#include <DataFlowComponentBase.h>
Inheritance diagram for RTC::DataFlowComponentBase:
Public Member Functions | |
DataFlowComponentBase (Manager *manager) | |
Constructor. | |
virtual | ~DataFlowComponentBase () |
Destructor. | |
void | init () |
Initialization. | |
virtual ReturnCode_t | initialize () |
virtual ReturnCode_t | finalize () |
Finalize the RTC for preparing it for destruction. | |
virtual ReturnCode_t | exit () |
Stop the RTC's and finalize it along with its contents. | |
virtual CORBA::Boolean | is_alive () |
virtual ExecutionContextList * | get_contexts () |
[CORBA interface] Get ExecutionContextList. | |
virtual ExecutionContext_ptr | get_context (UniqueId ec_id) |
[CORBA interface] Get ExecutionContext. | |
virtual ComponentProfile * | get_component_profile () |
[RTObject CORBA interface] Get RTC's profile | |
virtual PortList * | get_ports () |
[RTObject CORBA interface] Get Ports | |
virtual ExecutionContextServiceList * | get_execution_context_services () |
[RTObject CORBA interface] Get ExecutionContextAdmin | |
UniqueId | attach_executioncontext (ExecutionContext_ptr exec_context) |
ReturnCode_t | detach_executioncontext (UniqueId ec_id) |
virtual ReturnCode_t | on_initialize () |
virtual ReturnCode_t | on_finalize () |
virtual ReturnCode_t | on_startup (UniqueId ec_id) |
virtual ReturnCode_t | on_shutdown (UniqueId ec_id) |
virtual ReturnCode_t | on_activated (UniqueId ec_id) |
virtual ReturnCode_t | on_deactivated (UniqueId ec_id) |
virtual ReturnCode_t | on_aborting (UniqueId ec_id) |
virtual ReturnCode_t | on_error (UniqueId ec_id) |
virtual ReturnCode_t | on_reset (UniqueId ec_id) |
virtual ReturnCode_t | on_execute (UniqueId ec_id) |
virtual ReturnCode_t | on_state_update (UniqueId ec_id) |
virtual ReturnCode_t | on_rate_changed (UniqueId ec_id) |
virtual SDOPackage::OrganizationList * | get_owned_organizations () throw (SDOPackage::NotAvailable) |
[CORBA interface] Getting Organizations | |
virtual char * | get_sdo_id () throw (SDOPackage::NotAvailable, SDOPackage::InternalError) |
[CORBA interface] Getting SDO ID | |
virtual char * | get_sdo_type () throw (SDOPackage::NotAvailable, SDOPackage::InternalError) |
[CORBA interface] Getting SDO type | |
virtual SDOPackage::DeviceProfile * | get_device_profile () throw (SDOPackage::NotAvailable, SDOPackage::InternalError) |
[CORBA interface] Getting SDO DeviceProfile | |
virtual SDOPackage::ServiceProfileList * | get_service_profiles () throw (SDOPackage::InvalidParameter, SDOPackage::NotAvailable, SDOPackage::InternalError) |
[CORBA interface] Getting SDO ServiceProfile | |
virtual SDOPackage::ServiceProfile * | get_service_profile (const char *id) throw (SDOPackage::InvalidParameter, SDOPackage::NotAvailable, SDOPackage::InternalError) |
[CORBA interface] Getting Organizations | |
virtual SDOPackage::SDOService_ptr | get_sdo_service (const char *id) throw (SDOPackage::InvalidParameter, SDOPackage::NotAvailable, SDOPackage::InternalError) |
[CORBA interface] Getting specified SDO Service's reference | |
virtual SDOPackage::Configuration_ptr | get_configuration () throw (SDOPackage::InterfaceNotImplemented, SDOPackage::NotAvailable, SDOPackage::InternalError) |
[CORBA interface] Getting Configuration object | |
virtual SDOPackage::Monitoring_ptr | get_monitoring () throw (SDOPackage::InterfaceNotImplemented, SDOPackage::NotAvailable, SDOPackage::InternalError) |
[CORBA interface] Get Monitoring object | |
virtual SDOPackage::OrganizationList * | get_organizations () throw (SDOPackage::NotAvailable, SDOPackage::InternalError) |
[CORBA interface] Getting Organizations | |
virtual SDOPackage::NVList * | get_status_list () throw (SDOPackage::NotAvailable, SDOPackage::InternalError) |
[CORBA interface] Get SDO Status | |
virtual CORBA::Any * | get_status (const char *name) throw (SDOPackage::InvalidParameter, SDOPackage::NotAvailable, SDOPackage::InternalError) |
[CORBA interface] Get SDO Status | |
const char * | getInstanceName () |
void | setInstanceName (const char *instance_name) |
const char * | getTypeName () |
const char * | getDescription () |
const char * | getVersion () |
const char * | getVendor () |
const char * | getCategory () |
std::vector< std::string > | getNamingNames () |
void | setObjRef (const RTObject_ptr rtobj) |
RTObject_ptr | getObjRef () const |
void | setProperties (const Properties &prop) |
[local interface] Set RTC property | |
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 *)=::stringTo) |
void | updateParameters (const char *config_set) |
void | registerPort (PortBase &port) |
[local interface] Register Port | |
template<class DataType, template< class DataType > class Buffer> | |
void | registerInPort (const char *name, InPort< DataType, Buffer > &inport) |
template<class DataType, template< class DataType > class Buffer> | |
void | registerOutPort (const char *name, OutPort< DataType, Buffer > &outport) |
void | deletePort (PortBase &port) |
[local interface] Register Port | |
void | deletePortByName (const char *port_name) |
void | finalizePorts () |
Protected Member Functions | |
virtual ReturnCode_t | onInitialize () |
virtual ReturnCode_t | onFinalize () |
virtual ReturnCode_t | onStartup (RTC::UniqueId ec_id) |
virtual ReturnCode_t | onShutdown (RTC::UniqueId ec_id) |
virtual ReturnCode_t | onActivated (RTC::UniqueId ec_id) |
virtual ReturnCode_t | onDeactivated (RTC::UniqueId ec_id) |
virtual ReturnCode_t | onExecute (RTC::UniqueId ec_id) |
virtual ReturnCode_t | onAborting (RTC::UniqueId ec_id) |
virtual ReturnCode_t | onError (RTC::UniqueId ec_id) |
virtual ReturnCode_t | onReset (RTC::UniqueId ec_id) |
virtual ReturnCode_t | onStateUpdate (RTC::UniqueId ec_id) |
virtual ReturnCode_t | onRateChanged (RTC::UniqueId ec_id) |
void | shutdown () |
Protected Attributes | |
Manager * | m_pManager |
CORBA::ORB_var | m_pORB |
PortableServer::POA_var | m_pPOA |
SDOPackage::OrganizationList | m_sdoOwnedOrganizations |
SDOPackage::ServiceProfileList | m_sdoSvcProfiles |
SDOPackage::Configuration_impl * | m_pSdoConfigImpl |
SDOPackage::Configuration_var | m_pSdoConfig |
SDOPackage::OrganizationList | m_sdoOrganizations |
SDOPackage::NVList | m_sdoStatus |
ComponentProfile | m_profile |
RTObject_ptr | m_objref |
PortAdmin | m_portAdmin |
ExecutionContextServiceList | m_execContexts |
bool | m_created |
bool | m_alive |
Properties | m_properties |
ConfigAdmin | m_configsets |
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Constructor.
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Destructor.
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[local interface] Register Port This operation registers a Port to be 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.
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Stop the RTC'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 |
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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
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[RTObject CORBA interface] Get RTC's profile This operation returns the ComponentProfile of the RTC |
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[CORBA interface] Getting 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.
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[CORBA interface] Get ExecutionContext.
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[CORBA interface] Get ExecutionContextList.
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[CORBA interface] Getting SDO DeviceProfile 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.
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[RTObject CORBA interface] Get ExecutionContextAdmin This operation returns a list containing an ExecutionContextAdmin for every ExecutionContext owned by the RTC. |
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[CORBA 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.
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[CORBA interface] Getting Organizations 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.
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[CORBA interface] Getting Organizations 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. |
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[RTObject CORBA interface] Get Ports This operation returns a list of the RTCs ports. |
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[CORBA interface] Getting SDO ID This operation returns id of the SDO. This operation throws SDOException with one of the following types.
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[CORBA interface] Getting 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.
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[CORBA interface] Getting SDO type This operation returns sdoType of the SDO. This operation throws SDOException with one of the following types.
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[CORBA interface] Getting Organizations This operation returns the ServiceProfile that is specified by the argument "id."
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[CORBA interface] Getting 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.
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[CORBA interface] Get SDO Status
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[CORBA interface] Get SDO Status This operation returns an NVlist describing the status of an SDO.
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[local interface] Get RTC property This operation returns the properties of the RTC. Empty property would be returned, if RTC has no property.
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Initialization.
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Initialize the RTC that realizes this interface. The invocation of this operation shall result in the invocation of the callback ComponentAction::on_initialize. Constraints |
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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. |
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[local interface] Register Port This operation registers a Port to be 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.
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[local interface] Set RTC property This operation sets the properties to the RTC. The given property values should include information for ComponentProfile. Generally, this operation is designed to be called from Manager, when RTC is initialized
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Port のオブジェクトリファレンスのリスト |
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RTC::ComponentProfile |
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RTC のプロパティ |
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SDO Configuratio Interface へのポインタ |
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SDO organization |
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SDO owned organization list |
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SDO Status |
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SDOService のプロファイルリスト |