RTObjectServant.h
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00001 // -*- C++ -*-
00019 #ifndef RTC_RTOBJECTSERVANT_H
00020 #define RTC_RTOBJECTSERVANT_H
00021 
00022 #include <memory>
00023 
00024 // doil include
00025 #include <doil/ImplBase.h>
00026 #include <doil/corba/CORBA.h>
00027 #include <doil/corba/CORBAServantBase.h>
00028 #include <doil/corba/CORBAManager.h>
00029 
00030 // rtc include
00031 #include <rtc/IRTC.h>
00032 
00033 // CORBA header include
00034 #include "rtc/corba/idl/RTCSkel.h"
00035 #include "rtc/corba/idl/OpenRTMSkel.h"
00036 
00037 
00038 
00039 namespace RTC
00040 {
00041 namespace Local
00042 {
00043   class IRTObject;
00044 };
00045 namespace CORBA
00046 {
00047   typedef ::RTC::Local::IRTObject IRTObject;
00048   typedef RTC::ExecutionContextHandle_t EChandle;
00049   
00050   RTC::ReturnCode_t ret(RTC::Local::ReturnCode_t r)
00051   {
00052     return RTC::ReturnCode_t((int)r);
00053   }
00054   
00055   class RTObjectServant
00056     : public virtual POA_RTC::RTObject, 
00057       public virtual doil::CORBA::CORBAServantBase
00058   {
00059   public:
00060     RTObjectServant(doil::ImplBase* impl);
00061     virtual ~RTObjectServant();
00062     
00063     //============================================================
00064     // RTC::LightweightRTObject
00065     //============================================================
00066     virtual ReturnCode_t initialize()
00067       throw (::CORBA::SystemException);
00068     
00069     virtual ReturnCode_t finalize()
00070       throw (::CORBA::SystemException);
00071     
00072     virtual ReturnCode_t exit()
00073       throw (::CORBA::SystemException); 
00074     
00075     virtual ::CORBA::Boolean is_alive(ExecutionContext_ptr exec_context)
00076       throw (::CORBA::SystemException);
00077     
00078     virtual ExecutionContext_ptr get_context(EChandle exec_handle)
00079       throw (::CORBA::SystemException);
00080     
00081     virtual ExecutionContextList* get_owned_contexts()
00082       throw (::CORBA::SystemException);
00083     
00084     virtual ExecutionContextList* get_participating_contexts()
00085       throw (::CORBA::SystemException);
00086     
00087     virtual ExecutionContextHandle_t
00088     get_context_handle(ExecutionContext_ptr cxt)
00089       throw (::CORBA::SystemException);
00090     
00091     EChandle attach_context(ExecutionContext_ptr exec_context)
00092       throw (::CORBA::SystemException);
00093     
00094     ReturnCode_t detach_context(EChandle exec_handle)
00095       throw (::CORBA::SystemException);
00096     
00097     virtual ComponentProfile* get_component_profile()
00098       throw (::CORBA::SystemException);
00099     
00100     virtual PortServiceList* get_ports()
00101       throw (::CORBA::SystemException);
00102     
00103     virtual ReturnCode_t on_initialize()
00104       throw (::CORBA::SystemException);
00105     
00106     virtual ReturnCode_t on_finalize()
00107       throw (::CORBA::SystemException);
00108     
00109     virtual ReturnCode_t on_startup(EChandle exec_handle)
00110       throw (::CORBA::SystemException);
00111     
00112     virtual ReturnCode_t on_shutdown(EChandle exec_handle)
00113       throw (::CORBA::SystemException);
00114     
00115     virtual ReturnCode_t on_activated(EChandle exec_handle)
00116       throw (::CORBA::SystemException);
00117     
00118     virtual ReturnCode_t on_deactivated(EChandle exec_handle)
00119       throw (::CORBA::SystemException);
00120     
00121     virtual ReturnCode_t on_aborting(EChandle exec_handle)
00122       throw (::CORBA::SystemException);
00123     
00124     virtual ReturnCode_t on_error(EChandle exec_handle)
00125       throw (::CORBA::SystemException);
00126     
00127     virtual ReturnCode_t on_reset(EChandle exec_handle)
00128       throw (::CORBA::SystemException);
00129     
00130     
00131     //============================================================
00132     // SDOPackage::SdoSystemElement
00133     //============================================================
00134     virtual SDOPackage::OrganizationList* get_owned_organizations()
00135       throw (::CORBA::SystemException, SDOPackage::NotAvailable);
00136     
00137     //============================================================
00138     // SDOPackage::SDO
00139     //============================================================
00140     virtual char* get_sdo_id()
00141       throw (::CORBA::SystemException,
00142              SDOPackage::NotAvailable, SDOPackage::InternalError);
00143     
00144     virtual char* get_sdo_type()
00145       throw (::CORBA::SystemException, 
00146              SDOPackage::NotAvailable, SDOPackage::InternalError);
00147     
00148     virtual SDOPackage::DeviceProfile* get_device_profile()
00149       throw (::CORBA::SystemException, 
00150              SDOPackage::NotAvailable, SDOPackage::InternalError);
00151     
00152     virtual SDOPackage::ServiceProfileList* get_service_profiles()
00153       throw (::CORBA::SystemException, 
00154              SDOPackage::NotAvailable, SDOPackage::InternalError);
00155     
00156     virtual SDOPackage::ServiceProfile* get_service_profile(const char* id)
00157       throw (::CORBA::SystemException, 
00158              SDOPackage::InvalidParameter, SDOPackage::NotAvailable,
00159              SDOPackage::InternalError);
00160     
00161     virtual SDOPackage::SDOService_ptr get_sdo_service(const char* id)
00162       throw (::CORBA::SystemException, 
00163              SDOPackage::InvalidParameter, SDOPackage::NotAvailable,
00164              SDOPackage::InternalError);
00165     
00166     virtual SDOPackage::Configuration_ptr get_configuration()
00167       throw (::CORBA::SystemException, 
00168              SDOPackage::InterfaceNotImplemented, SDOPackage::NotAvailable,
00169              SDOPackage::InternalError);
00170     
00171     virtual SDOPackage::Monitoring_ptr get_monitoring()
00172       throw (::CORBA::SystemException, 
00173              SDOPackage::InterfaceNotImplemented, SDOPackage::NotAvailable,
00174              SDOPackage::InternalError);
00175     
00176     virtual SDOPackage::OrganizationList* get_organizations()
00177       throw (::CORBA::SystemException, 
00178              SDOPackage::NotAvailable, SDOPackage::InternalError);
00179     
00180     virtual SDOPackage::NVList* get_status_list()
00181       throw (::CORBA::SystemException, 
00182              SDOPackage::NotAvailable, SDOPackage::InternalError);
00183     
00184     virtual ::CORBA::Any* get_status(const char* name)
00185       throw (::CORBA::SystemException, 
00186              SDOPackage::InvalidParameter, SDOPackage::NotAvailable,
00187              SDOPackage::InternalError);
00188     
00189   protected:
00190     ::RTC::Local::IRTObject* m_impl;
00191     
00192   };
00193 };
00194 };
00195 #endif // RTObject


openrtm_aist
Author(s): Noriaki Ando
autogenerated on Sat Jun 8 2019 18:49:06