18 #ifndef RTC_RTOBJECT_H
19 #define RTC_RTOBJECT_H
25 #include <rtm/idl/RTCSkel.h>
26 #include <rtm/idl/OpenRTMSkel.h>
38 #define ECOTHER_OFFSET 1000
42 class Configuration_impl;
46 #pragma warning( disable : 4290 )
52 class ExecutionContextBase;
53 typedef ExecutionContextHandle_t
UniqueId;
90 :
public virtual POA_OpenRTM::DataFlowComponent,
91 public virtual PortableServer::RefCountServantBase
134 RTObject_impl(CORBA::ORB_ptr orb, PortableServer::POA_ptr poa);
617 throw (CORBA::SystemException);
665 throw (CORBA::SystemException);
710 virtual ReturnCode_t
exit()
711 throw (CORBA::SystemException);
746 virtual CORBA::Boolean
is_alive(ExecutionContext_ptr exec_context)
747 throw (CORBA::SystemException);
777 throw (CORBA::SystemException);
798 throw (CORBA::SystemException);
819 throw (CORBA::SystemException);
835 virtual ExecutionContextHandle_t
837 throw (CORBA::SystemException);
870 throw (CORBA::SystemException);
916 throw (CORBA::SystemException);
941 throw (CORBA::SystemException);
963 throw (CORBA::SystemException);
1018 throw (CORBA::SystemException);
1045 throw (CORBA::SystemException);
1076 throw (CORBA::SystemException);
1107 throw (CORBA::SystemException);
1136 throw (CORBA::SystemException);
1166 throw (CORBA::SystemException);
1201 throw (CORBA::SystemException);
1247 throw (CORBA::SystemException);
1284 throw (CORBA::SystemException);
1332 throw (CORBA::SystemException);
1378 throw (CORBA::SystemException);
1417 throw (CORBA::SystemException);
1460 throw (CORBA::SystemException,
1461 SDOPackage::NotAvailable, SDOPackage::InternalError);
1500 throw (CORBA::SystemException,
1501 SDOPackage::NotAvailable, SDOPackage::InternalError);
1537 throw (CORBA::SystemException,
1538 SDOPackage::NotAvailable, SDOPackage::InternalError);
1577 throw (CORBA::SystemException,
1578 SDOPackage::NotAvailable, SDOPackage::InternalError);
1617 throw (CORBA::SystemException,
1618 SDOPackage::NotAvailable, SDOPackage::InternalError);
1662 throw (CORBA::SystemException,
1663 SDOPackage::InvalidParameter, SDOPackage::NotAvailable,
1664 SDOPackage::InternalError);
1714 throw (CORBA::SystemException,
1715 SDOPackage::InvalidParameter, SDOPackage::NotAvailable,
1716 SDOPackage::InternalError);
1763 throw (CORBA::SystemException,
1764 SDOPackage::InterfaceNotImplemented, SDOPackage::NotAvailable,
1765 SDOPackage::InternalError);
1811 throw (CORBA::SystemException,
1812 SDOPackage::InterfaceNotImplemented, SDOPackage::NotAvailable,
1813 SDOPackage::InternalError);
1851 throw (CORBA::SystemException,
1852 SDOPackage::NotAvailable, SDOPackage::InternalError);
1886 throw (CORBA::SystemException,
1887 SDOPackage::NotAvailable, SDOPackage::InternalError);
1925 virtual CORBA::Any*
get_status(
const char* name)
1926 throw (CORBA::SystemException,
1927 SDOPackage::InvalidParameter, SDOPackage::NotAvailable,
1928 SDOPackage::InternalError);
2145 void setObjRef(
const RTObject_ptr rtobj);
2250 template <
typename VarType>
2252 const char* def_val,
2255 RTC_TRACE((
"bindParameter(%s (default: %s))", param_name, def_val));
2350 bool addPort(PortService_ptr port);
3234 void setReadAll(
bool read=
true,
bool completion=
false);
3270 void setWriteAll(
bool write=
true,
bool completion=
false);
3383 bool autoclean =
true);
3386 template <
class Listener>
3390 void (Listener::*memfunc)(
UniqueId ec_id))
3396 Noname(Listener& obj,
void (Listener::*memfunc)(
UniqueId))
3397 : m_obj(obj), m_memfunc(memfunc)
3402 (m_obj.*m_memfunc)(ec_id);
3406 typedef void (Listener::*Memfunc)(
UniqueId ec_id);
3409 Noname* listener(
new Noname(obj, memfunc));
3517 bool autoclean =
true);
3519 template <
class Listener>
3523 void (Listener::*memfunc)(
UniqueId ec_id,
3530 Noname(Listener& obj,
void (Listener::*memfunc)(
UniqueId, ReturnCode_t))
3531 : m_obj(obj), m_memfunc(memfunc)
3534 void operator()(
UniqueId ec_id, ReturnCode_t ret)
3536 (m_obj.*m_memfunc)(ec_id, ret);
3540 typedef void (Listener::*Memfunc)(
UniqueId ec_id, ReturnCode_t ret);
3543 Noname* listener(
new Noname(obj, memfunc));
3630 bool autoclean =
true);
3632 template <
class Listener>
3636 void (Listener::*memfunc)(
const RTC::PortProfile&))
3642 Noname(Listener& obj,
3643 void (Listener::*memfunc)(
const RTC::PortProfile&))
3644 : m_obj(obj), m_memfunc(memfunc)
3647 void operator()(
const RTC::PortProfile& pprofile)
3649 (m_obj.*m_memfunc)(pprofile);
3653 typedef void (Listener::*Memfunc)(
const RTC::PortProfile&);
3656 Noname* listener(
new Noname(obj, memfunc));
3743 bool autoclean =
true);
3745 template <
class Listener>
3749 void (Listener::*memfunc)(
UniqueId))
3755 Noname(Listener& obj,
void (Listener::*memfunc)(
UniqueId))
3756 : m_obj(obj), m_memfunc(memfunc)
3761 (m_obj.*m_memfunc)(ec_id);
3765 typedef void (Listener::*Memfunc)(
UniqueId);
3768 Noname* listener(
new Noname(obj, memfunc));
3854 bool autoclean =
true);
3856 template <
class Listener>
3860 void (Listener::*memfunc)(
const char*,
3867 Noname(Listener& obj,
3868 void (Listener::*memfunc)(
const char*, ConnectorProfile&))
3869 : m_obj(obj), m_memfunc(memfunc)
3872 void operator()(
const char* portname, ConnectorProfile& cprofile)
3874 (m_obj.*m_memfunc)(portname, cprofile);
3878 typedef void (Listener::*Memfunc)(
const char*, ConnectorProfile&);
3881 Noname* listener(
new Noname(obj, memfunc));
3970 bool autoclean =
true);
3972 template <
class Listener>
3976 void (Listener::*memfunc)(
const char*,
3984 Noname(Listener& obj,
3985 void (Listener::*memfunc)(
const char*,
3988 : m_obj(obj), m_memfunc(memfunc)
3991 void operator()(
const char* portname,
3992 ConnectorProfile& cprofile,
3995 (m_obj.*m_memfunc)(portname, cprofile, ret);
3999 typedef void (Listener::*Memfunc)(
const char* portname,
4000 ConnectorProfile& cprofile,
4004 Noname* listener(
new Noname(obj, memfunc));
4068 bool autoclean =
true);
4070 template <
class Listener>
4074 void (Listener::*memfunc)(
const char*,
4081 Noname(Listener& obj,
4082 void (Listener::*memfunc)(
const char*,
const char*))
4083 : m_obj(obj), m_memfunc(memfunc)
4086 void operator()(
const char* config_set_name,
4087 const char* config_param_name)
4089 (m_obj.*m_memfunc)(config_set_name, config_param_name);
4093 typedef void (Listener::*Memfunc)(
const char*,
const char*);
4096 Noname* listener(
new Noname(obj, memfunc));
4161 bool autoclean =
true);
4163 template <
class Listener>
4167 void (Listener::*memfunc)
4174 Noname(Listener& obj,
4176 : m_obj(obj), m_memfunc(memfunc)
4181 (m_obj.*m_memfunc)(config_set);
4188 Noname* listener(
new Noname(obj, memfunc));
4255 bool autoclean =
true);
4257 template <
class Listener>
4261 void (Listener::*memfunc)(
const char*))
4267 Noname(Listener& obj,
void (Listener::*memfunc)(
const char*))
4268 : m_obj(obj), m_memfunc(memfunc)
4271 virtual void operator()(
const char* config_set_name)
4273 (m_obj.*m_memfunc)(config_set_name);
4277 typedef void (Listener::*Memfunc)(
const char*);
4280 Noname* listener(
new Noname(obj, memfunc));
4537 return m_id == std::string(prof.id);
4806 return m_name == std::string(nv.name);
4826 if (!::CORBA::is_nil(ecs))
4829 ExecutionContext::_duplicate(ecs));
4844 :
m_ec(ExecutionContext::_duplicate(ec))
4851 if (!::CORBA::is_nil(ecs))
4853 ExecutionContext_var ec;
4854 ec = ExecutionContext::_narrow(ecs);
4855 return m_ec->_is_equivalent(ec);
4879 :
m_comp(RTC::LightweightRTObject::_duplicate(comp))
4884 if (!::CORBA::is_nil(ec) && !ec->_non_existent())
4887 ec->deactivate_component(RTC::LightweightRTObject::_duplicate(
m_comp));
4897 #pragma warning( default : 4290 )
4900 #endif // RTC_RTOBJECT
ComponentProfile m_profile
ComponentProfile.
Definition: RTObject.h:4588
Definition: ComponentActionListener.h:486
PortAdmin m_portAdmin
List of Port Object reference.
Definition: RTObject.h:4606
bool operator()(ExecutionContextService_ptr ecs)
Definition: RTObject.h:4847
Definition: ComponentActionListener.h:228
PortConnectListenerType
The types of ConnectorDataListener.
Definition: PortConnectListener.h:49
Definition: ComponentActionListener.h:59
const char * getVendor()
[local interface] Get vendor
Definition: RTObject.h:2074
Logger rtclog
Logger stream.
Definition: RTObject.h:4485
svc_name(const char *id)
Definition: RTObject.h:4534
virtual SDOPackage::NVList * get_status_list()
[SDO interface] Get SDO Status list
void onAddPort(const PortProfile &pprof)
Definition: RTObject.h:4457
virtual ExecutionContextHandle_t get_context_handle(ExecutionContext_ptr cxt)
[CORBA interface] Return a handle of a ExecutionContext
void postOnStateUpdate(UniqueId ec_id, ReturnCode_t ret)
Definition: RTObject.h:4447
virtual SDOPackage::Configuration_ptr get_configuration()
[SDO interface] Get Configuration object
Definition: ComponentActionListener.h:227
void postOnReset(UniqueId ec_id, ReturnCode_t ret)
Definition: RTObject.h:4437
void preOnAborting(UniqueId ec_id)
Definition: RTObject.h:4367
void finalizeContexts()
The ExecutionContextBase list is deleted.
std::vector< InPortBase * > m_inports
List of InPortBase*.
Definition: RTObject.h:4615
void onRemovePort(const PortProfile &pprof)
Definition: RTObject.h:4462
PortConnectRetListener class.
Definition: PortConnectListener.h:202
Definition: ComponentActionListener.h:485
std::string m_id
Definition: RTObject.h:4539
const char * getCategory()
[local interface] Get category information
Definition: RTObject.h:2099
virtual ReturnCode_t onExecute(RTC::UniqueId exec_handle)
Callback function to execute periodically.
Definition: ComponentActionListener.h:64
PostComponentActionListenerType
The types of ConnectorDataListener.
Definition: ComponentActionListener.h:219
virtual ExecutionContext_ptr get_context(UniqueId exec_handle)
[CORBA interface] Get ExecutionContext.
PreComponentActionListener * addPreComponentActionListener(PreCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id))
Definition: RTObject.h:3388
RT Conponent CORBA service/consumer Port.
Definition: CorbaPort.h:620
std::string m_name
Definition: RTObject.h:4808
#define RTC_TRACE(fmt)
Trace level log output macro.
Definition: SystemLogger.h:510
ExecutionContextServiceList m_ecOther
List of participating ExecutionContextService.
Definition: RTObject.h:4651
Definition: SdoServiceAdmin.h:148
bool m_readAllCompletion
flag for readAll()
Definition: RTObject.h:4741
SDOPackage::Configuration_impl * m_pSdoConfigImpl
The pointer to the SDO Configuration Object.
Definition: RTObject.h:4549
virtual SDOPackage::OrganizationList * get_organizations()
[SDO interface] Get Organization list
void preOnShutdown(UniqueId ec_id)
Definition: RTObject.h:4352
component action listener class
bool stringTo(To &val, const char *str)
Convert the given std::string to object.
Definition: stringutil.h:597
UniqueId bindContext(ExecutionContext_ptr exec_context)
virtual ReturnCode_t onShutdown(RTC::UniqueId exec_handle)
Callback function for shutdown action.
ConfigurationSetListener * addConfigurationSetListener(ConfigurationSetListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const coil::Properties &config_set))
Definition: RTObject.h:4165
ReturnCode_t detach_context(UniqueId exec_handle)
[CORBA interface] Detach ExecutionContext.
Definition: ComponentActionListener.h:61
void updateParameters(const char *config_set)
Update configuration parameters (by ID)
ECActionListener * addExecutionContextActionListener(ECActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId))
Definition: RTObject.h:3747
PostComponentActionListenerHolder postaction_[POST_COMPONENT_ACTION_LISTENER_NUM]
PostComponentActionType listener array The PostComponentActionType listener is stored.
Definition: ComponentActionListener.h:1042
virtual ReturnCode_t onAborting(RTC::UniqueId exec_handle)
Callback function to abort.
RT component logger class.
deactivate_comps(LightweightRTObject_ptr comp)
Definition: RTObject.h:4878
virtual ReturnCode_t onStateUpdate(RTC::UniqueId exec_handle)
Callback function to update the state.
SDOPackage::OrganizationList m_sdoOrganizations
SDO organization.
Definition: RTObject.h:4567
virtual ReturnCode_t on_startup(UniqueId exec_handle)
[ComponentAction CORBA interface] Startup RTC
void onAttachExecutionContext(UniqueId ec_id)
Definition: RTObject.h:4467
virtual CORBA::Boolean is_alive(ExecutionContext_ptr exec_context)
[CORBA interface] Confirm whether RTC is the alive state
virtual ExecutionContextList * get_participating_contexts()
[CORBA interface] Get participating ExecutionContextList.
void addPortConnectRetListener(PortConnectRetListenerType listener_type, PortConnectRetListener *listener, bool autoclean=true)
Adding PortConnectRet type listener.
void removeConfigurationSetListener(ConfigurationSetListenerType type, ConfigurationSetListener *listener)
Removing ConfigurationSetListener.
virtual ReturnCode_t on_initialize()
[RTObject CORBA interface] Get ExecutionContextAdmin
Definition: ComponentActionListener.h:67
ConfigAdmin class.
Definition: ConfigAdmin.h:534
void addConfigurationSetListener(ConfigurationSetListenerType type, ConfigurationSetListener *listener, bool autoclean=true)
Adding ConfigurationSetListener.
bool isOwnExecutionContext(RTC::UniqueId ec_id)
[local interface] Checking if the current context is own context
CORBA::ORB_var m_pORB
The pointer to the ORB.
Definition: RTObject.h:4502
PortActionListenerType
The types of PortActionListener.
Definition: ComponentActionListener.h:376
void postOnExecute(UniqueId ec_id, ReturnCode_t ret)
Definition: RTObject.h:4442
virtual ExecutionContextList * get_owned_contexts()
[CORBA interface] Get ExecutionContextList.
void removeConfigurationParamListener(ConfigurationParamListenerType type, ConfigurationParamListener *listener)
Removing ConfigurationParamListener.
void removePortConnectRetListener(PortConnectRetListenerType listener_type, PortConnectRetListener *listener)
Removing PortConnectRet type listener.
void removePortConnectListener(PortConnectListenerType listener_type, PortConnectListener *listener)
Removing PortConnect type listener.
bool removeInPort(InPortBase &port)
[local interface] Unregister InPort
ReturnCode_t reset(RTC::UniqueId ec_id)
[local interface] Resetting and go to Inactive state
Functor to find from SDOService Profile List by id.
Definition: RTObject.h:4532
bool m_exiting
RTC Finalize Status Flag.
Definition: RTObject.h:4669
Definition: ComponentActionListener.h:226
bool addSdoServiceProvider(const SDOPackage::ServiceProfile &prof, SdoServiceProviderBase *provider)
[local interface] Set a SDO service provider
RT-Component class.
Definition: RTObject.h:89
virtual SDOPackage::DeviceProfile * get_device_profile()
[SDO interface] Get SDO DeviceProfile list
coil::Properties & getProperties()
[local interface] Get RTC property
SDOPackage::Configuration_var m_pSdoConfig
The pointer to the SDO Configuration Interface.
Definition: RTObject.h:4558
ConfigurationSetListener class.
Definition: ConfigurationListener.h:188
ConfigurationSetNameListener class.
Definition: ConfigurationListener.h:298
ComponentActionListeners m_actionListeners
ComponentActionListener holder.
Definition: RTObject.h:4774
ConfigurationParamListener class.
Definition: ConfigurationListener.h:72
void registerPort(PortBase &port)
[local interface] Register Port
Manager class.
Definition: Manager.h:80
Configuration Administration classes.
ConfigurationSetNameListenerType
The types of ConfigurationSetNameListener.
Definition: ConfigurationListener.h:266
void addExecutionContextActionListener(ECActionListenerType listener_type, ECActionListener *listener, bool autoclean=true)
PreComponentActionListenerType
The types of ConnectorDataListener.
Definition: ComponentActionListener.h:57
PortActionListener * addPortActionListener(PortActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const RTC::PortProfile &))
Definition: RTObject.h:3634
void postOnShutdown(UniqueId ec_id, ReturnCode_t ret)
Definition: RTObject.h:4412
bool removePort(PortBase &port)
[local interface] Unregister Port
double getExecutionRate(RTC::UniqueId ec_id)
[local interface] Getting current context' execution rate
PortConnectRetListener * addPortConnectRetListener(PortConnectRetListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *, ConnectorProfile &, ReturnCode_t))
Definition: RTObject.h:3974
ExecutionContextList & m_eclist
Definition: RTObject.h:4832
nv_name(const char *name)
Definition: RTObject.h:4803
PostComponentActionListener * addPostComponentActionListener(PostCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id, ReturnCode_t ret))
Definition: RTObject.h:3521
ConfigurationParamListener * addConfigurationParamListener(ConfigurationParamListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *, const char *))
Definition: RTObject.h:4072
void postOnError(UniqueId ec_id, ReturnCode_t ret)
Definition: RTObject.h:4432
bool m_readAll
flag for readAll()
Definition: RTObject.h:4714
Definition: ComponentActionListener.h:62
ReturnCode_t activate(RTC::UniqueId ec_id)
[local interface] Make transition to Active state
Manager * m_pManager
Manager object.
Definition: RTObject.h:4493
ExecutionContextActionListenerHolder ecaction_[EC_ACTION_LISTENER_NUM]
ExecutionContextActionType listener array The ExecutionContextActionType listener is stored...
Definition: ComponentActionListener.h:1064
UniqueId attach_context(ExecutionContext_ptr exec_context)
[CORBA interface] Attach ExecutionContext
Definition: ComponentActionListener.h:68
SdoServiceAdmin m_sdoservice
SDO Service Administrator Object.
Definition: RTObject.h:4705
void addConfigurationSetNameListener(ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener, bool autoclean=true)
Adding ConfigurationSetNameListener.
bool m_created
Created Status Flag.
Definition: RTObject.h:4660
SDOPackage::NVList m_sdoStatus
SDO Status.
Definition: RTObject.h:4576
void notify(const RTC::PortProfile &pprofile)
Notify listeners.
void operator()(ExecutionContextService_ptr ecs)
Definition: RTObject.h:4824
void preOnRateChanged(UniqueId ec_id)
Definition: RTObject.h:4392
PreComponentActionListener class.
Definition: ComponentActionListener.h:120
Definition: ComponentActionListener.h:379
PortableServer::POA_var m_pPOA
The pointer to the POA.
Definition: RTObject.h:4511
bool addOutPort(const char *name, OutPortBase &outport)
[local interface] Register DataOutPort
void operator()(ExecutionContextService_ptr ec)
Definition: RTObject.h:4882
virtual ReturnCode_t onActivated(RTC::UniqueId exec_handle)
Callback function to activate.
virtual ReturnCode_t onReset(RTC::UniqueId exec_handle)
Callback function to reset.
void postOnAborting(UniqueId ec_id, ReturnCode_t ret)
Definition: RTObject.h:4427
Definition: ComponentActionListener.h:231
std::vector< std::string > getNamingNames()
[local interface] Get Naming Server information
PreComponentActionListener PreCompActionListener
Adding PreComponentAction type listener.
Definition: RTObject.h:3378
virtual SDOPackage::Monitoring_ptr get_monitoring()
[SDO interface] Get Monitoring object
PortAdmin class.
Definition: PortAdmin.h:52
virtual ReturnCode_t onRateChanged(RTC::UniqueId exec_handle)
Callback function to change execution cycle.
void notify(UniqueId ec_id, ReturnCode_t ret)
Notify listeners.
virtual ReturnCode_t on_error(UniqueId exec_handle)
[ComponentAction CORBA interface] Error Processing of RTC
virtual ReturnCode_t on_reset(UniqueId exec_handle)
[ComponentAction CORBA interface] Resetting RTC
SDO service administration class.
Definition: ComponentActionListener.h:66
Definition: ComponentActionListener.h:69
virtual ~RTObject_impl(void)
Virtual destructor.
Functor to copy ExecutionContext.
Definition: RTObject.h:4818
const char * getTypeName()
[local interface] Get type name
Definition: RTObject.h:1998
PortConnectListener class.
Definition: PortConnectListener.h:82
ReturnCode_t setExecutionRate(RTC::UniqueId ec_id, double rate)
[local interface] Setting current context' execution rate
void preOnError(UniqueId ec_id)
Definition: RTObject.h:4372
SDOPackage::OrganizationList m_sdoOwnedOrganizations
SDO owned organization list.
Definition: RTObject.h:4523
ExecutionContextActionListenerType ECActionListenerType
Adding ExecutionContextAction type listener.
Definition: RTObject.h:3739
void setObjRef(const RTObject_ptr rtobj)
[local interface] Set the object reference
bool removeOutPort(OutPortBase &port)
[local interface] Unregister OutPort
PortActionListenerHolder portaction_[PORT_ACTION_LISTENER_NUM]
PortActionType listener array The PortActionType listener is stored.
Definition: ComponentActionListener.h:1053
void onDetachExecutionContext(UniqueId ec_id)
Definition: RTObject.h:4472
ConfigurationSetNameListener * addConfigurationSetNameListener(ConfigurationSetNameListenerType type, Listener &obj, void(Listener::*memfunc)(const char *))
Definition: RTObject.h:4259
ExecutionContextHandle_t UniqueId
Definition: ComponentActionListener.h:32
Definition: ComponentActionListener.h:229
virtual ReturnCode_t on_execute(UniqueId exec_handle)
[DataFlowComponentAction CORBA interface] Primary Periodic Operation of RTC
PortConnectListener * addPortConnectListener(PortConnectListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *, ConnectorProfile &))
Definition: RTObject.h:3858
Port base class.
Definition: PortBase.h:134
virtual ReturnCode_t initialize()
[CORBA interface] Initialize the RTC that realizes this interface.
void addPortConnectListener(PortConnectListenerType listener_type, PortConnectListener *listener, bool autoclean=true)
Adding PortConnect type listener.
Functor to find NVList.
Definition: RTObject.h:4801
bool bindParameter(const char *param_name, VarType &var, const char *def_val, bool(*trans)(VarType &, const char *)=coil::stringTo)
Setup for configuration parameters.
Definition: RTObject.h:2251
bool removeSdoServiceProvider(const char *id)
[local interface] Remove a SDO service provider
PortConnectListeners class.
Definition: PortConnectListener.h:487
std::vector< ExecutionContextBase * > m_eclist
List of ExecutionContextBase.
Definition: RTObject.h:4642
RTObject_impl(Manager *manager)
Constructor.
virtual SDOPackage::ServiceProfile * get_service_profile(const char *id)
[SDO interface] Get specified ServiceProfile
Definition: ComponentActionListener.h:221
ComponentActionListeners class.
Definition: ComponentActionListener.h:1018
ExecutionContext_var m_ec
Definition: RTObject.h:4864
Definition: ComponentActionListener.h:378
bool removeSdoServiceConsumer(const char *id)
[local interface] Remove a SDO service provider
Definition: SdoServiceProviderBase.h:134
Output base class.
Definition: OutPortBase.h:230
bool operator()(const SDOPackage::NameValue &nv)
Definition: RTObject.h:4804
virtual SDOPackage::ServiceProfileList * get_service_profiles()
[SDO interface] Get SDO ServiceProfile
ExecutionContextServiceList m_ecMine
List of owned ExecutionContextService.
Definition: RTObject.h:4633
bool m_writeAllCompletion
flag for writeAll()
Definition: RTObject.h:4759
void removePortActionListener(PortActionListenerType listener_type, PortActionListener *listener)
Removing PortAction type listener.
void addConfigurationParamListener(ConfigurationParamListenerType type, ConfigurationParamListener *listener, bool autoclean=true)
Adding ConfigurationParamListener.
virtual ReturnCode_t on_aborting(UniqueId exec_handle)
[ComponentAction CORBA interface] Transition to Error State
const char * getDescription()
[local interface] GetDescription
Definition: RTObject.h:2023
PostComponentActionListener PostCompActionListener
Adding PostComponentAction type listener.
Definition: RTObject.h:3511
ConfigAdmin m_configsets
Configuration Administrator Object.
Definition: RTObject.h:4696
void preOnReset(UniqueId ec_id)
Definition: RTObject.h:4377
Functor to deactivate RTC.
Definition: RTObject.h:4876
Logger class.
Definition: SystemLogger.h:99
LightweightRTObject_var m_comp
Definition: RTObject.h:4891
const char * getVersion()
[local interface] Get version information
Definition: RTObject.h:2049
Port for InPort.
Definition: InPortBase.h:67
void deletePort(PortBase &port)
[local interface] Unregister Port
void removePostComponentActionListener(PostComponentActionListenerType listener_type, PostComponentActionListener *listener)
Removing PostComponentAction type listener.
virtual ReturnCode_t onStartup(RTC::UniqueId exec_handle)
Callback function for startup action.
virtual CORBA::Any * get_status(const char *name)
[SDO interface] Get SDO Status
const char * getInstanceName()
[local interface] Get instance name
Definition: RTObject.h:1952
void removeConfigurationSetNameListener(ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener)
Removing ConfigurationSetNameListener.
void postOnFinalize(UniqueId ec_id, ReturnCode_t ret)
Definition: RTObject.h:4402
RTC::Port implementation for InPort.
PortConnectRetListenerType
The types of PortConnectRetListenerType.
Definition: PortConnectListener.h:161
virtual ReturnCode_t on_rate_changed(UniqueId exec_handle)
[DataFlowComponentAction CORBA interface] Notify rate changed
void removePreComponentActionListener(PreComponentActionListenerType listener_type, PreComponentActionListener *listener)
Removing PreComponentAction type listener.
void removeExecutionContextActionListener(ECActionListenerType listener_type, ECActionListener *listener)
Removing ExecutionContextAction type listener.
void notify(UniqueId ec_id)
Notify listeners.
Definition: ComponentActionListener.h:222
void preOnStateUpdate(UniqueId ec_id)
Definition: RTObject.h:4387
Class represents a set of properties.
Definition: Properties.h:101
ec_find(ExecutionContext_ptr &ec)
Definition: RTObject.h:4843
void postOnActivated(UniqueId ec_id, ReturnCode_t ret)
Definition: RTObject.h:4417
void shutdown()
Shutdown RTC.
void postOnInitialize(UniqueId ec_id, ReturnCode_t ret)
Definition: RTObject.h:4397
virtual ReturnCode_t finalize()
[CORBA interface] Finalize the RTC for destruction
Definition: ComponentActionListener.h:70
ExecutionContext_ptr getExecutionContext(RTC::UniqueId ec_id)
[local interface] Getting current execution context
virtual ReturnCode_t exit()
[CORBA interface]top the RTC's execution context(s) and finalize it along with its contents...
virtual char * get_sdo_type()
[SDO interface] Get SDO type
void registerInPort(const char *name, InPortBase &inport)
[local interface] Register DataInPort
bool operator()(const SDOPackage::ServiceProfile &prof)
Definition: RTObject.h:4535
void setWriteAll(bool write=true, bool completion=false)
Set whether to execute the writeAll() method.
Property list class (derived from Java Properties)
void preOnStartup(UniqueId ec_id)
Definition: RTObject.h:4347
virtual SDOPackage::OrganizationList * get_owned_organizations()
[SDO interface] Get Organization list
virtual SDOPackage::SDOService_ptr get_sdo_service(const char *id)
[SDO interface] Get specified SDO Service's reference
void deletePortByName(const char *port_name)
[local interface] Delete Port by specifying its name
bool addPort(PortBase &port)
[local interface] Register Port
virtual ReturnCode_t on_state_update(UniqueId exec_handle)
[DataFlowComponentAction CORBA interface] Secondary Periodic Operation of RTC
bool writeAll()
The write() method of all OutPort is called.
void push_back(CorbaSequence &seq, SequenceElement elem)
Push the new element back to the CORBA sequence.
Definition: CORBA_SeqUtil.h:175
void setInstanceName(const char *instance_name)
[local interface] Set instance name
void setReadAll(bool read=true, bool completion=false)
Set whether to execute the readAll() method.
PreComponentActionListenerHolder preaction_[PRE_COMPONENT_ACTION_LISTENER_NUM]
PreComponentActionListenerType listener array The PreComponentActionListenerType listener is stored...
Definition: ComponentActionListener.h:1031
virtual ReturnCode_t onFinalize()
Callback function to finalize.
virtual ComponentProfile * get_component_profile()
[RTObject CORBA interface] Get RTC's profile
virtual ReturnCode_t onInitialize()
Callback function to initialize.
PortConnectListeners m_portconnListeners
PortConnectListener holder.
Definition: RTObject.h:4789
Configuration implementation class.
Definition: SdoConfiguration.h:154
Definition: ComponentActionListener.h:225
Definition: ComponentActionListener.h:223
virtual ReturnCode_t on_shutdown(UniqueId exec_handle)
[ComponentAction CORBA interface] Shutdown RTC
virtual ReturnCode_t on_finalize()
[ComponentAction CORBA interface] Finalize RTC
virtual ReturnCode_t on_deactivated(UniqueId exec_handle)
[ComponentAction CORBA interface] Deactivate RTC
virtual char * get_sdo_id()
[SDO interface] Get the SDO ID
Definition: ComponentActionListener.h:65
void finalizePorts()
Unregister All Ports.
void preOnActivated(UniqueId ec_id)
Definition: RTObject.h:4357
void postOnStartup(UniqueId ec_id, ReturnCode_t ret)
Definition: RTObject.h:4407
coil::Properties m_properties
Alive Status Flag.
Definition: RTObject.h:4687
Definition: ComponentActionListener.h:224
ExecutionContextActionListener ECActionListener
Definition: RTObject.h:3740
ExecutionContextActionListenerType
The types of ExecutionContextActionListener.
Definition: ComponentActionListener.h:483
bool bindParameter(const char *param_name, VarType &var, const char *def_val, bool(*trans)(VarType &, const char *)=coil::stringTo)
Setup for configuration parameters.
Definition: ConfigAdmin.h:612
PostComponentActionListenerType PostCompActionListenerType
Definition: RTObject.h:3512
void preOnInitialize(UniqueId ec_id)
Definition: RTObject.h:4337
bool addInPort(const char *name, InPortBase &inport)
[local interface] Register DataInPort
bool m_writeAll
flag for writeAll()
Definition: RTObject.h:4723
ConfigurationSetListenerType
The types of ConfigurationSetListener.
Definition: ConfigurationListener.h:158
RTObject_var m_objref
Object reference.
Definition: RTObject.h:4597
void addPreComponentActionListener(PreComponentActionListenerType listener_type, PreComponentActionListener *listener, bool autoclean=true)
void registerOutPort(const char *name, OutPortBase &outport)
[local interface] Register DataOutPort
virtual ReturnCode_t on_activated(UniqueId exec_handle)
[ComponentAction CORBA interface] Activate RTC
Definition: ComponentActionListener.h:230
PortActionListener class.
Definition: ComponentActionListener.h:403
bool addSdoServiceConsumer(const SDOPackage::ServiceProfile &prof)
[local interface] Set a SDO service provider
virtual PortServiceList * get_ports()
[RTObject CORBA interface] Get Ports
void addPostComponentActionListener(PostComponentActionListenerType listener_type, PostComponentActionListener *listener, bool autoclean=true)
PreComponentActionListenerType PreCompActionListenerType
Definition: RTObject.h:3379
bool readAll()
Readout the value from All InPorts.
std::vector< OutPortBase * > m_outports
List of OutPortBase*.
Definition: RTObject.h:4624
Functor to find ExecutionContext.
Definition: RTObject.h:4841
void setProperties(const coil::Properties &prop)
[local interface] Set RTC property
Definition: ComponentActionListener.h:60
Definition: ComponentActionListener.h:63
port's internal action listener classes
ec_copy(ExecutionContextList &eclist)
Definition: RTObject.h:4820
RTC's Port administration class.
PostComponentActionListener class.
Definition: ComponentActionListener.h:283
RTObject_ptr getObjRef() const
[local interface] Get the object reference
virtual ReturnCode_t onError(RTC::UniqueId exec_handle)
Callback function for error handling.
void postOnDeactivated(UniqueId ec_id, ReturnCode_t ret)
Definition: RTObject.h:4422
void preOnFinalize(UniqueId ec_id)
Definition: RTObject.h:4342
ConfigurationParamListenerType
The types of ConnectorDataListener.
Definition: ConfigurationListener.h:43
Definition: ComponentActionListener.h:232
void notify(UniqueId ec_id)
Notify listeners.
virtual ReturnCode_t onDeactivated(RTC::UniqueId exec_handle)
Callback function to deactivate.
ExecutionContextActionListener class.
Definition: ComponentActionListener.h:510
void postOnRateChanged(UniqueId ec_id, ReturnCode_t ret)
Definition: RTObject.h:4452
ReturnCode_t deactivate(RTC::UniqueId ec_id)
[local interface] Make transition to Inactive state
void preOnDeactivated(UniqueId ec_id)
Definition: RTObject.h:4362
void preOnExecute(UniqueId ec_id)
Definition: RTObject.h:4382
void addPortActionListener(PortActionListenerType listener_type, PortActionListener *listener, bool autoclean=true)
Adding PortAction type listener.