RTObject.cpp
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00001 // -*- C++ -*-
00019 #include <assert.h>
00020 #include "rtm/RTObject.h"
00021 
00022 namespace RTC
00023 {
00024 
00025   RTObject_impl::RTObject_impl(RTC::Interface::RTObjectInterface* rtobj)
00026     : m_rtobj(rtobj)
00027   {
00028   }
00029   
00030   RTObject_impl::~RTObject_impl()
00031   {
00032   }
00033 
00034   //============================================================
00035   // RTC::LightweightRTObject
00036   //============================================================
00037   ReturnCode_t RTObject_impl::initialize()
00038     throw (CORBA::SystemException)
00039   {
00040     return m_rtobj->initialize();
00041   }
00042   
00043   ReturnCode_t RTObject_impl::finalize()
00044     throw (CORBA::SystemException)
00045   {
00046     return m_rtobj->finalize();
00047   }
00048 
00049   ReturnCode_t RTObject_impl::exit()
00050     throw (CORBA::SystemException)
00051   {
00052     return m_rtobj->exit();
00053   }
00054 
00055   CORBA::Boolean
00056   RTObject_impl::is_alive(ExecutionContext_ptr exec_context)
00057     throw (CORBA::SystemException)
00058   {
00059     DObjectRegistry doreg;
00060     doreg = Manager::instance().DObjectRegistry();
00061 
00062     if (doreg.isLocal(exec_context))
00063       {
00064         ExecutionContextInterface& ec(doreg.getLocalObject(exec_context));
00065       }
00066     else
00067       {
00068         ExecutionContextInterface& ec(exec_context);
00069       }
00070 
00071     return m_rtobj->is_alive(ec);
00072   }
00073   
00081   ExecutionContext_ptr
00082   RTObject_impl::get_context(ExecutionContextHandle_t ec_id)
00083     throw (CORBA::SystemException)
00084   {
00085     ExecutionContextInterface& ecif(m_rtobj->get_context(ec_id));
00086 
00087     return Local2Corba(ecif);
00088   }
00089     
00097   ExecutionContextList* RTObject_impl::get_owned_contexts()
00098     throw (CORBA::SystemException)
00099   {
00100     ExecutionContextInterfaceList& eclist(m_rtobj->get_owned_contexts());
00101 
00102     ExecutionContextList_var retval;
00103     retval = new ExecutionContextList();
00104     CORBA_SeqUtil::for_each(eclist, ec_copy(retval));
00105     
00106     return retval._retn();
00107   }
00108 
00116   ExecutionContextList* RTObject_impl::get_participating_contexts()
00117     throw (CORBA::SystemException)
00118   {
00119     ExecutionContextInterfaceList& eclist(m_rtobj->get_participating_contexts());
00120     ExecutionContextList_var retval;
00121     retval = new ExecutionContextList();
00122     CORBA_SeqUtil::for_each(eclist, ec_copy(retval));
00123     
00124     return retval._retn();
00125   }
00126 
00127 
00135   ExecutionContextHandle_t
00136   RTObject_impl::get_context_handle(ExecutionContext_ptr cxt)
00137     throw (CORBA::SystemException)
00138   {
00139     ExecutionContextInterface ecif(Corba2Local(cxt));
00140     return m_rtobj->get_context_handle(ecif);
00141   }
00142 
00143 
00151   UniqueId RTObject_impl::attach_context(ExecutionContext_ptr exec_context)
00152     throw (CORBA::SystemException)
00153   {
00154     return m_rtobj->attach_context(ExecutionContext_ptr exec_context);
00155   }
00156   
00164   ReturnCode_t RTObject_impl::detach_context(UniqueId ec_id)
00165     throw (CORBA::SystemException)
00166   {
00167     return m_rtobj->detach_context(UniqueId ec_id);
00168   }
00169   
00170   //============================================================
00171   // RTC::RTObject
00172   //============================================================
00173   
00181   ComponentProfile* RTObject_impl::get_component_profile()
00182     throw (CORBA::SystemException)
00183   {
00184     return m_rtobj->RTObject;
00185   }
00186   
00194   PortServiceList* RTObject_impl::get_ports()
00195     throw (CORBA::SystemException)
00196   {
00197     return m_rtobj->get_ports();
00198   }
00199   
00200   //============================================================
00201   // RTC::ComponentAction
00202   //============================================================
00210   ReturnCode_t RTObject_impl::on_initialize()
00211     throw (CORBA::SystemException)
00212   {
00213     return m_rtobj->on_initialize();
00214   }
00215   
00223   ReturnCode_t RTObject_impl::on_finalize()
00224     throw (CORBA::SystemException)
00225   {
00226     return m_rtobj->on_finalize();
00227   }
00228   
00236   ReturnCode_t RTObject_impl::on_startup(UniqueId ec_id)
00237     throw (CORBA::SystemException)
00238   {
00239     return m_rtobj->on_startup(UniqueId ec_id);
00240   }
00241   
00249   ReturnCode_t RTObject_impl::on_shutdown(UniqueId ec_id)
00250     throw (CORBA::SystemException)
00251   {
00252     return m_rtobj->on_shutdown(UniqueId ec_id);
00253   }
00254   
00262   ReturnCode_t RTObject_impl::on_activated(UniqueId ec_id)
00263     throw (CORBA::SystemException)
00264   {
00265     return m_rtobj->on_activated(UniqueId ec_id);
00266   }
00267   
00275   ReturnCode_t RTObject_impl::on_deactivated(UniqueId ec_id)
00276     throw (CORBA::SystemException)
00277   {
00278     return m_rtobj->on_deactivated(UniqueId ec_id);
00279   }
00280   
00288   ReturnCode_t RTObject_impl::on_aborting(UniqueId ec_id)
00289     throw (CORBA::SystemException)
00290   {
00291     return m_rtobj->on_aborting(UniqueId ec_id);
00292   }
00293   
00301   ReturnCode_t RTObject_impl::on_error(UniqueId ec_id)
00302     throw (CORBA::SystemException)
00303   {
00304     return m_rtobj->on_error(UniqueId ec_id);
00305   }
00306   
00314   ReturnCode_t RTObject_impl::on_reset(UniqueId ec_id)
00315     throw (CORBA::SystemException)
00316   {
00317     return m_rtobj->on_reset(UniqueId ec_id);
00318   }
00319   
00328   ReturnCode_t RTObject_impl::on_execute(UniqueId ec_id)
00329     throw (CORBA::SystemException)
00330   {
00331     return m_rtobj->on_execute(UniqueId ec_id);
00332   }
00333   
00342   ReturnCode_t RTObject_impl::on_state_update(UniqueId ec_id)
00343     throw (CORBA::SystemException)
00344   {
00345     return m_rtobj->on_state_update(UniqueId ec_id);
00346   }
00347   
00355   ReturnCode_t RTObject_impl::on_rate_changed(UniqueId ec_id)
00356     throw (CORBA::SystemException)
00357   {
00358     return m_rtobj->on_rate_changed(UniqueId ec_id);
00359   }
00360   
00361   //============================================================
00362   // SDO interfaces
00363   //============================================================
00371   SDOPackage::OrganizationList* RTObject_impl::get_owned_organizations()
00372     throw (CORBA::SystemException, SDOPackage::NotAvailable)
00373   {
00374 
00375   }
00376   
00377   // SDOPackage::SDO
00385   char* RTObject_impl::get_sdo_id()
00386     throw (CORBA::SystemException, 
00387            SDOPackage::NotAvailable, SDOPackage::InternalError)
00388   {
00389 
00390   }
00391   
00399   char* RTObject_impl::get_sdo_type()
00400     throw (CORBA::SystemException, 
00401            SDOPackage::NotAvailable, SDOPackage::InternalError)
00402   {
00403 
00404   }
00405   
00413   SDOPackage::DeviceProfile* RTObject_impl::get_device_profile()
00414     throw (CORBA::SystemException, 
00415            SDOPackage::NotAvailable, SDOPackage::InternalError)
00416   {
00417     try
00418       {
00419         SDOPackage::DeviceProfile_var dprofile;
00420         dprofile = new SDOPackage::DeviceProfile();
00421         dprofile->device_type  = CORBA::string_dup(m_profile.category);
00422         dprofile->manufacturer = CORBA::string_dup(m_profile.vendor);
00423         dprofile->model        = CORBA::string_dup(m_profile.type_name);
00424         dprofile->version      = CORBA::string_dup(m_profile.version);
00425         dprofile->properties   = m_profile.properties;
00426         return dprofile._retn();
00427       }
00428     catch (...)
00429       {
00430         throw SDOPackage::InternalError("get_device_profile()");
00431       }
00432     return new SDOPackage::DeviceProfile();
00433   }
00434   
00442   SDOPackage::ServiceProfileList* RTObject_impl::get_service_profiles()
00443     throw (CORBA::SystemException, 
00444            SDOPackage::NotAvailable, SDOPackage::InternalError)
00445   {
00446     try
00447       {
00448         SDOPackage::ServiceProfileList_var sprofiles;
00449         sprofiles = new SDOPackage::ServiceProfileList(m_sdoSvcProfiles);
00450         return sprofiles._retn();
00451       }
00452     catch (...)
00453       {
00454         throw SDOPackage::InternalError("get_service_profiles()");
00455       }
00456     return new SDOPackage::ServiceProfileList();
00457   }
00458   
00466   SDOPackage::ServiceProfile*
00467   RTObject_impl::get_service_profile(const char* id)
00468     throw (CORBA::SystemException, 
00469            SDOPackage::InvalidParameter, SDOPackage::NotAvailable,
00470            SDOPackage::InternalError)
00471   {
00472     if (!id)
00473       throw SDOPackage::InvalidParameter("get_service_profile(): Empty name.");
00474     
00475     try
00476       {
00477         CORBA::Long index;
00478         index = CORBA_SeqUtil::find(m_sdoSvcProfiles, svc_name(id));
00479         
00480         SDOPackage::ServiceProfile_var sprofile;
00481         sprofile = new SDOPackage::ServiceProfile(m_sdoSvcProfiles[index]);
00482         return sprofile._retn();
00483       }
00484     catch (...)
00485       {
00486         throw SDOPackage::InternalError("get_service_profile()");
00487       }
00488     return new SDOPackage::ServiceProfile();
00489   }
00490   
00498   SDOPackage::SDOService_ptr RTObject_impl::get_sdo_service(const char* id)
00499     throw (CORBA::SystemException, 
00500            SDOPackage::InvalidParameter, SDOPackage::NotAvailable,
00501            SDOPackage::InternalError)
00502   {
00503     if (!id)
00504       throw SDOPackage::InvalidParameter("get_service(): Empty name.");
00505     
00506     try
00507       {
00508         CORBA::Long index;
00509         index = CORBA_SeqUtil::find(m_sdoSvcProfiles, svc_name(id));
00510         
00511         SDOPackage::SDOService_var service;
00512         service = m_sdoSvcProfiles[index].service;
00513         return service._retn();
00514       }
00515     catch (...)
00516       {
00517         throw SDOPackage::InternalError("get_service()");
00518       }
00519     return SDOPackage::SDOService::_nil();
00520   }
00521   
00529   SDOPackage::Configuration_ptr RTObject_impl::get_configuration()
00530     throw (CORBA::SystemException, 
00531            SDOPackage::InterfaceNotImplemented, SDOPackage::NotAvailable,
00532            SDOPackage::InternalError)
00533   {
00534     if (m_pSdoConfig == NULL)
00535       throw SDOPackage::InterfaceNotImplemented();
00536     try
00537       {
00538         SDOPackage::Configuration_var config;
00539         config = m_pSdoConfig;
00540         return config._retn();
00541       }
00542     catch (...)
00543       {
00544         SDOPackage::InternalError("get_configuration()");
00545       }
00546     return SDOPackage::Configuration::_nil();
00547   }
00548   
00556   SDOPackage::Monitoring_ptr RTObject_impl::get_monitoring()
00557     throw (CORBA::SystemException, 
00558            SDOPackage::InterfaceNotImplemented, SDOPackage::NotAvailable,
00559            SDOPackage::InternalError)
00560   {
00561     throw SDOPackage::InterfaceNotImplemented();
00562     return SDOPackage::Monitoring::_nil();
00563   }
00564   
00572   SDOPackage::OrganizationList* RTObject_impl::get_organizations()
00573     throw (CORBA::SystemException, 
00574            SDOPackage::NotAvailable, SDOPackage::InternalError)
00575   {
00576     try
00577       {
00578         SDOPackage::OrganizationList_var org;
00579         org = new SDOPackage::OrganizationList(m_sdoOrganizations);
00580         return org._retn();
00581       }
00582     catch (...)
00583       {
00584         throw SDOPackage::InternalError("get_organizations()");
00585       }
00586     return new SDOPackage::OrganizationList(0);
00587   }
00588   
00596   SDOPackage::NVList* RTObject_impl::get_status_list()
00597     throw (CORBA::SystemException, 
00598            SDOPackage::NotAvailable, SDOPackage::InternalError)
00599   {
00600     try
00601       {
00602         NVList_var status;
00603         status = new NVList(m_sdoStatus);
00604         return status._retn();
00605       }
00606     catch (...)
00607       {
00608         SDOPackage::InternalError("get_status_list()");
00609       }
00610     return new SDOPackage::NVList(0);
00611   }
00612   
00620   CORBA::Any* RTObject_impl::get_status(const char* name)
00621     throw (CORBA::SystemException, 
00622            SDOPackage::InvalidParameter, SDOPackage::NotAvailable,
00623            SDOPackage::InternalError)
00624   {
00625     CORBA::Long index;
00626     index = CORBA_SeqUtil::find(m_sdoStatus, nv_name(name));
00627     if (index < 0)
00628       throw SDOPackage::InvalidParameter("get_status(): Not found");
00629     try
00630       {
00631         CORBA::Any_var status;
00632         status = new CORBA::Any(m_sdoStatus[index].value);
00633         return status._retn();
00634       }
00635     catch (...)
00636       {
00637         throw SDOPackage::InternalError("get_status()");
00638       }
00639     return new CORBA::Any();
00640   }
00641   
00642   //============================================================
00643   // Local methods
00644   //============================================================
00652   void RTObject_impl::setInstanceName(const char* instance_name)
00653   {
00654     m_properties["instance_name"] = instance_name;
00655     m_profile.instance_name = m_properties["instance_name"].c_str();
00656   }
00657   
00665   std::vector<std::string> RTObject_impl::getNamingNames()
00666   {
00667     return split(m_properties["naming.names"], ",");
00668   }
00669   
00677   void RTObject_impl::setObjRef(const RTObject_ptr rtobj)
00678   {
00679     m_objref = rtobj;
00680   }
00681   
00689   RTObject_ptr RTObject_impl::getObjRef() const
00690   {
00691     return RTC::RTObject::_duplicate(m_objref);
00692   }
00693   
00701   void RTObject_impl::setProperties(const Properties& prop)
00702   {
00703     m_properties << prop;
00704     m_profile.instance_name = m_properties["instance_name"].c_str();
00705     m_profile.type_name     = m_properties["type_name"].c_str();
00706     m_profile.description   = m_properties["description"].c_str();
00707     m_profile.version       = m_properties["version"].c_str();
00708     m_profile.vendor        = m_properties["vendor"].c_str();
00709     m_profile.category      = m_properties["category"].c_str();
00710   }
00711   
00719   Properties& RTObject_impl::getProperties()
00720   {
00721     return m_properties;
00722   }
00723   
00731   void RTObject_impl::updateParameters(const char* config_set)
00732   {
00733     m_configsets.update(config_set);
00734     return;
00735   }
00736   
00744   void RTObject_impl::registerPort(PortBase& port)
00745   {
00746     m_portAdmin.registerPort(port);
00747     port.setOwner(this->getObjRef());
00748     return;
00749   }
00750   
00758   void RTObject_impl::deletePort(PortBase& port)
00759   {
00760     m_portAdmin.deletePort(port);
00761     return;
00762   }
00763   
00771   void RTObject_impl::deletePortByName(const char* port_name)
00772   {
00773     m_portAdmin.deletePortByName(port_name);
00774     return;
00775   }
00776   
00784   void RTObject_impl::finalizePorts()
00785   {
00786     m_portAdmin.finalizePorts();
00787   }
00788   
00796   void RTObject_impl::shutdown()
00797   {
00798     try
00799       {
00800         finalizePorts();
00801         m_pPOA->deactivate_object(*m_pPOA->servant_to_id(m_pSdoConfigImpl));
00802         m_pPOA->deactivate_object(*m_pPOA->servant_to_id(this));
00803       }
00804     catch (...)
00805       {
00806         ;
00807       }
00808     
00809     if (m_pManager != NULL)
00810       {
00811         m_pManager->cleanupComponent(this);
00812       }
00813   }
00814 };


openrtm_aist
Author(s): Noriaki Ando
autogenerated on Sun Mar 26 2017 03:37:17