OCL::DeploymentComponent Class Reference

#include <DeploymentComponent.hpp>

Inheritance diagram for OCL::DeploymentComponent:
Inheritance graph
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List of all members.

Classes

struct  ComponentData
struct  ConnectionData

Public Member Functions

bool addPeer (const std::string &from, const std::string &target)
bool addPeer (const std::string &from, const std::string &target)
bool cleanupComponent (const std::string &comp_name)
bool cleanupComponent (RTT::TaskContext *instance)
bool cleanupComponent (const std::string &comp_name)
bool cleanupComponent (RTT::TaskContext *instance)
bool cleanupComponents ()
bool cleanupComponents ()
bool cleanupComponentsGroup (const int group)
bool cleanupComponentsGroup (const int group)
void clearConfiguration ()
void clearConfiguration ()
bool configure (const std::string &name)
bool configure (const std::string &name)
bool configureComponents ()
bool configureComponents ()
bool configureComponentsGroup (const int group)
bool configureComponentsGroup (const int group)
bool configureFromFile (const std::string &name, const std::string &filename)
bool configureFromFile (const std::string &name, const std::string &filename)
bool connect (const std::string &one, const std::string &other, ConnPolicy policy)
bool connect (const std::string &one, const std::string &other, ConnPolicy policy)
bool connectPeers (const std::string &one, const std::string &other)
bool connectPeers (const std::string &one, const std::string &other)
bool connectPorts (const std::string &one, const std::string &one_port, const std::string &other, const std::string &other_port)
bool connectPorts (const std::string &one, const std::string &other)
bool connectPorts (const std::string &one, const std::string &one_port, const std::string &other, const std::string &other_port)
bool connectPorts (const std::string &one, const std::string &other)
bool connectServices (const std::string &one, const std::string &other)
bool connectServices (const std::string &one, const std::string &other)
bool createStream (const std::string &component, const std::string &port, ConnPolicy policy)
bool createStream (const std::string &component, const std::string &port, ConnPolicy policy)
 DeploymentComponent (std::string name="Deployer", std::string siteFile="")
 DeploymentComponent (std::string name="Deployer", std::string siteFile="")
void displayComponentTypes () const
void displayComponentTypes () const
std::vector< std::string > getComponentTypes () const
std::vector< std::string > getComponentTypes () const
FactoryMap & getFactories ()
FactoryMap & getFactories ()
bool import (const std::string &package)
bool import (const std::string &package)
void kickOut (const std::string &config_file)
void kickOut (const std::string &config_file)
bool kickOutAll ()
bool kickOutAll ()
bool kickOutComponent (const std::string &comp_name)
bool kickOutComponent (const std::string &comp_name)
bool kickOutGroup (const int group)
bool kickOutGroup (const int group)
bool kickStart (const std::string &file_name)
bool kickStart (const std::string &file_name)
bool loadComponent (const std::string &name, const std::string &type)
bool loadComponent (const std::string &name, const std::string &type)
bool loadComponents (const std::string &config_file)
bool loadComponents (const std::string &config_file)
bool loadComponentsInGroup (const std::string &config_file, const int group)
bool loadComponentsInGroup (const std::string &config_file, const int group)
bool loadConfiguration (const std::string &config_file)
bool loadConfiguration (const std::string &config_file)
bool loadConfigurationString (const std::string &config_text)
bool loadConfigurationString (const std::string &config_text)
bool loadLibrary (const std::string &name)
bool loadLibrary (const std::string &name)
bool loadService (const std::string &component, const std::string &service)
bool loadService (const std::string &component, const std::string &service)
RTT::TaskContext * myGetPeer (std::string name)
RTT::TaskContext * myGetPeer (std::string name)
void path (const std::string &path)
void path (const std::string &path)
bool runScript (const std::string &file_name)
bool runScript (const std::string &file_name)
bool setActivity (const std::string &comp_name, double period, int priority, int scheduler)
bool setActivity (const std::string &comp_name, double period, int priority, int scheduler)
bool setMasterSlaveActivity (const std::string &comp_name, const std::string &master_name)
bool setMasterSlaveActivity (const std::string &comp_name, const std::string &master_name)
bool setNamedActivity (const std::string &comp_name, const std::string &act_type, double period, int priority, int scheduler, const std::string &master_name="")
bool setNamedActivity (const std::string &comp_name, const std::string &act_type, double period, int priority, int scheduler, const std::string &master_name="")
bool setPeriodicActivity (const std::string &comp_name, double period, int priority, int scheduler)
bool setPeriodicActivity (const std::string &comp_name, double period, int priority, int scheduler)
bool setSequentialActivity (const std::string &comp_name)
bool setSequentialActivity (const std::string &comp_name)
bool setSlaveActivity (const std::string &comp_name, double period)
bool setSlaveActivity (const std::string &comp_name, double period)
bool startComponents ()
bool startComponents ()
bool startComponentsGroup (const int group)
bool startComponentsGroup (const int group)
bool stopComponent (const std::string &comp_name)
bool stopComponent (RTT::TaskContext *instance)
bool stopComponent (const std::string &comp_name)
bool stopComponent (RTT::TaskContext *instance)
bool stopComponents ()
bool stopComponents ()
bool stopComponentsGroup (const int group)
bool stopComponentsGroup (const int group)
bool stream (const std::string &port, ConnPolicy policy)
bool stream (const std::string &port, ConnPolicy policy)
bool unloadComponent (const std::string &name)
bool unloadComponent (const std::string &name)
bool unloadComponents ()
bool unloadComponents ()
bool unloadComponentsGroup (const int group)
bool unloadComponentsGroup (const int group)
 ~DeploymentComponent ()
 ~DeploymentComponent ()

Protected Types

typedef std::map< std::string,
ComponentData > 		CompList
typedef std::map< std::string,
ComponentData > 		CompList
typedef std::map< std::string,
ConnectionData > 		ConMap
typedef std::map< std::string,
ConnectionData > 		ConMap

Protected Member Functions

virtual bool componentLoaded (RTT::TaskContext *c)
virtual bool componentLoaded (RTT::TaskContext *c)
virtual void componentUnloaded (RTT::TaskContext *c)
virtual void componentUnloaded (RTT::TaskContext *c)
bool configureHook ()
bool configureHook ()
base::PortInterface * stringToPort (string const &names)
base::PortInterface * stringToPort (string const &names)
Service::shared_ptr stringToService (string const &names)
Service::shared_ptr stringToService (string const &names)
bool unloadComponentImpl (CompList::iterator cit)
bool unloadComponentImpl (CompList::iterator cit)

Protected Attributes

RTT::Property< bool > autoUnload
std::string compPath
CompList comps
ConMap conmap
RTT::Constant< int > highest_Priority
RTT::Constant< int > lowest_Priority
int nextGroup
 Next group number.
RTT::PropertyBag root
RTT::Constant< int > sched_OTHER
RTT::Constant< int > sched_RT
RTT::Attribute< std::string > target
RTT::Attribute< bool > validConfig

Detailed Description

A Component for deploying (configuring) other components in an application. It allows to create connections between components, load the properties and scripts for components and setup component activities.

The main idea is to load an XML file as described in the Deployment Component Manual. It dictates the libraries to load, the components to create, configure and start. Every aspect of the XML file can be expressed in a program script as well. If you want this component to execute a program script, assign it a periodic activity using either a 'site local' XML script (see below), or by listing the DeploymentComponent in your main XML file.

Automatically loading a site local XML file

It is possible to store site local settings in a separate XML configuration file which will be automatically loaded when the DeploymentComponent is created. The default name of this file is 'this->getName() + "-site.cpf"'. It is only looked for and loaded in the constructor of this class.

Configuring the DeploymentComponent itself.

When reading an XML file (for example, when using kickStart() or loadComponents() ) the DeploymentComponent checks if a section is devoted to itself by comparing the listed component name with its own name ( this->getName() ). If it matches, it applies the configuration instructions to itself in the same manner as it would configure other components.

Definition at line 86 of file deployment/DeploymentComponent.hpp.

Member Typedef Documentation

typedef std::map<std::string, ComponentData> OCL::DeploymentComponent::CompList [protected]

This vector holds the dynamically loaded components.

Definition at line 169 of file install/include/orocos/ocl/DeploymentComponent.hpp.

typedef std::map<std::string, ComponentData> OCL::DeploymentComponent::CompList [protected]

This vector holds the dynamically loaded components.

Definition at line 169 of file deployment/DeploymentComponent.hpp.

typedef std::map<std::string, ConnectionData> OCL::DeploymentComponent::ConMap [protected]

This maps connection names to associated ports.

Definition at line 163 of file install/include/orocos/ocl/DeploymentComponent.hpp.

typedef std::map<std::string, ConnectionData> OCL::DeploymentComponent::ConMap [protected]

This maps connection names to associated ports.

Definition at line 163 of file deployment/DeploymentComponent.hpp.

Constructor & Destructor Documentation

OCL::DeploymentComponent::DeploymentComponent ( std::string  name = "Deployer",
std::string  siteFile = "" 
)

Constructs and configures this component.

The constructor looks for the site local configuration XML file ('name + "-site.cpf"') and if found, kickStart()'s it. You need to set AutoConf to true in order to force a call to configureHook(). In case this file is not present in the current working directory, the component is configured and is thus constructed in the Stopped state. Using a site file does not prevent you from kickstarting or loading other XML files lateron.

Parameters:
name The name of this component. By default: Deployer
siteFile The site-specific XML file which, if found, will be used for a site-specific kickStart. If left empty, the value becomes by default: name + "-site.cpf"
See also:
kickStart
configureHook

Definition at line 74 of file DeploymentComponent.cpp.

OCL::DeploymentComponent::~DeploymentComponent (  ) 

Cleans up all configuration related information. If the property 'AutoUnload' is set to true, it will also call kickOutAll(), otherwise, the loaded components are left as-is.

Definition at line 236 of file DeploymentComponent.cpp.

OCL::DeploymentComponent::DeploymentComponent ( std::string  name = "Deployer",
std::string  siteFile = "" 
)

Constructs and configures this component.

The constructor looks for the site local configuration XML file ('name + "-site.cpf"') and if found, kickStart()'s it. You need to set AutoConf to true in order to force a call to configureHook(). In case this file is not present in the current working directory, the component is configured and is thus constructed in the Stopped state. Using a site file does not prevent you from kickstarting or loading other XML files lateron.

Parameters:
name The name of this component. By default: Deployer
siteFile The site-specific XML file which, if found, will be used for a site-specific kickStart. If left empty, the value becomes by default: name + "-site.cpf"
See also:
kickStart
configureHook
OCL::DeploymentComponent::~DeploymentComponent (  ) 

Cleans up all configuration related information. If the property 'AutoUnload' is set to true, it will also call kickOutAll(), otherwise, the loaded components are left as-is.

Member Function Documentation

bool OCL::DeploymentComponent::addPeer ( const std::string &  from,
const std::string &  target 
)

Make one component a peer of the other, in one direction, such that one can use the services of the other.

Parameters:
from The component that must 'see' target and use its services.
target The component that is 'seen' and used by from.
Returns:
true if both components are peers of this deployment component and target became a peer of from.
bool OCL::DeploymentComponent::addPeer ( const std::string &  from,
const std::string &  target 
)

Make one component a peer of the other, in one direction, such that one can use the services of the other.

Parameters:
from The component that must 'see' target and use its services.
target The component that is 'seen' and used by from.
Returns:
true if both components are peers of this deployment component and target became a peer of from.

Definition at line 261 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::cleanupComponent ( const std::string &  comp_name  )  [inline]

Cleanup a single loaded and not running component.

Parameters:
comp_name name of the component.
Returns:
true if successfully cleaned up

Definition at line 765 of file install/include/orocos/ocl/DeploymentComponent.hpp.

bool OCL::DeploymentComponent::cleanupComponent ( RTT::TaskContext *  instance  ) 

Cleanup a single loaded and not running component.

Parameters:
instance instance pointer of the component.
Returns:
true if successfully cleaned up
bool OCL::DeploymentComponent::cleanupComponent ( const std::string &  comp_name  )  [inline]

Cleanup a single loaded and not running component.

Parameters:
comp_name name of the component.
Returns:
true if successfully cleaned up

Definition at line 765 of file deployment/DeploymentComponent.hpp.

bool OCL::DeploymentComponent::cleanupComponent ( RTT::TaskContext *  instance  ) 

Cleanup a single loaded and not running component.

Parameters:
instance instance pointer of the component.
Returns:
true if successfully cleaned up

Definition at line 1845 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::cleanupComponents (  ) 

Cleanup all loaded and not running components.

bool OCL::DeploymentComponent::cleanupComponents (  ) 

Cleanup all loaded and not running components.

Definition at line 1363 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::cleanupComponentsGroup ( const int  group  ) 

Cleanup all loaded and not running components.

Parameters:
group The group number to cleanup
bool OCL::DeploymentComponent::cleanupComponentsGroup ( const int  group  ) 

Cleanup all loaded and not running components.

Parameters:
group The group number to cleanup

Definition at line 1373 of file DeploymentComponent.cpp.

void OCL::DeploymentComponent::clearConfiguration (  ) 

Clear all loaded configuration options. This does not alter any component.

void OCL::DeploymentComponent::clearConfiguration (  ) 

Clear all loaded configuration options. This does not alter any component.

Definition at line 1454 of file DeploymentComponent.cpp.

virtual bool OCL::DeploymentComponent::componentLoaded ( RTT::TaskContext *  c  )  [protected, virtual]

Hook function for subclasses. Allows a subclass to abort or extend the loading of a component. By default, this function returns true.

Returns:
false if the component should be unloaded again, true if loading was succesful.

Reimplemented in OCL::CorbaDeploymentComponent, and OCL::CorbaDeploymentComponent.

bool OCL::DeploymentComponent::componentLoaded ( RTT::TaskContext *  c  )  [protected, virtual]

Hook function for subclasses. Allows a subclass to abort or extend the loading of a component. By default, this function returns true.

Returns:
false if the component should be unloaded again, true if loading was succesful.

Reimplemented in OCL::CorbaDeploymentComponent, and OCL::CorbaDeploymentComponent.

Definition at line 232 of file DeploymentComponent.cpp.

virtual void OCL::DeploymentComponent::componentUnloaded ( RTT::TaskContext *  c  )  [protected, virtual]

Hook function for subclasses. Allows a subclass to take notice of a component being deleted.

Parameters:
c a valid TaskContext object.

Reimplemented in OCL::CorbaDeploymentComponent, and OCL::CorbaDeploymentComponent.

virtual void OCL::DeploymentComponent::componentUnloaded ( RTT::TaskContext *  c  )  [protected, virtual]

Hook function for subclasses. Allows a subclass to take notice of a component being deleted.

Parameters:
c a valid TaskContext object.

Reimplemented in OCL::CorbaDeploymentComponent, and OCL::CorbaDeploymentComponent.

bool OCL::DeploymentComponent::configure ( const std::string &  name  ) 

Configure a component by loading the property file 'name.cpf' for component with name name.

Parameters:
name The name of the component to configure. The file used will be 'name.cpf'.
Returns:
true if the component is a peer of this component and the file could be read.
bool OCL::DeploymentComponent::configure ( const std::string &  name  ) 

Configure a component by loading the property file 'name.cpf' for component with name name.

Parameters:
name The name of the component to configure. The file used will be 'name.cpf'.
Returns:
true if the component is a peer of this component and the file could be read.

Definition at line 1786 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::configureComponents (  ) 

Configure the components with loaded configuration(s). This function connects components and data ports, reads properties for the components, attaches activities and loads program and state machine scripts. If a component XML entry has the AutoConf element, configure() will be called upon this component as well. If the configuration fails halfway, the system is configured as complete as possible. You can try to reconfigure by loading a new configuration (using loadConfiguration ) and call configureComponents again to resolve remaining issues.

This function tries to apply the configuration with a best effort. For example, if a program must be loaded in the component, and a program with that same name is already present, the present one is unloaded and the new one is attempted to be loaded. If that fails, the configuration process leaves the scripts as-is and proceeds with further configuration steps of the same component and other components.

The order of configuration depends on the order of components during loadConfiguration. The first encountered component is configured first. If additional loadConfiguration operations refer to the same component, the configuration order is not changed.

Returns:
true if all components could be succesfully configured.
bool OCL::DeploymentComponent::configureComponents (  ) 

Configure the components with loaded configuration(s). This function connects components and data ports, reads properties for the components, attaches activities and loads program and state machine scripts. If a component XML entry has the AutoConf element, configure() will be called upon this component as well. If the configuration fails halfway, the system is configured as complete as possible. You can try to reconfigure by loading a new configuration (using loadConfiguration ) and call configureComponents again to resolve remaining issues.

This function tries to apply the configuration with a best effort. For example, if a program must be loaded in the component, and a program with that same name is already present, the present one is unloaded and the new one is attempted to be loaded. If that fails, the configuration process leaves the scripts as-is and proceeds with further configuration steps of the same component and other components.

The order of configuration depends on the order of components during loadConfiguration. The first encountered component is configured first. If additional loadConfiguration operations refer to the same component, the configuration order is not changed.

Returns:
true if all components could be succesfully configured.

Definition at line 985 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::configureComponentsGroup ( const int  group  ) 

Configure the components in group group.

See also:
configureComponents()
Returns:
true if all the group's components could be succesfully configured.
bool OCL::DeploymentComponent::configureComponentsGroup ( const int  group  ) 

Configure the components in group group.

See also:
configureComponents()
Returns:
true if all the group's components could be succesfully configured.

Definition at line 996 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::configureFromFile ( const std::string &  name,
const std::string &  filename 
)

Configure a component by loading a property file.

Parameters:
name The name of the component to configure
filename The filename where the configuration is in.
Returns:
true if the component is a peer of this component and the file could be read.
bool OCL::DeploymentComponent::configureFromFile ( const std::string &  name,
const std::string &  filename 
)

Configure a component by loading a property file.

Parameters:
name The name of the component to configure
filename The filename where the configuration is in.
Returns:
true if the component is a peer of this component and the file could be read.

Definition at line 1791 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::configureHook (  )  [protected]

This function imports available plugins from the path formed by the expression 

 ComponentPath + "/rtt/"+ Target + "/plugins"
Returns:
always true.
bool OCL::DeploymentComponent::configureHook (  )  [protected]

This function imports available plugins from the path formed by the expression 

 ComponentPath + "/rtt/"+ Target + "/plugins"
Returns:
always true.

Definition at line 211 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::connect ( const std::string &  one,
const std::string &  other,
ConnPolicy  policy 
)

Connect two named ports of components. The direction of the connection is determined by the read/write port types.

Parameters:
one A dot-separated path to a port in a service
other A dot-separated path to a port in a service
policy The connection policy of the new connetion.
Returns:
true if the ports are present and could be connected, false otherwise.
bool OCL::DeploymentComponent::connect ( const std::string &  one,
const std::string &  other,
ConnPolicy  policy 
)

Connect two named ports of components. The direction of the connection is determined by the read/write port types.

Parameters:
one A dot-separated path to a port in a service
other A dot-separated path to a port in a service
policy The connection policy of the new connetion.
Returns:
true if the ports are present and could be connected, false otherwise.

Definition at line 412 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::connectPeers ( const std::string &  one,
const std::string &  other 
)

Make two components peers in both directions, such that both can use each other's services.

Parameters:
one The component that must 'see' other.
other The component that must 'see' one.
Returns:
true if both components are peers of this deployment component and could be connected.
bool OCL::DeploymentComponent::connectPeers ( const std::string &  one,
const std::string &  other 
)

Make two components peers in both directions, such that both can use each other's services.

Parameters:
one The component that must 'see' other.
other The component that must 'see' one.
Returns:
true if both components are peers of this deployment component and could be connected.

Definition at line 245 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::connectPorts ( const std::string &  one,
const std::string &  one_port,
const std::string &  other,
const std::string &  other_port 
)

Connect two named ports of components. The direction of the connection is determined by the read/write port types.

Parameters:
one Name of the first component or a dot-separated path to its service
one_port Name of the port of the first component to connect to other_port
other Name of the second component or a dot-separated path to its service
other_port Name of the port of the second component to connect to one_port
Deprecated:
by connect()
Returns:
true if the ports are present and could be connected, false otherwise.
bool OCL::DeploymentComponent::connectPorts ( const std::string &  one,
const std::string &  other 
)

Establish a data flow connection between two tasks. The direction of the connection is determined by the read/write port types.

Note:
Using this function is not advised, since it relies on equal port names on both components. Use the alternative form of connectPorts() which specify component/service and port name.
Deprecated:
by connect()
Parameters:
one The first component
other The second component
Returns:
true if both tasks are peers of this component and data ports could be connected.
bool OCL::DeploymentComponent::connectPorts ( const std::string &  one,
const std::string &  one_port,
const std::string &  other,
const std::string &  other_port 
)

Connect two named ports of components. The direction of the connection is determined by the read/write port types.

Parameters:
one Name of the first component or a dot-separated path to its service
one_port Name of the port of the first component to connect to other_port
other Name of the second component or a dot-separated path to its service
other_port Name of the port of the second component to connect to one_port
Deprecated:
by connect()
Returns:
true if the ports are present and could be connected, false otherwise.

Definition at line 359 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::connectPorts ( const std::string &  one,
const std::string &  other 
)

Establish a data flow connection between two tasks. The direction of the connection is determined by the read/write port types.

Note:
Using this function is not advised, since it relies on equal port names on both components. Use the alternative form of connectPorts() which specify component/service and port name.
Deprecated:
by connect()
Parameters:
one The first component
other The second component
Returns:
true if both tasks are peers of this component and data ports could be connected.

Definition at line 341 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::connectServices ( const std::string &  one,
const std::string &  other 
)

Connects the required services of one component to the provided services of another and vice versa.

Parameters:
one The name of a provided service or a dot-separated path to a Service
one The name of a required service or a dot-separated path to a ServiceRequester
Note:
One of the parameters must be a Service and the other a ServiceRequester, or vice versa.
bool OCL::DeploymentComponent::connectServices ( const std::string &  one,
const std::string &  other 
)

Connects the required services of one component to the provided services of another and vice versa.

Parameters:
one The name of a provided service or a dot-separated path to a Service
one The name of a required service or a dot-separated path to a ServiceRequester
Note:
One of the parameters must be a Service and the other a ServiceRequester, or vice versa.

Definition at line 448 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::createStream ( const std::string &  component,
const std::string &  port,
ConnPolicy  policy 
)
Deprecated:
by stream()
bool OCL::DeploymentComponent::createStream ( const std::string &  component,
const std::string &  port,
ConnPolicy  policy 
)
Deprecated:
by stream()

Definition at line 398 of file DeploymentComponent.cpp.

void OCL::DeploymentComponent::displayComponentTypes (  )  const

This function prints out the component types this DeploymentComponent can create.

See also:
loadComponent()
void OCL::DeploymentComponent::displayComponentTypes (  )  const

This function prints out the component types this DeploymentComponent can create.

See also:
loadComponent()

Definition at line 1610 of file DeploymentComponent.cpp.

std::vector<std::string> OCL::DeploymentComponent::getComponentTypes (  )  const

This function returns the component types this DeploymentComponent can create in a comma separated list.

See also:
loadComponent()
std::vector< std::string > OCL::DeploymentComponent::getComponentTypes (  )  const

This function returns the component types this DeploymentComponent can create in a comma separated list.

See also:
loadComponent()

Definition at line 1621 of file DeploymentComponent.cpp.

FactoryMap& OCL::DeploymentComponent::getFactories (  ) 

Returns the factory singleton which creates all types of components for the DeploymentComponent.

FactoryMap & OCL::DeploymentComponent::getFactories (  ) 

Returns the factory singleton which creates all types of components for the DeploymentComponent.

Definition at line 1808 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::import ( const std::string &  package  ) 

Import a component package or directory. The import statement searches through the component paths set with path() or set using the RTT_COMPONENT_PATH environment variable.

Parameters:
package A (ros) package or directory name. All components, plugins and typekits in package will be loaded and become available to the application. As a special case, you may specify a path to a library directly, which will be loaded when found.
Returns:
true if the package could be found and loaded, false if no such package was found in the search path.
bool OCL::DeploymentComponent::import ( const std::string &  package  ) 

Import a component package or directory. The import statement searches through the component paths set with path() or set using the RTT_COMPONENT_PATH environment variable.

Parameters:
package A (ros) package or directory name. All components, plugins and typekits in package will be loaded and become available to the application. As a special case, you may specify a path to a library directly, which will be loaded when found.
Returns:
true if the package could be found and loaded, false if no such package was found in the search path.

Definition at line 1461 of file DeploymentComponent.cpp.

void OCL::DeploymentComponent::kickOut ( const std::string &  config_file  ) 

Identical to kickOutAll, but it reads the name of the Components to kickOut from an XML file.

Parameters:
config_file name of an XML file (probably the same used by loadComponents() or kickStart() ).
void OCL::DeploymentComponent::kickOut ( const std::string &  config_file  ) 

Identical to kickOutAll, but it reads the name of the Components to kickOut from an XML file.

Parameters:
config_file name of an XML file (probably the same used by loadComponents() or kickStart() ).

Definition at line 1813 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::kickOutAll (  ) 

Stop, cleanup and unload all components loaded by the DeploymentComponent.

Postcondition:
0 == nextGroup
bool OCL::DeploymentComponent::kickOutAll (  ) 

Stop, cleanup and unload all components loaded by the DeploymentComponent.

Postcondition:
0 == nextGroup

Definition at line 511 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::kickOutComponent ( const std::string &  comp_name  ) 

Stop, cleanup and unload a single component which were loaded by this component.

Parameters:
comp_name name of the component.
Returns:
true if successfully stopped, cleaned and unloaded
bool OCL::DeploymentComponent::kickOutComponent ( const std::string &  comp_name  ) 

Stop, cleanup and unload a single component which were loaded by this component.

Parameters:
comp_name name of the component.
Returns:
true if successfully stopped, cleaned and unloaded

Definition at line 1882 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::kickOutGroup ( const int  group  ) 

Stop, cleanup and unload all components in group group.

bool OCL::DeploymentComponent::kickOutGroup ( const int  group  ) 

Stop, cleanup and unload all components in group group.

Definition at line 524 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::kickStart ( const std::string &  file_name  ) 

This function runs loadComponents, configureComponents and startComponents in a row, given no failures occur along the way.

bool OCL::DeploymentComponent::kickStart ( const std::string &  file_name  ) 

This function runs loadComponents, configureComponents and startComponents in a row, given no failures occur along the way.

Definition at line 490 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::loadComponent ( const std::string &  name,
const std::string &  type 
)

Load a new component in the current process. It wil appear as a peer with name name of this component.

Parameters:
name Name the new component will receive.
type The type of the component. This is usually a library (.dll or .so) name.
Returns:
True if the component could be created, false if name is already in use or type was not an Orocos library.
bool OCL::DeploymentComponent::loadComponent ( const std::string &  name,
const std::string &  type 
)

Load a new component in the current process. It wil appear as a peer with name name of this component.

Parameters:
name Name the new component will receive.
type The type of the component. This is usually a library (.dll or .so) name.
Returns:
True if the component could be created, false if name is already in use or type was not an Orocos library.

Definition at line 1496 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::loadComponents ( const std::string &  config_file  ) 

Load a (partial) application XML configuration from disk. The necessary components are located or loaded, but no component configuration is yet applied. One can load multiple configurations and call configureComponents() once to apply all settings. In case of duplicate information is the latest loaded configuration option used. The components are loaded into the next group number, and the next group number is incremented.

See also:
configureComponents to configure the components with the loaded configuration and startComponents to start them.
Parameters:
config_file A file on local disk containing the XML configuration.
Returns:
true if the configuration could be read and was valid.
bool OCL::DeploymentComponent::loadComponents ( const std::string &  config_file  ) 

Load a (partial) application XML configuration from disk. The necessary components are located or loaded, but no component configuration is yet applied. One can load multiple configurations and call configureComponents() once to apply all settings. In case of duplicate information is the latest loaded configuration option used. The components are loaded into the next group number, and the next group number is incremented.

See also:
configureComponents to configure the components with the loaded configuration and startComponents to start them.
Parameters:
config_file A file on local disk containing the XML configuration.
Returns:
true if the configuration could be read and was valid.

Definition at line 550 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::loadComponentsInGroup ( const std::string &  config_file,
const int  group 
)

Load a (partial) application XML configuration from disk into a specific group.

If the group already exists, then adds to that group. Does not affect existing members of the group.

See also:
loadComponents for general details
Parameters:
config_file A file on local disk containing the XML configuration.
group The group number to load into
Precondition:
0 <= group
Returns:
true if the configuration could be read and was valid.
bool OCL::DeploymentComponent::loadComponentsInGroup ( const std::string &  config_file,
const int  group 
)

Load a (partial) application XML configuration from disk into a specific group.

If the group already exists, then adds to that group. Does not affect existing members of the group.

See also:
loadComponents for general details
Parameters:
config_file A file on local disk containing the XML configuration.
group The group number to load into
Precondition:
0 <= group
Returns:
true if the configuration could be read and was valid.

Definition at line 557 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::loadConfiguration ( const std::string &  config_file  ) 

Load a (partial) application XML configuration from disk. The necessary components are located or loaded, but no component configuration is yet applied. One can load multiple configurations and call configureComponents() once to apply all settings. In case of duplicate information is the latest loaded configuration option used.

Deprecated:
by loadComponents.
See also:
configureComponents to configure the components with the loaded configuration.
Parameters:
config_file A file on local disk containing the XML configuration.
Returns:
true if the configuration could be read and was valid.
bool OCL::DeploymentComponent::loadConfiguration ( const std::string &  config_file  ) 

Load a (partial) application XML configuration from disk. The necessary components are located or loaded, but no component configuration is yet applied. One can load multiple configurations and call configureComponents() once to apply all settings. In case of duplicate information is the latest loaded configuration option used.

Deprecated:
by loadComponents.
See also:
configureComponents to configure the components with the loaded configuration.
Parameters:
config_file A file on local disk containing the XML configuration.
Returns:
true if the configuration could be read and was valid.

Definition at line 545 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::loadConfigurationString ( const std::string &  config_text  ) 

Identical to loadConfiguration, but reads the XML from a string instead of a file.

Parameters:
config_text A string containing the XML configuration.
Returns:
true if the configuration string could be read and was valid.
bool OCL::DeploymentComponent::loadConfigurationString ( const std::string &  config_text  ) 

Identical to loadConfiguration, but reads the XML from a string instead of a file.

Parameters:
config_text A string containing the XML configuration.
Returns:
true if the configuration string could be read and was valid.

Definition at line 476 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::loadLibrary ( const std::string &  name  ) 

Use this command to load a dynamic library into the memory of the current process.

Parameters:
name an absolute or relative path to a loadable library.
Returns:
True if it could be loaded, false otherwise.
Deprecated:
Use import() and path() to load libraries.
bool OCL::DeploymentComponent::loadLibrary ( const std::string &  name  ) 

Use this command to load a dynamic library into the memory of the current process.

Parameters:
name an absolute or relative path to a loadable library.
Returns:
True if it could be loaded, false otherwise.
Deprecated:
Use import() and path() to load libraries.

Definition at line 1474 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::loadService ( const std::string &  component,
const std::string &  service 
)

Loads a service in the given component. If a service with the name of service is already loaded, does nothing and returns true.

Note:
If the loaded service uses another name to expose itself or does not register itself with an RTT::Service object, this function will load the service anyway in case it has been loaded before.
Parameters:
component A peer of this component.
service A service discovered by the PluginLoader which will be loaded into component.
Returns:
false if component is not a peer or service is not known. true otherwise.
bool OCL::DeploymentComponent::loadService ( const std::string &  component,
const std::string &  service 
)

Loads a service in the given component. If a service with the name of service is already loaded, does nothing and returns true.

Note:
If the loaded service uses another name to expose itself or does not register itself with an RTT::Service object, this function will load the service anyway in case it has been loaded before.
Parameters:
component A peer of this component.
service A service discovered by the PluginLoader which will be loaded into component.
Returns:
false if component is not a peer or service is not known. true otherwise.

Definition at line 1480 of file DeploymentComponent.cpp.

RTT::TaskContext* OCL::DeploymentComponent::myGetPeer ( std::string  name  )  [inline]

Definition at line 251 of file install/include/orocos/ocl/DeploymentComponent.hpp.

RTT::TaskContext* OCL::DeploymentComponent::myGetPeer ( std::string  name  )  [inline]

Definition at line 251 of file deployment/DeploymentComponent.hpp.

void OCL::DeploymentComponent::path ( const std::string &  path  ) 

Add an additional path to search for component packages.

Parameters:
a colon or semi-colon separated list of directories to search for. Typically, paths have the form prefix1/lib/orocos:prefix2/lib/orocos etc.
void OCL::DeploymentComponent::path ( const std::string &  path  ) 

Add an additional path to search for component packages.

Parameters:
a colon or semi-colon separated list of directories to search for. Typically, paths have the form prefix1/lib/orocos:prefix2/lib/orocos etc.

Definition at line 1467 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::runScript ( const std::string &  file_name  ) 

Scripting-alternative to kickStart: runs this script in the Orocos scripting service.

bool OCL::DeploymentComponent::runScript ( const std::string &  file_name  ) 

Scripting-alternative to kickStart: runs this script in the Orocos scripting service.

Definition at line 485 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::setActivity ( const std::string &  comp_name,
double  period,
int  priority,
int  scheduler 
)

(Re-)set the activity of a component with an activity.

Parameters:
comp_name The name of the component to change.
period The period of the activity (or 0.0 if non periodic).
priority The scheduler priority (OS dependent).
scheduler The scheduler type ORO_SCHED_RT or ORO_SCHED_OTHER.
Returns:
false if one of the parameters does not match or if the component is running.
bool OCL::DeploymentComponent::setActivity ( const std::string &  comp_name,
double  period,
int  priority,
int  scheduler 
)

(Re-)set the activity of a component with an activity.

Parameters:
comp_name The name of the component to change.
period The period of the activity (or 0.0 if non periodic).
priority The scheduler priority (OS dependent).
scheduler The scheduler type ORO_SCHED_RT or ORO_SCHED_OTHER.
Returns:
false if one of the parameters does not match or if the component is running.

Definition at line 1631 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::setMasterSlaveActivity ( const std::string &  comp_name,
const std::string &  master_name 
)

(Re-)set the activity of a component with a slave activity with master.

Parameters:
comp_name The name of the component to change.
master_name The name of the master component.
Returns:
false if one of the components is not found or comp_name is running.
bool OCL::DeploymentComponent::setMasterSlaveActivity ( const std::string &  comp_name,
const std::string &  master_name 
)

(Re-)set the activity of a component with a slave activity with master.

Parameters:
comp_name The name of the component to change.
master_name The name of the master component.
Returns:
false if one of the components is not found or comp_name is running.

Definition at line 1684 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::setNamedActivity ( const std::string &  comp_name,
const std::string &  act_type,
double  period,
int  priority,
int  scheduler,
const std::string &  master_name = "" 
)

(Re-)set the activity of a component.

Parameters:
comp_name The name of the component to change.
act_type The RTT::Activity type: 'Activity', 'PeriodicActivity', 'SequentialActivity' or 'SlaveActivity'.
priority The scheduler priority (OS dependent).
period The period of the activity.
scheduler The scheduler type ORO_SCHED_RT or ORO_SCHED_OTHER.
master_name The name of the master component in case of a extras::SlaveActivity with a master.
Returns:
false if one of the parameters does not match or if the component is running.
bool OCL::DeploymentComponent::setNamedActivity ( const std::string &  comp_name,
const std::string &  act_type,
double  period,
int  priority,
int  scheduler,
const std::string &  master_name = "" 
)

(Re-)set the activity of a component.

Parameters:
comp_name The name of the component to change.
act_type The RTT::Activity type: 'Activity', 'PeriodicActivity', 'SequentialActivity' or 'SlaveActivity'.
priority The scheduler priority (OS dependent).
period The period of the activity.
scheduler The scheduler type ORO_SCHED_RT or ORO_SCHED_OTHER.
master_name The name of the master component in case of a extras::SlaveActivity with a master.
Returns:
false if one of the parameters does not match or if the component is running.

Definition at line 1698 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::setPeriodicActivity ( const std::string &  comp_name,
double  period,
int  priority,
int  scheduler 
)

(Re-)set the activity of a component with a periodic activity.

Parameters:
comp_name The name of the component to change.
period The period of the activity.
priority The scheduler priority (OS dependent).
scheduler The scheduler type ORO_SCHED_RT or ORO_SCHED_OTHER.
Returns:
false if one of the parameters does not match or if the component is running.
bool OCL::DeploymentComponent::setPeriodicActivity ( const std::string &  comp_name,
double  period,
int  priority,
int  scheduler 
)

(Re-)set the activity of a component with a periodic activity.

Parameters:
comp_name The name of the component to change.
period The period of the activity.
priority The scheduler priority (OS dependent).
scheduler The scheduler type ORO_SCHED_RT or ORO_SCHED_OTHER.
Returns:
false if one of the parameters does not match or if the component is running.

Definition at line 1645 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::setSequentialActivity ( const std::string &  comp_name  ) 

(Re-)set the activity of a component with a (threadless, reactive) sequential activity.

Parameters:
comp_name The name of the component to change.
Returns:
false if one of the parameters does not match or if the component is running.
bool OCL::DeploymentComponent::setSequentialActivity ( const std::string &  comp_name  ) 

(Re-)set the activity of a component with a (threadless, reactive) sequential activity.

Parameters:
comp_name The name of the component to change.
Returns:
false if one of the parameters does not match or if the component is running.

Definition at line 1672 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::setSlaveActivity ( const std::string &  comp_name,
double  period 
)

(Re-)set the activity of a component with a (stand alone) slave activity.

Parameters:
comp_name The name of the component to change.
period The period of the activity.
Returns:
false if one of the parameters does not match or if the component is running.
bool OCL::DeploymentComponent::setSlaveActivity ( const std::string &  comp_name,
double  period 
)

(Re-)set the activity of a component with a (stand alone) slave activity.

Parameters:
comp_name The name of the component to change.
period The period of the activity.
Returns:
false if one of the parameters does not match or if the component is running.

Definition at line 1659 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::startComponents (  ) 

Start all components in the current configuration which have AutoStart set to true.

Returns:
true if all components could be succesfully started.
bool OCL::DeploymentComponent::startComponents (  ) 

Start all components in the current configuration which have AutoStart set to true.

Returns:
true if all components could be succesfully started.

Definition at line 1268 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::startComponentsGroup ( const int  group  ) 

Start all components in group group which have AutoStart set to true.

Returns:
true if all the group's components could be succesfully started.
bool OCL::DeploymentComponent::startComponentsGroup ( const int  group  ) 

Start all components in group group which have AutoStart set to true.

Returns:
true if all the group's components could be succesfully started.

Definition at line 1278 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::stopComponent ( const std::string &  comp_name  )  [inline]

Stop a single loaded and running components.

Parameters:
comp_name name of the component.
Returns:
true if successfully stopped

Definition at line 748 of file install/include/orocos/ocl/DeploymentComponent.hpp.

bool OCL::DeploymentComponent::stopComponent ( RTT::TaskContext *  instance  ) 

Stop a single loaded and running component.

Parameters:
instance instance pointer of the component.
Returns:
true if successfully stopped.
bool OCL::DeploymentComponent::stopComponent ( const std::string &  comp_name  )  [inline]

Stop a single loaded and running components.

Parameters:
comp_name name of the component.
Returns:
true if successfully stopped

Definition at line 748 of file deployment/DeploymentComponent.hpp.

bool OCL::DeploymentComponent::stopComponent ( RTT::TaskContext *  instance  ) 

Stop a single loaded and running component.

Parameters:
instance instance pointer of the component.
Returns:
true if successfully stopped.

Definition at line 1863 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::stopComponents (  ) 

Stop all loaded and running components.

bool OCL::DeploymentComponent::stopComponents (  ) 

Stop all loaded and running components.

Definition at line 1331 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::stopComponentsGroup ( const int  group  ) 

Stop all loaded and running components in group group.

Parameters:
group The group number to stop
bool OCL::DeploymentComponent::stopComponentsGroup ( const int  group  ) 

Stop all loaded and running components in group group.

Parameters:
group The group number to stop

Definition at line 1341 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::stream ( const std::string &  port,
ConnPolicy  policy 
)

Creates a stream from a given port of a component.

Parameters:
port The dot-separated path to an input or output port of component or service.
policy The connection policy that instructs how to set up the stream. The policy.transport field is mandatory, the policy.name_id field is highly recommended.
Returns:
true if the stream could be setup.
bool OCL::DeploymentComponent::stream ( const std::string &  port,
ConnPolicy  policy 
)

Creates a stream from a given port of a component.

Parameters:
port The dot-separated path to an input or output port of component or service.
policy The connection policy that instructs how to set up the stream. The policy.transport field is mandatory, the policy.name_id field is highly recommended.
Returns:
true if the stream could be setup.

Definition at line 439 of file DeploymentComponent.cpp.

base::PortInterface* OCL::DeploymentComponent::stringToPort ( string const &  names  )  [protected]

Converts a dot-separated path to a service to a Port object.

Parameters:
name a dot-separated path name to a port. The first part of the name must be the component name. Example: "Controller.arm.input".
Returns:
null if the port could not be found, the port otherwise
base::PortInterface * OCL::DeploymentComponent::stringToPort ( string const &  names  )  [protected]

Converts a dot-separated path to a service to a Port object.

Parameters:
name a dot-separated path name to a port. The first part of the name must be the component name. Example: "Controller.arm.input".
Returns:
null if the port could not be found, the port otherwise

Definition at line 306 of file DeploymentComponent.cpp.

Service::shared_ptr OCL::DeploymentComponent::stringToService ( string const &  names  )  [protected]

Converts a dot-separated path to a service to a Service object.

Parameters:
name a dot-separated path name to a service. The first part of the name must be the component name. For example 'Controller.arm'.
Returns:
null if the service could not be found, the service otherwise
Service::shared_ptr OCL::DeploymentComponent::stringToService ( string const &  names  )  [protected]

Converts a dot-separated path to a service to a Service object.

Parameters:
name a dot-separated path name to a service. The first part of the name must be the component name. For example 'Controller.arm'.
Returns:
null if the service could not be found, the service otherwise

Definition at line 277 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::unloadComponent ( const std::string &  name  ) 

Unload a loaded component from the current process. It may not be running.

Parameters:
name The name of a component loaded with loadComponent().
Returns:
true if name was not running and could be unloaded.
bool OCL::DeploymentComponent::unloadComponent ( const std::string &  name  ) 

Unload a loaded component from the current process. It may not be running.

Parameters:
name The name of a component loaded with loadComponent().
Returns:
true if name was not running and could be unloaded.

Definition at line 1591 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::unloadComponentImpl ( CompList::iterator  cit  )  [protected]

This method removes all references to the component hold in cit, on the condition that it is not running.

bool OCL::DeploymentComponent::unloadComponentImpl ( CompList::iterator  cit  )  [protected]

This method removes all references to the component hold in cit, on the condition that it is not running.

Definition at line 1537 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::unloadComponents (  ) 

Unload all loaded and not running components.

bool OCL::DeploymentComponent::unloadComponents (  ) 

Unload all loaded and not running components.

Definition at line 1418 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::unloadComponentsGroup ( const int  group  ) 

Unload all loaded and not running components in group group

Parameters:
group The group number to unload
bool OCL::DeploymentComponent::unloadComponentsGroup ( const int  group  ) 

Unload all loaded and not running components in group group

Parameters:
group The group number to unload

Definition at line 1428 of file DeploymentComponent.cpp.

Member Data Documentation

RTT::Property< bool > OCL::DeploymentComponent::autoUnload [protected]

Definition at line 96 of file deployment/DeploymentComponent.hpp.

std::string OCL::DeploymentComponent::compPath [protected]

Definition at line 95 of file deployment/DeploymentComponent.hpp.

CompList OCL::DeploymentComponent::comps [protected]

Definition at line 170 of file deployment/DeploymentComponent.hpp.

ConMap OCL::DeploymentComponent::conmap [protected]

Definition at line 164 of file deployment/DeploymentComponent.hpp.

RTT::Constant< int > OCL::DeploymentComponent::highest_Priority [protected]

Definition at line 101 of file deployment/DeploymentComponent.hpp.

RTT::Constant< int > OCL::DeploymentComponent::lowest_Priority [protected]

Definition at line 100 of file deployment/DeploymentComponent.hpp.

int OCL::DeploymentComponent::nextGroup [protected]

Next group number.

Definition at line 104 of file deployment/DeploymentComponent.hpp.

RTT::PropertyBag OCL::DeploymentComponent::root [protected]

This bag stores the current configuration. It is the cumulation of all loadConfiguration() calls.

Definition at line 94 of file deployment/DeploymentComponent.hpp.

RTT::Constant< int > OCL::DeploymentComponent::sched_OTHER [protected]

Definition at line 99 of file deployment/DeploymentComponent.hpp.

RTT::Constant< int > OCL::DeploymentComponent::sched_RT [protected]

Definition at line 98 of file deployment/DeploymentComponent.hpp.

RTT::Attribute< std::string > OCL::DeploymentComponent::target [protected]

Definition at line 102 of file deployment/DeploymentComponent.hpp.

RTT::Attribute< bool > OCL::DeploymentComponent::validConfig [protected]

Definition at line 97 of file deployment/DeploymentComponent.hpp.

The documentation for this class was generated from the following files:
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ocl
Author(s): OCL Development Team
autogenerated on Fri Jan 11 09:50:53 2013