#include <TaskContextProxy.hpp>

Inheritance diagram for RTT::corba::TaskContextProxy:

Public Types
typedef std::map < TaskContextProxy *, corba::CTaskContext_ptr >	PMap
Public Member Functions
virtual bool	activate ()
virtual bool	addPeer (TaskContext *peer, std::string alias="")
virtual bool	cleanup ()
virtual bool	configure ()
virtual bool	connectPeers (TaskContext *peer)
virtual bool	connectPorts (TaskContext *peer)
virtual bool	connectServices (TaskContext *peer)
virtual void	disconnectPeers (const std::string &name)
virtual TaskContext *	getPeer (const std::string &peer_name) const
virtual PeerList	getPeerList () const
virtual TaskState	getTaskState () const
virtual bool	hasPeer (const std::string &peer_name) const
virtual bool	inFatalError () const
virtual bool	inRunTimeError () const
virtual bool	isActive () const
virtual bool	isConfigured () const
virtual bool	isRunning () const
virtual bool	ready ()
virtual void	removePeer (const std::string &name)
virtual void	removePeer (TaskContext *peer)
corba::CTaskContext_ptr	server () const
virtual void	setName (const std::string &n)
virtual bool	start ()
virtual bool	stop ()
	~TaskContextProxy ()
Static Public Member Functions
static TaskContextProxy *	Create (std::string name, bool is_ior=false)
static TaskContext *	Create (::RTT::corba::CTaskContext_ptr task, bool force_remote=false)
static TaskContextProxy *	CreateFromFile (std::string filename)
static void	DestroyOrb ()
static PortableServer::POA_ptr	ProxyPOA ()
Static Public Attributes
static PMap	proxies
Protected Member Functions
void	fetchRequesters (ServiceRequester *parent, CServiceRequester_ptr csrq)
void	fetchServices (Service::shared_ptr parent, CService_ptr mtask)
void	synchronize ()
	TaskContextProxy (std::string location, bool is_ior)
	TaskContextProxy (::RTT::corba::CTaskContext_ptr t)
Protected Attributes
corba::CTaskContext_var	mtask
std::list< base::PortInterface * >	port_proxies
Static Protected Attributes
static PortableServer::POA_var	proxy_poa

Detailed Description

This class manages the access of remote TaskContext Corba Servers and a Corba Object Request Broker (Orb) which connects to these servers.

Definition at line 82 of file TaskContextProxy.hpp.

Member Typedef Documentation

typedef std::map<TaskContextProxy*, corba::CTaskContext_ptr> RTT::corba::TaskContextProxy::PMap

Definition at line 87 of file TaskContextProxy.hpp.

Constructor & Destructor Documentation

RTT::corba::TaskContextProxy::TaskContextProxy	(	std::string	location,
		bool	is_ior
	)		`[protected]`

Private constructor which creates a new connection to a stringified ior or taskname in NameServer.

Definition at line 94 of file TaskContextProxy.cpp.

RTT::corba::TaskContextProxy::TaskContextProxy ( ::RTT::corba::CTaskContext_ptr t ) [protected]

Private constructor which creates a new connection to a corba object

Definition at line 162 of file TaskContextProxy.cpp.

RTT::corba::TaskContextProxy::~TaskContextProxy ( )

Definition at line 82 of file TaskContextProxy.cpp.

Member Function Documentation

bool RTT::corba::TaskContextProxy::activate ( void ) [virtual]

This method starts the ExecutionEngine of this component in case it was not running. Normally, it is always running. There is no way to deactivate it from the public interface.

Returns:: true if the ExecutionEngine is running (again) and false if it could not be started.

Reimplemented from RTT::base::TaskCore.

Definition at line 481 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::addPeer	(	TaskContext *	peer,
		std::string	alias = `""`
	)		`[virtual]`

Add a one-way connection from this task to a peer task.

Parameters:

peer	The peer to add.
alias	An optional alias (another name) for the peer. defaults to peer->getName()

Reimplemented from RTT::TaskContext.

Definition at line 582 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::cleanup ( void ) [virtual]

This method instructs a stopped component to enter the pre-operational state again. It calls cleanupHook().

Returns:: true if the component was in the Stopped state.

Reimplemented from RTT::base::TaskCore.

Definition at line 525 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::configure ( void ) [virtual]

This method instructs the component to (re-)read configuration data and try to enter the Stopped state. This can only succeed if the component is not running and configureHook() returns true.

Reimplemented from RTT::base::TaskCore.

Definition at line 513 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::connectPeers ( TaskContext * peer ) [virtual]

Add a two-way connection from this task to a peer task.

Reimplemented from RTT::TaskContext.

Definition at line 637 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::connectPorts ( TaskContext * peer ) [virtual]

Add a data flow connection from this task's ports to a peer's ports.

Reimplemented from RTT::TaskContext.

Definition at line 706 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::connectServices ( TaskContext * peer ) [virtual]

Connects all requires/provides services of this component to these of a peer.

Reimplemented from RTT::TaskContext.

Definition at line 721 of file TaskContextProxy.cpp.

TaskContextProxy * RTT::corba::TaskContextProxy::Create	(	std::string	name,
		bool	is_ior = `false`
	)		`[static]`

Factory method: create a CORBA Proxy for an existing TaskContextServer.

Parameters:

name	The name of the TaskContextServer to connect to or the Object Reference of the object to connect to
is_ior	set to true if name is an IOR. Defaults to false.

Return values:

0	if the ORB is not initialised

Returns:: A new or previously created CORBA proxy for name.

Definition at line 379 of file TaskContextProxy.cpp.

TaskContext * RTT::corba::TaskContextProxy::Create	(	::RTT::corba::CTaskContext_ptr	task,
		bool	force_remote = `false`
	)		`[static]`

Factory method: create a CORBA Proxy for an existing TaskContextServer. This method may in fact return the real TaskContext in case the servant of task is in the same process.

Parameters:

task	The Object to create a proxy for.

Return values:

0	if the ORB is not initialised

Returns:: A new or previously created CORBA proxy for task, or the TaskContext itself.

Definition at line 416 of file TaskContextProxy.cpp.

TaskContextProxy * RTT::corba::TaskContextProxy::CreateFromFile ( std::string filename ) [static]

Factory method: create a CORBA Proxy for an existing TaskContextServer.

Parameters:

filename A file containing an IOR which refers to the existing TaskContextServer.

Return values:

0	if the ORB is not initialised

Returns:: A new or previously created CORBA proxy for filename.

Definition at line 399 of file TaskContextProxy.cpp.

void RTT::corba::TaskContextProxy::DestroyOrb ( ) [static]

Invoke this method once to cleanup the orb.

Definition at line 361 of file TaskContextProxy.cpp.

void RTT::corba::TaskContextProxy::disconnectPeers ( const std::string & name ) [virtual]

Remove a two-way connection from this task to a peer task.

Reimplemented from RTT::TaskContext.

Definition at line 652 of file TaskContextProxy.cpp.

void RTT::corba::TaskContextProxy::fetchRequesters	(	ServiceRequester *	parent,
		CServiceRequester_ptr	csrq
	)		`[protected]`

Definition at line 231 of file TaskContextProxy.cpp.

void RTT::corba::TaskContextProxy::fetchServices	(	Service::shared_ptr	parent,
		CService_ptr	mtask
	)		`[protected]`

Definition at line 258 of file TaskContextProxy.cpp.

TaskContext * RTT::corba::TaskContextProxy::getPeer ( const std::string & peer_name ) const [virtual]

Get a pointer to a peer of this task.

Returns:: null if no such peer.

Reimplemented from RTT::TaskContext.

Definition at line 691 of file TaskContextProxy.cpp.

TaskContext::PeerList RTT::corba::TaskContextProxy::getPeerList ( void ) const [virtual]

Return a standard container which contains all the Peer names of this TaskContext.

Reimplemented from RTT::TaskContext.

Definition at line 664 of file TaskContextProxy.cpp.

TaskContext::TaskState RTT::corba::TaskContextProxy::getTaskState ( void ) const [virtual]

Returns the current state of the TaskCore. For example, before start(), this function returns Stopped. During startHook() it returns Stopped, and after start() it returns Running.

See also:: getTargetState()

Reimplemented from RTT::base::TaskCore.

Definition at line 567 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::hasPeer ( const std::string & peer_name ) const [virtual]

Return true if it knows a peer by that name.

Reimplemented from RTT::TaskContext.

Definition at line 680 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::inFatalError ( void ) const [virtual]

Inspect if the component is in the FatalError state. There is no possibility to recover from this state. You need to destroy and recreate your component.

Reimplemented from RTT::base::TaskCore.

Definition at line 547 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::inRunTimeError ( void ) const [virtual]

Inspect if the component is in the RunTimeError state.

Reimplemented from RTT::base::TaskCore.

Definition at line 557 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::isActive ( void ) const [virtual]

Inspect if the component's ExecutionEngine is processing requests. Normally this is always the case, but user code could stop the ExecutionEngine manually.

Reimplemented from RTT::base::TaskCore.

Definition at line 493 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::isConfigured ( void ) const [virtual]

Inspect if the component is configured, i.e. in the Stopped, Active or Running state.

Reimplemented from RTT::base::TaskCore.

Definition at line 537 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::isRunning ( void ) const [virtual]

Inspect if the component is in the Running or RunTimeError state. As RunTimeError is a substate of Running, this method also returns true when the component is in one of these states. See inRunTimeError() or testing the run-time error state.

Reimplemented from RTT::base::TaskCore.

Definition at line 503 of file TaskContextProxy.cpp.

PortableServer::POA_ptr RTT::corba::TaskContextProxy::ProxyPOA ( ) [static]

Returns the default POA for all proxies.

Definition at line 759 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::ready ( void ) [virtual]

Checks the validity of this TaskContext. When this method returns false, the TaskContext should not be used and various methods may throw exceptions. Use this in case the TaskContext could be a remote object. Will always return true when this TaskContext is local.

Reimplemented from RTT::TaskContext.

Definition at line 736 of file TaskContextProxy.cpp.

void RTT::corba::TaskContextProxy::removePeer ( const std::string & name ) [virtual]

Remove a one-way connection from this task to a peer task.

Reimplemented from RTT::TaskContext.

Definition at line 611 of file TaskContextProxy.cpp.

void RTT::corba::TaskContextProxy::removePeer ( TaskContext * peer ) [virtual]

Remove a one-way connection from this task to a peer task.

Reimplemented from RTT::TaskContext.

Definition at line 624 of file TaskContextProxy.cpp.

corba::CTaskContext_ptr RTT::corba::TaskContextProxy::server ( ) const

Get the Corba Object of the CTaskContext. You need to duplicate this object reference in case you wish to keep a reference to it. This object universally identifies the remote TaskContextServer and can be used to tell other (remote) objects where to find it.

Definition at line 753 of file TaskContextProxy.cpp.

void RTT::corba::TaskContextProxy::setName ( const std::string & n ) [virtual]

Definition at line 577 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::start ( void ) [virtual]

This method starts the execution of the updateHook() with each trigger or period. This function calls the user function startHook(), which must return true in order to allow this component to run.

Return values:

false	if startHook() returned false if the component was not Stopped
true	if the Running state was entered.

Reimplemented from RTT::TaskContext.

Definition at line 457 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::stop ( void ) [virtual]

This method stops the execution of updateHook() of this component. You can override this method to do something else or in addition. This function calls stopHook() as well.

Returns:: false if the component was not Running or not Active.

Reimplemented from RTT::TaskContext.

Definition at line 469 of file TaskContextProxy.cpp.

void RTT::corba::TaskContextProxy::synchronize ( ) [protected]

Definition at line 185 of file TaskContextProxy.cpp.

Member Data Documentation

corba::CTaskContext_var RTT::corba::TaskContextProxy::mtask [mutable, protected]

Definition at line 113 of file TaskContextProxy.hpp.

std::list<base::PortInterface*> RTT::corba::TaskContextProxy::port_proxies [protected]

CDataFlowInterface does not delete ports automatically, because they can then be defined as members of the TaskContext classes.

We must therefore delete in the proxy destructor the ones we are adding through synchronization

Definition at line 109 of file TaskContextProxy.hpp.

std::map< TaskContextProxy *, corba::CTaskContext_ptr > RTT::corba::TaskContextProxy::proxies [static]

Definition at line 88 of file TaskContextProxy.hpp.

PortableServer::POA_var RTT::corba::TaskContextProxy::proxy_poa [static, protected]

For now one POA handles all proxies.

Definition at line 118 of file TaskContextProxy.hpp.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation