#include <RTObject.h>
Public Member Functions | |
RTObject_impl (Manager *manager) | |
Constructor. | |
RTObject_impl (CORBA::ORB_ptr orb, PortableServer::POA_ptr poa) | |
Constructor. | |
virtual | ~RTObject_impl (void) |
Virtual destructor. | |
virtual ReturnCode_t | initialize () throw (CORBA::SystemException) |
[CORBA interface] IInitialize the RTC that realizes this interface. | |
virtual ReturnCode_t | finalize () throw (CORBA::SystemException) |
[CORBA interface] Finalize the RTC for preparing it for destruction | |
virtual ReturnCode_t | exit () throw (CORBA::SystemException) |
[CORBA interface]top the RTC's execution context(s) and finalize it along with its contents. | |
virtual CORBA::Boolean | is_alive (ExecutionContext_ptr exec_context) throw (CORBA::SystemException) |
[CORBA interface] Confirm whether RTC is the alive state | |
virtual ExecutionContext_ptr | get_context (UniqueId exec_handle) throw (CORBA::SystemException) |
[CORBA interface] Get ExecutionContext. | |
virtual ExecutionContextList * | get_owned_contexts () throw (CORBA::SystemException) |
[CORBA interface] Get ExecutionContextList. | |
virtual ExecutionContextList * | get_participating_contexts () throw (CORBA::SystemException) |
[CORBA interface] Get participating ExecutionContextList. | |
virtual ExecutionContextHandle_t | get_context_handle (ExecutionContext_ptr cxt) throw (CORBA::SystemException) |
[CORBA interface] Return a handle of a ExecutionContext | |
UniqueId | attach_context (ExecutionContext_ptr exec_context) throw (CORBA::SystemException) |
[CORBA interface] Attach ExecutionContext | |
UniqueId | bindContext (ExecutionContext_ptr exec_context) |
ReturnCode_t | detach_context (UniqueId exec_handle) throw (CORBA::SystemException) |
[CORBA interface] Detach ExecutionContext. | |
virtual ComponentProfile * | get_component_profile () throw (CORBA::SystemException) |
[RTObject CORBA interface] Get RTC's profile | |
virtual PortServiceList * | get_ports () throw (CORBA::SystemException) |
[RTObject CORBA interface] Get Ports | |
virtual ReturnCode_t | on_initialize () throw (CORBA::SystemException) |
[RTObject CORBA interface] Get ExecutionContextAdmin | |
virtual ReturnCode_t | on_finalize () throw (CORBA::SystemException) |
[ComponentAction CORBA interface] Finalize RTC | |
virtual ReturnCode_t | on_startup (UniqueId exec_handle) throw (CORBA::SystemException) |
[ComponentAction CORBA interface] Startup RTC | |
virtual ReturnCode_t | on_shutdown (UniqueId exec_handle) throw (CORBA::SystemException) |
[ComponentAction CORBA interface] Shutdown RTC | |
virtual ReturnCode_t | on_activated (UniqueId exec_handle) throw (CORBA::SystemException) |
[ComponentAction CORBA interface] Activate RTC | |
virtual ReturnCode_t | on_deactivated (UniqueId exec_handle) throw (CORBA::SystemException) |
[ComponentAction CORBA interface] Deactivate RTC | |
virtual ReturnCode_t | on_aborting (UniqueId exec_handle) throw (CORBA::SystemException) |
[ComponentAction CORBA interface] Transition to Error State | |
virtual ReturnCode_t | on_error (UniqueId exec_handle) throw (CORBA::SystemException) |
[ComponentAction CORBA interface] Error Processing of RTC | |
virtual ReturnCode_t | on_reset (UniqueId exec_handle) throw (CORBA::SystemException) |
[ComponentAction CORBA interface] Resetting RTC | |
virtual ReturnCode_t | on_execute (UniqueId exec_handle) throw (CORBA::SystemException) |
[DataFlowComponentAction CORBA interface] Primary Periodic Operation of RTC | |
virtual ReturnCode_t | on_state_update (UniqueId exec_handle) throw (CORBA::SystemException) |
[DataFlowComponentAction CORBA interface] Secondary Periodic Operation of RTC | |
virtual ReturnCode_t | on_rate_changed (UniqueId exec_handle) throw (CORBA::SystemException) |
[DataFlowComponentAction CORBA interface] Notify rate changed | |
virtual SDOPackage::OrganizationList * | get_owned_organizations () throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError) |
[SDO interface] Get Organization list | |
virtual char * | get_sdo_id () throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError) |
[SDO interface] Get the SDO ID | |
virtual char * | get_sdo_type () throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError) |
[SDO interface] Get SDO type | |
virtual SDOPackage::DeviceProfile * | get_device_profile () throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError) |
[SDO interface] Get SDO DeviceProfile list | |
virtual SDOPackage::ServiceProfileList * | get_service_profiles () throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError) |
[SDO interface] Get SDO ServiceProfile | |
virtual SDOPackage::ServiceProfile * | get_service_profile (const char *id) throw (CORBA::SystemException, SDOPackage::InvalidParameter, SDOPackage::NotAvailable, SDOPackage::InternalError) |
[SDO interface] Get specified ServiceProfile | |
virtual SDOPackage::SDOService_ptr | get_sdo_service (const char *id) throw (CORBA::SystemException, SDOPackage::InvalidParameter, SDOPackage::NotAvailable, SDOPackage::InternalError) |
[SDO interface] Get specified SDO Service's reference | |
virtual SDOPackage::Configuration_ptr | get_configuration () throw (CORBA::SystemException, SDOPackage::InterfaceNotImplemented, SDOPackage::NotAvailable, SDOPackage::InternalError) |
[SDO interface] Get Configuration object | |
virtual SDOPackage::Monitoring_ptr | get_monitoring () throw (CORBA::SystemException, SDOPackage::InterfaceNotImplemented, SDOPackage::NotAvailable, SDOPackage::InternalError) |
[SDO interface] Get Monitoring object | |
virtual SDOPackage::OrganizationList * | get_organizations () throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError) |
[SDO interface] Get Organization list | |
virtual SDOPackage::NVList * | get_status_list () throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError) |
[SDO interface] Get SDO Status list | |
virtual CORBA::Any * | get_status (const char *name) throw (CORBA::SystemException, SDOPackage::InvalidParameter, SDOPackage::NotAvailable, SDOPackage::InternalError) |
[SDO interface] Get SDO Status | |
const char * | getInstanceName () |
[local interface] Get instance name | |
void | setInstanceName (const char *instance_name) |
[local interface] Set instance name | |
const char * | getTypeName () |
[local interface] Get type name | |
const char * | getDescription () |
[local interface] GetDescription | |
const char * | getVersion () |
[local interface] Get version information | |
const char * | getVendor () |
[local interface] Get vendor | |
const char * | getCategory () |
[local interface] Get category information | |
std::vector < std::string > | getNamingNames () |
[local interface] Get Naming Server information | |
void | setObjRef (const RTObject_ptr rtobj) |
[local interface] Set the object reference | |
RTObject_ptr | getObjRef () const |
[local interface] Get the object reference | |
void | setProperties (const coil::Properties &prop) |
[local interface] Set RTC property | |
coil::Properties & | getProperties () |
[local interface] Get RTC property | |
template<typename VarType> | |
bool | bindParameter (const char *param_name, VarType &var, const char *def_val, bool(*trans)(VarType &, const char *)=coil::stringTo) |
Setup for configuration parameters. | |
void | updateParameters (const char *config_set) |
Update configuration parameters (by ID). | |
void | registerPort (PortBase &port) |
[local interface] Register Port | |
void | registerPort (PortService_ptr port) |
void | registerInPort (const char *name, InPortBase &inport) |
[local interface] Register DataInPort | |
void | registerOutPort (const char *name, OutPortBase &outport) |
[local interface] Register DataOutPort | |
void | deletePort (PortBase &port) |
[local interface] Unregister Port | |
void | deletePort (PortService_ptr port) |
void | deletePortByName (const char *port_name) |
[local interface] Delete Port by specifying its name | |
void | finalizePorts () |
Unregister All Ports. | |
void | finalizeContexts () |
Protected Member Functions | |
virtual ReturnCode_t | onInitialize () |
Callback function to initialize. | |
virtual ReturnCode_t | onFinalize () |
Callback function to finalize. | |
virtual ReturnCode_t | onStartup (RTC::UniqueId exec_handle) |
Callback function for startup action. | |
virtual ReturnCode_t | onShutdown (RTC::UniqueId exec_handle) |
Callback function for shutdown action. | |
virtual ReturnCode_t | onActivated (RTC::UniqueId exec_handle) |
Callback function to activate. | |
virtual ReturnCode_t | onDeactivated (RTC::UniqueId exec_handle) |
Callback function to deactivate. | |
virtual ReturnCode_t | onExecute (RTC::UniqueId exec_handle) |
Callback function to execute periodically. | |
virtual ReturnCode_t | onAborting (RTC::UniqueId exec_handle) |
Callback function to abort. | |
virtual ReturnCode_t | onError (RTC::UniqueId exec_handle) |
Callback function for error handling. | |
virtual ReturnCode_t | onReset (RTC::UniqueId exec_handle) |
Callback function to reset. | |
virtual ReturnCode_t | onStateUpdate (RTC::UniqueId exec_handle) |
Callback function to update the state. | |
virtual ReturnCode_t | onRateChanged (RTC::UniqueId exec_handle) |
Callback function to change execution cycle. | |
void | shutdown () |
Shutdown RTC. | |
Protected Attributes | |
Logger | rtclog |
Manager * | m_pManager |
Manager object. | |
CORBA::ORB_var | m_pORB |
The pointer to the ORB. | |
PortableServer::POA_var | m_pPOA |
The pointer to the POA. | |
SDOPackage::OrganizationList | m_sdoOwnedOrganizations |
SDO owned organization list. | |
SDOPackage::ServiceProfileList | m_sdoSvcProfiles |
SDOService Profile List. | |
SDOPackage::Configuration_impl * | m_pSdoConfigImpl |
The pointer to the SDO Configuration Object. | |
SDOPackage::Configuration_var | m_pSdoConfig |
The pointer to the SDO Configuration Interface. | |
SDOPackage::OrganizationList | m_sdoOrganizations |
SDO organization. | |
SDOPackage::NVList | m_sdoStatus |
SDO Status. | |
ComponentProfile | m_profile |
ComponentProfile. | |
RTObject_ptr | m_objref |
Object reference. | |
PortAdmin | m_portAdmin |
List of Port Object reference. | |
ExecutionContextServiceList | m_ecMine |
List of owned ExecutionContextService. | |
std::vector < ExecutionContextBase * > | m_eclist |
ExecutionContextServiceList | m_ecOther |
List of participating ExecutionContextService. | |
bool | m_created |
Created Status Flag. | |
coil::Properties | m_properties |
Alive Status Flag. | |
ConfigAdmin | m_configsets |
Configuration Administrator Object. | |
Classes | |
struct | deactivate_comps |
Functor to deactivate RTC. More... | |
struct | ec_copy |
Functor to find ExecutionContext. More... | |
struct | ec_find |
struct | nv_name |
Functor to find NVList. More... | |
struct | svc_name |
Functor to find from SDOService Profile List by id. More... |
This is a class to be a base of each RT-Component. This is a implementation class of lightweightRTComponent in Robotic Technology Component specification. This provides a implementation of ComponentAction interface that offers the the component's function and the implementation of LightweightRTObject for management of the component's lifecycle. When users actually create the components, they should use each subclass corresponding to Execution Semantics.
(In current implementation, since only Periodic Sampled Data Processing is supported, this class inherits dataFlowComponent directly.)
RTC::RTObject_impl::RTObject_impl | ( | Manager * | manager | ) |
RTC::RTObject_impl::RTObject_impl | ( | CORBA::ORB_ptr | orb, | |
PortableServer::POA_ptr | poa | |||
) |
Constructor.
Constructor
orb | ORB | |
poa | POA |
virtual RTC::RTObject_impl::~RTObject_impl | ( | void | ) | [virtual] |
Virtual destructor.
virtual ReturnCode_t RTC::RTObject_impl::onInitialize | ( | ) | [protected, virtual] |
Callback function to initialize.
This is a callback function that is executed when ComponentAction::on_initialize was invoked.
As for actual initialization of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.
Reimplemented in RTC::PeriodicECSharedComposite.
virtual ReturnCode_t RTC::RTObject_impl::onFinalize | ( | ) | [protected, virtual] |
Callback function to finalize.
This is a callback function that is executed when ComponentAction::on_finalize was invoked.
As for actual finalization of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.
Reimplemented in RTC::PeriodicECSharedComposite.
virtual ReturnCode_t RTC::RTObject_impl::onStartup | ( | RTC::UniqueId | exec_handle | ) | [protected, virtual] |
Callback function for startup action.
Callback function that is executed when ComponentAction::on_startup was invoked.
As for actual startup of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.
exec_handle | ID of the participant ExecutionContext |
virtual ReturnCode_t RTC::RTObject_impl::onShutdown | ( | RTC::UniqueId | exec_handle | ) | [protected, virtual] |
Callback function for shutdown action.
Callback function that is executed when ComponentAction::on_shutdown was invoked.
As for actual shutdown of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.
exec_handle | ID of the participant ExecutionContext |
virtual ReturnCode_t RTC::RTObject_impl::onActivated | ( | RTC::UniqueId | exec_handle | ) | [protected, virtual] |
Callback function to activate.
This is a callback function that is executed when ComponentAction::on_activated was invoked.
As for actual activation of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.
exec_handle | ID of the participant ExecutionContext |
Reimplemented in RTC::PeriodicECSharedComposite.
virtual ReturnCode_t RTC::RTObject_impl::onDeactivated | ( | RTC::UniqueId | exec_handle | ) | [protected, virtual] |
Callback function to deactivate.
This is a callback function that is executed when ComponentAction::on_deactivated was invoked.
As for actual deactivation of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.
exec_handle | ID of the participant ExecutionContext |
Reimplemented in RTC::PeriodicECSharedComposite.
virtual ReturnCode_t RTC::RTObject_impl::onExecute | ( | RTC::UniqueId | exec_handle | ) | [protected, virtual] |
Callback function to execute periodically.
This is a callback function that is executed when DataFlowComponentAction::on_execute is invoked.
As for actual periodic execution of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it. This function is invoked periodically as the first execution pass of Two-Pass Execution in Periodic Sampled Data Processing.
exec_handle | ID of the participant ExecutionContext |
virtual ReturnCode_t RTC::RTObject_impl::onAborting | ( | RTC::UniqueId | exec_handle | ) | [protected, virtual] |
Callback function to abort.
This is a callback function that is executed when ComponentAction::on_aborting was invoked.
As for actual abortion of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.
exec_handle | ID of the participant ExecutionContext |
virtual ReturnCode_t RTC::RTObject_impl::onError | ( | RTC::UniqueId | exec_handle | ) | [protected, virtual] |
Callback function for error handling.
This is a callback function that is executed when ComponentAction::on_error was invoked.
As for actual error handling of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.
exec_handle | ID of the participant ExecutionContext |
virtual ReturnCode_t RTC::RTObject_impl::onReset | ( | RTC::UniqueId | exec_handle | ) | [protected, virtual] |
Callback function to reset.
This is a callback function that is executed when ComponentAction::on_reset was invoked.
As for actual reset of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.
exec_handle | ID of the participant ExecutionContext |
Reimplemented in RTC::PeriodicECSharedComposite.
virtual ReturnCode_t RTC::RTObject_impl::onStateUpdate | ( | RTC::UniqueId | exec_handle | ) | [protected, virtual] |
Callback function to update the state.
This is a callback function that is executed when DataFlowComponentAction::on_state_update was invoked.
As for actual updating the state of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.
This function is invoked periodically as the second execution pass of Two-Pass Execution in Periodic Sampled Data Processing.
exec_handle | ID of the participant ExecutionContext |
virtual ReturnCode_t RTC::RTObject_impl::onRateChanged | ( | RTC::UniqueId | exec_handle | ) | [protected, virtual] |
Callback function to change execution cycle.
This is a callback function that is executed when DataFlowComponentAction::on_rate_changed was invoked.
As for actual changing execution cycle of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.
This function is invoked when the execution of ExecutionContext was updated in Periodic Sampled Data Processing.
exec_handle | ID of the participant ExecutionContext |
virtual ReturnCode_t RTC::RTObject_impl::initialize | ( | ) | throw (CORBA::SystemException) [virtual] |
[CORBA interface] IInitialize the RTC that realizes this interface.
The invocation of this operation shall result in the invocation of the callback ComponentAction::on_initialize.
Constraints
virtual ReturnCode_t RTC::RTObject_impl::finalize | ( | ) | throw (CORBA::SystemException) [virtual] |
[CORBA interface] Finalize the RTC for preparing it for destruction
This invocation of this operation shall result in the invocation of the callback ComponentAction::on_finalize.
Constraints
virtual ReturnCode_t RTC::RTObject_impl::exit | ( | ) | throw (CORBA::SystemException) [virtual] |
[CORBA interface]top the RTC's execution context(s) and finalize it along with its contents.
Any execution contexts for which the RTC is the owner shall be stopped. If the RTC participates in any execution contexts belonging to another RTC that contains it, directly or indirectly (i.e. the containing RTC is the owner of the ExecutionContext), it shall be deactivated in those contexts. After the RTC is no longer Active in any Running execution context, it and any RTCs contained transitively within it shall be finalized.
Constraints
virtual CORBA::Boolean RTC::RTObject_impl::is_alive | ( | ExecutionContext_ptr | exec_context | ) | throw (CORBA::SystemException) [virtual] |
[CORBA interface] Confirm whether RTC is the alive state
A component is alive or not regardless of the execution context from which it is observed. However, whether or not it is Active, Inactive, or in Error is dependent on the execution context(s) in which it is running. That is, it may be Active in one context but Inactive in another. Therefore, this operation shall report whether this RTC is either Active, Inactive or in Error; which of those states a component is in with respect to a particular context may be queried from the context itself.
virtual ExecutionContext_ptr RTC::RTObject_impl::get_context | ( | UniqueId | exec_handle | ) | throw (CORBA::SystemException) [virtual] |
[CORBA interface] Get ExecutionContext.
Obtain a reference to the execution context represented by the given handle. The mapping from handle to context is specific to a particular RTC instance. The given handle must have been obtained by a previous call to attach_context on this RTC.
exec_handle | ExecutionContext handle |
virtual ExecutionContextList* RTC::RTObject_impl::get_owned_contexts | ( | ) | throw (CORBA::SystemException) [virtual] |
[CORBA interface] Get ExecutionContextList.
This operation returns a list of all execution contexts owned by this RTC.
virtual ExecutionContextList* RTC::RTObject_impl::get_participating_contexts | ( | ) | throw (CORBA::SystemException) [virtual] |
[CORBA interface] Get participating ExecutionContextList.
This operation returns a list of all execution contexts in which this RTC participates.
virtual ExecutionContextHandle_t RTC::RTObject_impl::get_context_handle | ( | ExecutionContext_ptr | cxt | ) | throw (CORBA::SystemException) [virtual] |
[CORBA interface] Return a handle of a ExecutionContext
This operation returns a handle that is associated with the given execution context.
UniqueId RTC::RTObject_impl::attach_context | ( | ExecutionContext_ptr | exec_context | ) | throw (CORBA::SystemException) |
[CORBA interface] Attach ExecutionContext
Inform this RTC that it is participating in the given execution context. Return a handle that represents the association of this RTC with the context. This operation is intended to be invoked by ExecutionContextOperations::add_component. It is not intended for use by other clients.
exec_context | Participating ExecutionContext |
UniqueId RTC::RTObject_impl::bindContext | ( | ExecutionContext_ptr | exec_context | ) |
ReturnCode_t RTC::RTObject_impl::detach_context | ( | UniqueId | exec_handle | ) | throw (CORBA::SystemException) |
[CORBA interface] Detach ExecutionContext.
Inform this RTC that it is no longer participating in the given execution context. This operation is intended to be invoked by ExecutionContextOperations::remove. It is not intended for use by other clients. Constraints
exec_handle | Detaching ExecutionContext Handle |
virtual ComponentProfile* RTC::RTObject_impl::get_component_profile | ( | ) | throw (CORBA::SystemException) [virtual] |
[RTObject CORBA interface] Get RTC's profile
This operation returns the ComponentProfile of the RTC.
virtual PortServiceList* RTC::RTObject_impl::get_ports | ( | ) | throw (CORBA::SystemException) [virtual] |
[RTObject CORBA interface] Get Ports
This operation returns the reference of ports held by RTC.
virtual ReturnCode_t RTC::RTObject_impl::on_initialize | ( | ) | throw (CORBA::SystemException) [virtual] |
[RTObject CORBA interface] Get ExecutionContextAdmin
This operation returns a list containing an ExecutionContextAdmin for every ExecutionContext owned by the RTC.
The RTC has been initialized and entered the Alive state. Any RTC-specific initialization logic should be performed here. As a result of this operation, onInitialize() callback function is called.
virtual ReturnCode_t RTC::RTObject_impl::on_finalize | ( | ) | throw (CORBA::SystemException) [virtual] |
[ComponentAction CORBA interface] Finalize RTC
The RTC is being destroyed. Any final RTC-specific tear-down logic should be performed here. As a result of this operation, onFinalize() callback function is called.
virtual ReturnCode_t RTC::RTObject_impl::on_startup | ( | UniqueId | exec_handle | ) | throw (CORBA::SystemException) [virtual] |
[ComponentAction CORBA interface] Startup RTC
The given execution context, in which the RTC is participating, has transitioned from Stopped to Running. As a result of this operation, onStartup() callback function is called.
exec_handle | ID of ExecutionContext that transited to the state |
virtual ReturnCode_t RTC::RTObject_impl::on_shutdown | ( | UniqueId | exec_handle | ) | throw (CORBA::SystemException) [virtual] |
[ComponentAction CORBA interface] Shutdown RTC
The given execution context, in which the RTC is participating, has transitioned from Running to Stopped. As a result of this operation, onShutdown() callback function is called.
exec_handle | ID of ExecutionContext that transited to the state |
virtual ReturnCode_t RTC::RTObject_impl::on_activated | ( | UniqueId | exec_handle | ) | throw (CORBA::SystemException) [virtual] |
[ComponentAction CORBA interface] Activate RTC
The RTC has been activated in the given execution context. As a result of this operation, onActivated() callback function is called.
exec_handle | ID of activation ExecutionContext |
virtual ReturnCode_t RTC::RTObject_impl::on_deactivated | ( | UniqueId | exec_handle | ) | throw (CORBA::SystemException) [virtual] |
[ComponentAction CORBA interface] Deactivate RTC
The RTC has been deactivated in the given execution context. As a result of this operation, onDeactivated() callback function is called.
exec_handle | ID of deactivation ExecutionContext |
virtual ReturnCode_t RTC::RTObject_impl::on_aborting | ( | UniqueId | exec_handle | ) | throw (CORBA::SystemException) [virtual] |
[ComponentAction CORBA interface] Transition to Error State
The RTC is transitioning from the Active state to the Error state in some execution context. This callback is invoked only a single time for time that the RTC transitions into the Error state from another state. This behavior is in contrast to that of on_error. As a result of this operation, onAborting() callback function is invoked.
exec_handle | ID of ExecutionContext that transited to the state |
virtual ReturnCode_t RTC::RTObject_impl::on_error | ( | UniqueId | exec_handle | ) | throw (CORBA::SystemException) [virtual] |
[ComponentAction CORBA interface] Error Processing of RTC
The RTC remains in the Error state. If the RTC is in the Error state relative to some execution context when it would otherwise be invoked from that context (according to the context’s ExecutionKind), this callback shall be invoked instead. For example,
exec_handle | ID of target ExecutionContext |
virtual ReturnCode_t RTC::RTObject_impl::on_reset | ( | UniqueId | exec_handle | ) | throw (CORBA::SystemException) [virtual] |
[ComponentAction CORBA interface] Resetting RTC
The RTC is in the Error state. An attempt is being made to recover it such that it can return to the Inactive state. If the RTC was successfully recovered and can safely return to the Inactive state, this method shall complete with ReturnCode_t::OK. Any other result shall indicate that the RTC should remain in the Error state. As a result of this operation, onReset() callback function is invoked.
exec_handle | ID of target ExecutionContext for the reset |
virtual ReturnCode_t RTC::RTObject_impl::on_execute | ( | UniqueId | exec_handle | ) | throw (CORBA::SystemException) [virtual] |
[DataFlowComponentAction CORBA interface] Primary Periodic Operation of RTC
This operation will be invoked periodically at the rate of the given execution context as long as the following conditions hold:
Constraints
exec_handle | ID of target ExecutionContext for Primary Periodic Operation |
virtual ReturnCode_t RTC::RTObject_impl::on_state_update | ( | UniqueId | exec_handle | ) | throw (CORBA::SystemException) [virtual] |
[DataFlowComponentAction CORBA interface] Secondary Periodic Operation of RTC
This operation will be invoked periodically at the rate of the given execution context as long as the following conditions hold:
Constraints
exec_handle | ID of target ExecutionContext for Secondary Periodic Operation |
virtual ReturnCode_t RTC::RTObject_impl::on_rate_changed | ( | UniqueId | exec_handle | ) | throw (CORBA::SystemException) [virtual] |
[DataFlowComponentAction CORBA interface] Notify rate changed
This operation is a notification that the rate of the indicated execution context has changed. As a result of this operation, onRateChanged() callback function is called.
Constraints
exec_handle | ID of target ExecutionContext for Operation |
virtual SDOPackage::OrganizationList* RTC::RTObject_impl::get_owned_organizations | ( | ) | throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError) [virtual] |
[SDO interface] Get Organization list
SDOSystemElement can be the owner of zero or more organizations. If the SDOSystemElement owns one or more Organizations, this operation returns the list of Organizations that the SDOSystemElement owns. If it does not own any Organization, it returns empty list.
SDONotExists | The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.) | |
NotAvailable | The target SDO is reachable but cannot respond. | |
InternalError | The target SDO cannot execute the operation completely due to some internal error. |
virtual char* RTC::RTObject_impl::get_sdo_id | ( | ) | throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError) [virtual] |
[SDO interface] Get the SDO ID
This operation returns id of the SDO. This operation throws SDOException with one of the following types.
SDONotExists | The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.) | |
NotAvailable | The target SDO is reachable but cannot respond. | |
InternalError | The target SDO cannot execute the operation completely due to some internal error. |
virtual char* RTC::RTObject_impl::get_sdo_type | ( | ) | throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError) [virtual] |
[SDO interface] Get SDO type
This operation returns sdoType of the SDO. This operation throws SDOException with one of the following types.
SDONotExists | The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.) | |
NotAvailable | The target SDO is reachable but cannot respond. | |
InternalError | The target SDO cannot execute the operation completely due to some internal error. |
virtual SDOPackage::DeviceProfile* RTC::RTObject_impl::get_device_profile | ( | ) | throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError) [virtual] |
[SDO interface] Get SDO DeviceProfile list
This operation returns the DeviceProfile of the SDO. If the SDO does not represent any hardware device, then a DeviceProfile with empty values are returned. This operation throws SDOException with one of the following types.
SDONotExists | The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.) | |
NotAvailable | The target SDO is reachable but cannot respond. | |
InternalError | The target SDO cannot execute the operation completely due to some internal error. |
virtual SDOPackage::ServiceProfileList* RTC::RTObject_impl::get_service_profiles | ( | ) | throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError) [virtual] |
[SDO interface] Get SDO ServiceProfile
This operation returns a list of ServiceProfiles that the SDO has. If the SDO does not provide any service, then an empty list is returned. This operation throws SDOException with one of the following types.
SDONotExists | The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.) | |
NotAvailable | The target SDO is reachable but cannot respond. | |
InternalError | The target SDO cannot execute the operation completely due to some internal error. |
virtual SDOPackage::ServiceProfile* RTC::RTObject_impl::get_service_profile | ( | const char * | id | ) | throw (CORBA::SystemException, SDOPackage::InvalidParameter, SDOPackage::NotAvailable, SDOPackage::InternalError) [virtual] |
[SDO interface] Get specified ServiceProfile
This operation returns the ServiceProfile that is specified by the argument "id."
id | The identifier referring to one of the ServiceProfiles. |
InvalidParameter | The ServiceProfile that is specified by the argument 'id' does not exist or if 'id' is 'null.' | |
SDONotExists | The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.) | |
NotAvailable | The target SDO is reachable but cannot respond. | |
InternalError | The target SDO cannot execute the operation completely due to some internal error. |
virtual SDOPackage::SDOService_ptr RTC::RTObject_impl::get_sdo_service | ( | const char * | id | ) | throw (CORBA::SystemException, SDOPackage::InvalidParameter, SDOPackage::NotAvailable, SDOPackage::InternalError) [virtual] |
[SDO interface] Get specified SDO Service's reference
This operation returns an object implementing an SDO's service that is identified by the identifier specified as an argument. Different services provided by an SDO are distinguished with different identifiers. See OMG SDO specification Section 2.2.8, "ServiceProfile," on page 2-12 for more details.
id | The identifier referring to one of the SDO Service |
InvalidParameter | Argument “id” is null, or if the ServiceProfile that is specified by argument “id” does not exist. | |
SDONotExists | The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.) | |
NotAvailable | The target SDO is reachable but cannot respond. | |
InternalError | The target SDO cannot execute the operation completely due to some internal error. |
virtual SDOPackage::Configuration_ptr RTC::RTObject_impl::get_configuration | ( | ) | throw (CORBA::SystemException, SDOPackage::InterfaceNotImplemented, SDOPackage::NotAvailable, SDOPackage::InternalError) [virtual] |
[SDO interface] Get Configuration object
This operation returns an object implementing the Configuration interface. The Configuration interface is one of the interfaces that each SDO maintains. The interface is used to configure the attributes defined in DeviceProfile, ServiceProfile, and Organization. See OMG SDO specification Section 2.3.5, "Configuration Interface," on page 2-24 for more details about the Configuration interface.
InterfaceNotImplemented | The target SDO has no Configuration interface. | |
SDONotExists | The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.) | |
NotAvailable | The target SDO is reachable but cannot respond. | |
InternalError | The target SDO cannot execute the operation completely due to some internal error. |
virtual SDOPackage::Monitoring_ptr RTC::RTObject_impl::get_monitoring | ( | ) | throw (CORBA::SystemException, SDOPackage::InterfaceNotImplemented, SDOPackage::NotAvailable, SDOPackage::InternalError) [virtual] |
[SDO interface] Get Monitoring object
This operation returns an object implementing the Monitoring interface. The Monitoring interface is one of the interfaces that each SDO maintains. The interface is used to monitor the properties of an SDO. See OMG SDO specification Section 2.3.7, "Monitoring Interface," on page 2-35 for more details about the Monitoring interface.
InterfaceNotImplemented | The target SDO has no Configuration interface. | |
SDONotExists | The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.) | |
NotAvailable | The target SDO is reachable but cannot respond. | |
InternalError | The target SDO cannot execute the operation completely due to some internal error. |
virtual SDOPackage::OrganizationList* RTC::RTObject_impl::get_organizations | ( | ) | throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError) [virtual] |
[SDO interface] Get Organization list
An SDO belongs to zero or more organizations. If the SDO belongs to one or more organizations, this operation returns the list of organizations that the SDO belongs to. An empty list is returned if the SDO does not belong to any Organizations.
SDONotExists | The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.) | |
NotAvailable | The target SDO is reachable but cannot respond. | |
InternalError | The target SDO cannot execute the operation completely due to some internal error. |
virtual SDOPackage::NVList* RTC::RTObject_impl::get_status_list | ( | ) | throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError) [virtual] |
[SDO interface] Get SDO Status list
This operation returns an NVlist describing the status of an SDO.
SDONotExists | The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.) | |
NotAvailable | The target SDO is reachable but cannot respond. | |
InternalError | The target SDO cannot execute the operation completely due to some internal error. |
virtual CORBA::Any* RTC::RTObject_impl::get_status | ( | const char * | name | ) | throw (CORBA::SystemException, SDOPackage::InvalidParameter, SDOPackage::NotAvailable, SDOPackage::InternalError) [virtual] |
[SDO interface] Get SDO Status
name | One of the parameters defining the "status" of an SDO. |
SDONotExists | The target SDO does not exist.(This exception is mapped to CORBA standard system exception OBJECT_NOT_EXIST.) | |
NotAvailable | The target SDO is reachable but cannot respond. | |
InvalidParameter | The parameter defined by "name" is null or does not exist. | |
InternalError | The target SDO cannot execute the operation completely due to some internal error. |
const char* RTC::RTObject_impl::getInstanceName | ( | ) | [inline] |
[local interface] Get instance name
Return the instance name that has been set in ComponentProfile.
void RTC::RTObject_impl::setInstanceName | ( | const char * | instance_name | ) |
[local interface] Set instance name
Set the instance name specified in ComponentProfile.
instance_name | Instance name |
const char* RTC::RTObject_impl::getTypeName | ( | ) | [inline] |
[local interface] Get type name
Get the type name has been set in ComponentProfile.
const char* RTC::RTObject_impl::getDescription | ( | ) | [inline] |
[local interface] GetDescription
Get the Description has been set in ComponentProfile.
const char* RTC::RTObject_impl::getVersion | ( | ) | [inline] |
[local interface] Get version information
Get the version information that has been set in ComponentProfile.
const char* RTC::RTObject_impl::getVendor | ( | ) | [inline] |
[local interface] Get vendor
Get the vendor information that has been set in ComponentProfile.
const char* RTC::RTObject_impl::getCategory | ( | ) | [inline] |
[local interface] Get category information
Get the category information that has been set in ComponentProfile.
std::vector<std::string> RTC::RTObject_impl::getNamingNames | ( | ) |
[local interface] Get Naming Server information
Get Naming Server information that has been set.
void RTC::RTObject_impl::setObjRef | ( | const RTObject_ptr | rtobj | ) |
[local interface] Set the object reference
Set RTC's CORBA object reference.
rtobj | The object reference |
RTObject_ptr RTC::RTObject_impl::getObjRef | ( | ) | const |
[local interface] Get the object reference
Get CORBA object reference that has been set
void RTC::RTObject_impl::setProperties | ( | const coil::Properties & | prop | ) |
coil::Properties& RTC::RTObject_impl::getProperties | ( | ) |
bool RTC::RTObject_impl::bindParameter | ( | const char * | param_name, | |
VarType & | var, | |||
const char * | def_val, | |||
bool(*)(VarType &, const char *) | trans = coil::stringTo | |||
) | [inline] |
Setup for configuration parameters.
Bind configuration parameter to its variable. Specify the data type of configuration parameter as <VarType>.
param_name | Configuration parameter name | |
var | Variables to store configuration parameter | |
def_val | Default value of configuration parameter | |
trans | Function to transform configuration parameter type into string format |
void RTC::RTObject_impl::updateParameters | ( | const char * | config_set | ) |
Update configuration parameters (by ID).
Update configuration parameter value by the value that set to a configuration set of specified ID.
config_set | The target configuration set's ID for setup |
void RTC::RTObject_impl::registerPort | ( | PortBase & | port | ) |
[local interface] Register Port
This operation registers a Port held by this RTC. In order to enable access to the Port from outside of RTC, the Port must be registered by this operation. The Port that is registered by this operation would be identified by PortProfile.name in the inside of RTC. Therefore, the Port should have unique PortProfile.name in the RTC. The registering Port would be activated properly, and the reference and the object reference would be stored in lists in RTC.
port | Port which is registered to the RTC |
void RTC::RTObject_impl::registerPort | ( | PortService_ptr | port | ) |
void RTC::RTObject_impl::registerInPort | ( | const char * | name, | |
InPortBase & | inport | |||
) |
void RTC::RTObject_impl::registerOutPort | ( | const char * | name, | |
OutPortBase & | outport | |||
) |
void RTC::RTObject_impl::deletePort | ( | PortBase & | port | ) |
[local interface] Unregister Port
This operation unregisters a Port held by this RTC.
port | Port which is unregistered |
void RTC::RTObject_impl::deletePort | ( | PortService_ptr | port | ) |
void RTC::RTObject_impl::deletePortByName | ( | const char * | port_name | ) |
[local interface] Delete Port by specifying its name
Delete Port which RTC has by specifying its name.
port_name | Name of Port which is deleted |
void RTC::RTObject_impl::finalizePorts | ( | ) |
Unregister All Ports.
This operation deactivates the all Ports and deletes the all Port's registrations in the RTC
void RTC::RTObject_impl::finalizeContexts | ( | ) |
void RTC::RTObject_impl::shutdown | ( | ) | [protected] |
Logger RTC::RTObject_impl::rtclog [mutable, protected] |
Manager* RTC::RTObject_impl::m_pManager [protected] |
Manager object.
CORBA::ORB_var RTC::RTObject_impl::m_pORB [protected] |
The pointer to the ORB.
PortableServer::POA_var RTC::RTObject_impl::m_pPOA [protected] |
The pointer to the POA.
SDOPackage::OrganizationList RTC::RTObject_impl::m_sdoOwnedOrganizations [protected] |
SDO owned organization list.
SDOPackage::ServiceProfileList RTC::RTObject_impl::m_sdoSvcProfiles [protected] |
SDOService Profile List.
The pointer to the SDO Configuration Object.
SDOPackage::Configuration_var RTC::RTObject_impl::m_pSdoConfig [protected] |
The pointer to the SDO Configuration Interface.
SDOPackage::OrganizationList RTC::RTObject_impl::m_sdoOrganizations [protected] |
SDO organization.
SDOPackage::NVList RTC::RTObject_impl::m_sdoStatus [protected] |
SDO Status.
ComponentProfile RTC::RTObject_impl::m_profile [protected] |
ComponentProfile.
RTObject_ptr RTC::RTObject_impl::m_objref [protected] |
Object reference.
PortAdmin RTC::RTObject_impl::m_portAdmin [protected] |
List of Port Object reference.
ExecutionContextServiceList RTC::RTObject_impl::m_ecMine [protected] |
List of owned ExecutionContextService.
std::vector<ExecutionContextBase*> RTC::RTObject_impl::m_eclist [protected] |
ExecutionContextServiceList RTC::RTObject_impl::m_ecOther [protected] |
List of participating ExecutionContextService.
bool RTC::RTObject_impl::m_created [protected] |
Created Status Flag.
coil::Properties RTC::RTObject_impl::m_properties [protected] |
Alive Status Flag.
RTC's Property
ConfigAdmin RTC::RTObject_impl::m_configsets [protected] |
Configuration Administrator Object.