OpenRTM  1.0.0
Public Member Functions | List of all members
RTC::DataFlowComponentBase Class Reference

DataFlowComponentBase class. More...

#include <DataFlowComponentBase.h>

Inheritance diagram for RTC::DataFlowComponentBase:
RTC::RTObject_impl

Public Member Functions

 DataFlowComponentBase (Manager *manager)
 Constructor.
virtual ~DataFlowComponentBase (void)
 Destructor.
void init ()
 Initialization.
- Public Member Functions inherited from RTC::RTObject_impl
 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] Initialize the RTC that realizes this interface.
virtual ReturnCode_t finalize () throw (CORBA::SystemException)
 [CORBA interface] Finalize the RTC 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::PropertiesgetProperties ()
 [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)
bool addPort (PortBase &port)
 [local interface] Register Port
bool addPort (PortService_ptr port)
 [local interface] Register Port
bool addPort (CorbaPort &port)
 [local interface] Register Port
void registerPort (PortBase &port)
 [local interface] Register Port
void registerPort (PortService_ptr port)
 [local interface] Register Port
void registerPort (CorbaPort &port)
 [local interface] Register Port
bool addInPort (const char *name, InPortBase &inport)
 [local interface] Register DataInPort
void registerInPort (const char *name, InPortBase &inport)
 [local interface] Register DataInPort
bool addOutPort (const char *name, OutPortBase &outport)
 [local interface] Register DataOutPort
void registerOutPort (const char *name, OutPortBase &outport)
 [local interface] Register DataOutPort
bool removeInPort (InPortBase &port)
 [local interface] Unregister InPort
bool removeOutPort (OutPortBase &port)
 [local interface] Unregister OutPort
bool removePort (PortBase &port)
 [local interface] Unregister Port
bool removePort (PortService_ptr port)
 [local interface] Unregister Port
bool removePort (CorbaPort &port)
 [local interface] Unregister Port
void deletePort (PortBase &port)
 [local interface] Unregister Port
void deletePort (PortService_ptr port)
 [local interface] Unregister Port
void deletePort (CorbaPort &port)
 [local interface] Unregister Port
void deletePortByName (const char *port_name)
 [local interface] Delete Port by specifying its name
ExecutionContext_ptr getExecutionContext (RTC::UniqueId ec_id)
 [local interface] Getting current execution context
double getExecutionRate (RTC::UniqueId ec_id)
 [local interface] Getting current context' execution rate
ReturnCode_t setExecutionRate (RTC::UniqueId ec_id, double rate)
 [local interface] Setting current context' execution rate
bool isOwnExecutionContext (RTC::UniqueId ec_id)
 [local interface] Checking if the current context is own context
ReturnCode_t deactivate (RTC::UniqueId ec_id)
 [local interface] Make transition to Inactive state
ReturnCode_t activate (RTC::UniqueId ec_id)
 [local interface] Make transition to Active state
ReturnCode_t reset (RTC::UniqueId ec_id)
 [local interface] Resetting and go to Inactive state
bool addSdoServiceProvider (const SDOPackage::ServiceProfile &prof, SdoServiceProviderBase *provider)
 [local interface] Set a SDO service provider
bool removeSdoServiceProvider (const char *id)
 [local interface] Remove a SDO service provider
bool addSdoServiceConsumer (const SDOPackage::ServiceProfile &prof)
 [local interface] Set a SDO service provider
bool removeSdoServiceConsumer (const char *id)
 [local interface] Remove a SDO service provider
bool readAll ()
 Readout the value from All InPorts.
bool writeAll ()
 The write() method of all OutPort is called.
void setReadAll (bool read=true, bool completion=false)
 Set whether to execute the readAll() method.
void setWriteAll (bool write=true, bool completion=false)
 Set whether to execute the writeAll() method.
void finalizePorts ()
 Unregister All Ports.
void finalizeContexts ()
 The ExecutionContextBase list is deleted.
void addPreComponentActionListener (PreComponentActionListenerType listener_type, PreComponentActionListener *listener, bool autoclean=true)
template<class Listener >
PreComponentActionListeneraddPreComponentActionListener (PreCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id))
void removePreComponentActionListener (PreComponentActionListenerType listener_type, PreComponentActionListener *listener)
 Removing PreComponentAction type listener.
void addPostComponentActionListener (PostComponentActionListenerType listener_type, PostComponentActionListener *listener, bool autoclean=true)
template<class Listener >
PostComponentActionListeneraddPostComponentActionListener (PostCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id, ReturnCode_t ret))
void removePostComponentActionListener (PostComponentActionListenerType listener_type, PostComponentActionListener *listener)
 Removing PostComponentAction type listener.
void addPortActionListener (PortActionListenerType listener_type, PortActionListener *listener, bool autoclean=true)
 Adding PortAction type listener.
template<class Listener >
PortActionListeneraddPortActionListener (PortActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const RTC::PortProfile &))
void removePortActionListener (PortActionListenerType listener_type, PortActionListener *listener)
 Removing PortAction type listener.
void addExecutionContextActionListener (ECActionListenerType listener_type, ECActionListener *listener, bool autoclean=true)
template<class Listener >
ECActionListeneraddExecutionContextActionListener (ECActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId))
void removeExecutionContextActionListener (ECActionListenerType listener_type, ECActionListener *listener)
 Removing ExecutionContextAction type listener.
void addPortConnectListener (PortConnectListenerType listener_type, PortConnectListener *listener, bool autoclean=true)
 Adding PortConnect type listener.
template<class Listener >
PortConnectListeneraddPortConnectListener (PortConnectListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *, ConnectorProfile &))
void removePortConnectListener (PortConnectListenerType listener_type, PortConnectListener *listener)
 Removing PortConnect type listener.
void addPortConnectRetListener (PortConnectRetListenerType listener_type, PortConnectRetListener *listener, bool autoclean=true)
 Adding PortConnectRet type listener.
template<class Listener >
PortConnectRetListeneraddPortConnectRetListener (PortConnectRetListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *, ConnectorProfile &, ReturnCode_t))
void removePortConnectRetListener (PortConnectRetListenerType listener_type, PortConnectRetListener *listener)
 Removing PortConnectRet type listener.
void addConfigurationParamListener (ConfigurationParamListenerType type, ConfigurationParamListener *listener, bool autoclean=true)
 Adding ConfigurationParamListener.
template<class Listener >
ConfigurationParamListeneraddConfigurationParamListener (ConfigurationParamListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *, const char *))
void removeConfigurationParamListener (ConfigurationParamListenerType type, ConfigurationParamListener *listener)
 Removing ConfigurationParamListener.
void addConfigurationSetListener (ConfigurationSetListenerType type, ConfigurationSetListener *listener, bool autoclean=true)
 Adding ConfigurationSetListener.
template<class Listener >
ConfigurationSetListeneraddConfigurationSetListener (ConfigurationSetListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const coil::Properties &config_set))
void removeConfigurationSetListener (ConfigurationSetListenerType type, ConfigurationSetListener *listener)
 Removing ConfigurationSetListener.
void addConfigurationSetNameListener (ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener, bool autoclean=true)
 Adding ConfigurationSetNameListener.
template<class Listener >
ConfigurationSetNameListeneraddConfigurationSetNameListener (ConfigurationSetNameListenerType type, Listener &obj, void(Listener::*memfunc)(const char *))
void removeConfigurationSetNameListener (ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener)
 Removing ConfigurationSetNameListener.

Additional Inherited Members

- Public Types inherited from RTC::RTObject_impl
typedef PreComponentActionListener PreCompActionListener
 Adding PreComponentAction type listener.
typedef
PreComponentActionListenerType 
PreCompActionListenerType
typedef PostComponentActionListener PostCompActionListener
 Adding PostComponentAction type listener.
typedef
PostComponentActionListenerType 
PostCompActionListenerType
typedef
ExecutionContextActionListenerType 
ECActionListenerType
 Adding ExecutionContextAction type listener.
typedef
ExecutionContextActionListener 
ECActionListener
- Protected Member Functions inherited from RTC::RTObject_impl
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.
void preOnInitialize (UniqueId ec_id)
void preOnFinalize (UniqueId ec_id)
void preOnStartup (UniqueId ec_id)
void preOnShutdown (UniqueId ec_id)
void preOnActivated (UniqueId ec_id)
void preOnDeactivated (UniqueId ec_id)
void preOnAborting (UniqueId ec_id)
void preOnError (UniqueId ec_id)
void preOnReset (UniqueId ec_id)
void preOnExecute (UniqueId ec_id)
void preOnStateUpdate (UniqueId ec_id)
void preOnRateChanged (UniqueId ec_id)
void postOnInitialize (UniqueId ec_id, ReturnCode_t ret)
void postOnFinalize (UniqueId ec_id, ReturnCode_t ret)
void postOnStartup (UniqueId ec_id, ReturnCode_t ret)
void postOnShutdown (UniqueId ec_id, ReturnCode_t ret)
void postOnActivated (UniqueId ec_id, ReturnCode_t ret)
void postOnDeactivated (UniqueId ec_id, ReturnCode_t ret)
void postOnAborting (UniqueId ec_id, ReturnCode_t ret)
void postOnError (UniqueId ec_id, ReturnCode_t ret)
void postOnReset (UniqueId ec_id, ReturnCode_t ret)
void postOnExecute (UniqueId ec_id, ReturnCode_t ret)
void postOnStateUpdate (UniqueId ec_id, ReturnCode_t ret)
void postOnRateChanged (UniqueId ec_id, ReturnCode_t ret)
void onAddPort (const PortProfile &pprof)
void onRemovePort (const PortProfile &pprof)
void onAttachExecutionContext (UniqueId ec_id)
void onDetachExecutionContext (UniqueId ec_id)
- Protected Attributes inherited from RTC::RTObject_impl
Logger rtclog
 Logger stream.
Managerm_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::Configuration_implm_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_var m_objref
 Object reference.
PortAdmin m_portAdmin
 List of Port Object reference.
std::vector< InPortBase * > m_inports
 List of InPortBase*.
std::vector< OutPortBase * > m_outports
 List of OutPortBase*.
ExecutionContextServiceList m_ecMine
 List of owned ExecutionContextService.
std::vector
< ExecutionContextBase * > 
m_eclist
 List of ExecutionContextBase.
ExecutionContextServiceList m_ecOther
 List of participating ExecutionContextService.
bool m_created
 Created Status Flag.
bool m_exiting
 RTC Finalize Status Flag.
coil::Properties m_properties
 Alive Status Flag.
ConfigAdmin m_configsets
 Configuration Administrator Object.
SdoServiceAdmin m_sdoservice
 SDO Service Administrator Object.
bool m_readAll
 flag for readAll()
bool m_writeAll
 flag for writeAll()
bool m_readAllCompletion
 flag for readAll()
bool m_writeAllCompletion
 flag for writeAll()
ComponentActionListeners m_actionListeners
 ComponentActionListener holder.
PortConnectListeners m_portconnListeners
 PortConnectListener holder.

Detailed Description

DataFlowComponentBase class.

This is a base class of the data flow type RT-Component. Inherit this class when implementing various data flow type RT-Components.

Since
0.4.0

Constructor & Destructor Documentation

RTC::DataFlowComponentBase::DataFlowComponentBase ( Manager manager)

Constructor.

Constructor

Parameters
managerManager object
virtual RTC::DataFlowComponentBase::~DataFlowComponentBase ( void  )
virtual

Destructor.

Destructor

Member Function Documentation

void RTC::DataFlowComponentBase::init ( )

Initialization.

Initialization the data flow type RT-Component. Write the actual initialization code in each concrete class.