- in any value)
- raises (InvalidParameter, NotAvailable, InternalError);
- boolean remove_organization_property ( in string name )
- raises (InvalidParameter, NotAvailable, InternalError);
- SDOSystemElement get_owner ()
- raises (NotAvailable, InternalError);
- boolean set_owner (in SDOSystemElement sdo)
- raises (InvalidParameter, NotAvailable, InternalError);
- SDOList get_members ()
- raises (NotAvailable, InternalError);
- boolean set_members (in SDOList sdos)
- raises (InvalidParameter, NotAvailable, InternalError);
- boolean add_members ( in SDOList sdo_list)
- raises (InvalidParameter, NotAvailable, InternalError);
- boolean remove_member (in UniqueIdentifier id)
- raises (InvalidParameter, NotAvailable, InternalError);
- DependencyType get_dependency()
- raises (NotAvailable, InternalError);
- boolean set_dependency (in DependencyType dependency)
- raises (NotAvailable, InternalError);
- };
-};
-#endif //_SDO_PACKAGE_IDL_
Added: branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/setup.bat
===================================================================
--- branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/setup.bat (rev 0)
+++ branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/setup.bat 2011-08-04 07:52:39 UTC (rev 437)
@@ -0,0 +1,17 @@
+ at echo off
+echo "<<< ComponentObserverConsumer Test setup start >>>"
+
+set idlfiles=BasicDataType.idl DataPort.idl OpenRTM.idl RTC.idl SDOPackage.idl
+
+rem # idl file copy
+for %%x in (%idlfiles%) do copy ..\..\..\..\RTM_IDL\%%x .
+
+copy ..\ComponentObserver.idl .
+
+rem # idl file compile
+set idlfiles=%idlfiles% ComponentObserver.idl
+for %%x in (%idlfiles%) do omniidl -I. -bpython %%x
+
+echo "<<< ComponentObserverConsumer Test setup Complete >>>"
+echo ""
+
Added: branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/setup.sh
===================================================================
--- branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/setup.sh (rev 0)
+++ branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/test/setup.sh 2011-08-04 07:52:39 UTC (rev 437)
@@ -0,0 +1,18 @@
+#!/bin/sh
+
+echo "<<< ComponentObserverConsumer Test setup start >>>"
+
+# idl file copy
+cp -pf ../../../../RTM_IDL/BasicDataType.idl .
+cp -pf ../../../../RTM_IDL/DataPort.idl .
+cp -pf ../../../../RTM_IDL/OpenRTM.idl .
+cp -pf ../../../../RTM_IDL/RTC.idl .
+cp -pf ../../../../RTM_IDL/SDOPackage.idl .
+cp -pf ../ComponentObserver.idl .
+
+# idl file compile
+omniidl -bpython *.idl
+
+echo "<<< ComponentObserverConsumer Test setup Complete >>>"
+echo ""
+
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