Namespaces

namespace logging

namespace TCP

Classes

class CheckSizeDataSource

struct comcol

class ConsoleReporting

class CorbaDeploymentComponent

class DeploymentComponent

class FileReporting

class HelloWorld

class HMIConsoleOutput

This component can be used to display messages on the standard output. More...

struct keycol

class ListenThread

class LuaComponent

class NetcdfReporting

class OCLTypekit

class OSService

class PrintService

class ReportingComponent

A Component for periodically reporting Component Port contents to a human readable text format. The default format is a table with a header. More...

class TaskBrowser

This component allows a text client to browse the peers of a peer RTT::TaskContext and execute commands. If your console does not support colors or you want a different prompt, the member variables which control these 'escape sequences' are public and may be changed. The TaskBrowser is most commonly used with its loop() method, but prior to/after calling loop(), you can invoke some other commands, to control what is displayed or to execute a fixed set of commands prior to showng the prompt. More...

class TcpReporting

A component which writes data reports to a tcp/ip socket. It can serve different clients. It uses a ASCI-based protocol. More...

class Testcomp

class TimerComponent

A Component interface to the Real-Time types::Toolkit's timer. It must be configured with a Activity which will emit the timeout event of this component. More...

struct titlecol

Functions

RTT::TaskContext * createTaskContextProxy (std::string name)

RTT::TaskContext * createTaskContextProxyIOR (std::string ior)

RTT::TaskContext * createTaskContextProxyIORFile (std::string iorfilename)

int deployerParseCmdLine (int argc, char **argv, std::string &siteFile, std::vector< std::string > &scriptFiles, std::string &name, bool &requireNameService, bool &deploymentOnlyChecked, int &minNumberCPU, po::variables_map &vm, po::options_description *otherOptions)

char getProgramStatusChar (RTT::TaskContext *t, string progname)

char getStateMachineStatusChar (RTT::TaskContext *t, string progname)

char getTaskStatusChar (RTT::TaskContext *t)

bool memberDecomposition (base::DataSourceBase::shared_ptr dsb, PropertyBag &targetbag, DataSource< bool >::shared_ptr &resized)

static std::ostream & nl (std::ostream &__os)

std::ostream & operator<< (std::ostream &os, comcol f)

std::ostream & operator<< (std::ostream &os, keycol f)

std::ostream & operator<< (std::ostream &os, titlecol f)

void str_trim (string &str, char to_trim)

int string_to_oro_sched (const std::string &sched)

prior to calling

Parse the command line arguments for a deployer program The caller can set defaults for and this function. If the user requests a log level for RTT::Logger, then the logging level is set internally by this function. If the user requests help, then the function displays the help and returns a non-0 value. Any error causes the program usage to be displayed, and a non-0 return value.

Parameters:

argc	Number of command line arguments
argv	Command line arguments
siteFile	Name of the site CPF/XML file for the deployer to load up front
scriptFiles	Names of the XML files for the deployer to load and run
name	Name of the deployer task
requireNameService	Whether to require the CORBA name service, or not
minNumberCPU	The minimum number of CPUs required for deployment (0 == no minimum)
vm	The variables map into which the options are parsed.
otherOptions	Caller can pass in other options to check for. If NULL, then is ignored.

Returns:: 0 if successful, otherwise an error code

int enforceMinNumberCPU (const int minNumberCPU)

int deployerParseCmdLine (int argc, char **argv, std::string &siteFile, std::vector< std::string > &scriptFiles, std::string &name, bool &requireNameService, bool &deploymentOnlyChecked, int &minNumberCPU, boost::program_options::variables_map &vm, boost::program_options::options_description *otherOptions=NULL)

Variables

static int got_signal = -1

std::map< std::string,
RTT::Logger::LogLevel > logMap

std::deque< TaskContext * > taskHistory

static std::set< string > valid_names

Detailed Description

The Orocos Component Library. This namespace contains components for supporting applications, such as the TaskBrowser, DeploymentComponent, ReportingComponent,... hardware access such as the IOComponent, AxesComponent, Kuka361Component,... or higher level application logic such as the CartesianControllerVel or nAxesGeneratorPos.

Note:: Including this header makes all the classes of the RTT namespace available in the OCL namespace. Thus a component written in the OCL namespace does not need to write the repetitive RTT:: scope.

Function Documentation

RTT::TaskContext* OCL::createTaskContextProxy ( std::string name )

This helper function looks up a server using the Naming Service and creates a proxy for that object.

Definition at line 43 of file CorbaDeploymentComponent.cpp.

RTT::TaskContext* OCL::createTaskContextProxyIOR ( std::string ior )

This helper function looks up a server using an IOR file and creates a proxy for that object.

Definition at line 72 of file CorbaDeploymentComponent.cpp.

RTT::TaskContext* OCL::createTaskContextProxyIORFile ( std::string iorfilename )

This helper function looks up a server using an IOR file and creates a proxy for that object.

Definition at line 53 of file CorbaDeploymentComponent.cpp.

int OCL::deployerParseCmdLine	(	int	argc,
		char **	argv,
		std::string &	siteFile,
		std::vector< std::string > &	scriptFiles,
		std::string &	name,
		bool &	requireNameService,
		bool &	deploymentOnlyChecked,
		int &	minNumberCPU,
		boost::program_options::variables_map &	vm,
		boost::program_options::options_description *	otherOptions = `NULL`
	)

int OCL::deployerParseCmdLine	(	int	argc,
		char **	argv,
		std::string &	siteFile,
		std::vector< std::string > &	scriptFiles,
		std::string &	name,
		bool &	requireNameService,
		bool &	deploymentOnlyChecked,
		int &	minNumberCPU,
		po::variables_map &	vm,
		po::options_description *	otherOptions
	)

Definition at line 69 of file deployer-funcs.cpp.

int OCL::enforceMinNumberCPU ( const int minNumberCPU )

Enforce a minimum number of CPUs required for deployment

Precondition:: 0 <= minNumberCPU

Postcondition:: If 0 < minNumberCPU and the number of CPUs present < minNumberCPU then prints an error message and exit's with -1. Otherwise, nothing happens.

Warning:: Check only occurs on gnulinux (the only one with RTT CPU affinity support)

Returns:: 0 if (0==minNumberCPU) or (number CPUS <= minNumberCPU) or the platform does not support CPU affinity in RTT, otherwise -1 if unable to determine the number of CPUS, otherwise -2 (and so the minimum number of CPUs is not present)

Definition at line 234 of file deployer-funcs.cpp.

char OCL::getProgramStatusChar	(	RTT::TaskContext *	t,
		string	progname
	)

Definition at line 781 of file TaskBrowser.cpp.

char OCL::getStateMachineStatusChar	(	RTT::TaskContext *	t,
		string	progname
	)

Definition at line 775 of file TaskBrowser.cpp.

char OCL::getTaskStatusChar ( RTT::TaskContext * t )

Helper functions to display task and script states.

Definition at line 760 of file TaskBrowser.cpp.

bool OCL::memberDecomposition	(	base::DataSourceBase::shared_ptr	dsb,
		PropertyBag &	targetbag,
		DataSource< bool >::shared_ptr &	resized
	)

Decompose a given type using getMember() into a property tree.

This function shares 90% of the code with RTT::types::propertyDecomposition, but is optimised for speed and only uses getMember with references, not the custom decomposeType functions.

Definition at line 87 of file ReportingComponent.cpp.

static std::ostream& OCL::nl ( std::ostream & __os ) [static]

Our own defined "\n"

Definition at line 159 of file TaskBrowser.cpp.

std::ostream& OCL::operator<<	(	std::ostream &	os,
		comcol	f
	)

Definition at line 1671 of file TaskBrowser.cpp.

std::ostream& OCL::operator<<	(	std::ostream &	os,
		keycol	f
	)

Definition at line 1675 of file TaskBrowser.cpp.

std::ostream& OCL::operator<<	(	std::ostream &	os,
		titlecol	f
	)

Definition at line 1679 of file TaskBrowser.cpp.

void OCL::str_trim	(	string &	str,
		char	to_trim
	)

Definition at line 787 of file TaskBrowser.cpp.

int OCL::string_to_oro_sched ( const std::string & sched )

Definition at line 637 of file DeploymentComponent.cpp.

Variable Documentation

int OCL::got_signal = -1 [static]

Definition at line 81 of file DeploymentComponent.cpp.

std::map<std::string, RTT::Logger::LogLevel> OCL::logMap

Initial value:

        boost::assign::map_list_of
        ("never",       RTT::Logger::Debug)
        ("fatal",       RTT::Logger::Fatal)
        ("critical",    RTT::Logger::Critical)
        ("error",       RTT::Logger::Error)
        ("warning",     RTT::Logger::Warning)
        ("info",        RTT::Logger::Info)
        ("debug",       RTT::Logger::Debug)
        ("realtime",    RTT::Logger::RealTime)

Definition at line 58 of file deployer-funcs.cpp.

std::deque<TaskContext*> OCL::taskHistory

Definition at line 148 of file TaskBrowser.cpp.

std::set<string> OCL::valid_names [static]

I'm using a set to speed up lookups.

Definition at line 79 of file DeploymentComponent.cpp.