#include <DeploymentComponent.hpp>

Inheritance diagram for OCL::DeploymentComponent:

Classes
struct	ComponentData

struct	ConnectionData

Public Member Functions
bool	addPeer (const std::string &from, const std::string &target)

bool	aliasPeer (const std::string &from, const std::string &target, const std::string &alias)

bool	cleanupComponent (RTT::TaskContext *instance)

bool	cleanupComponent (const std::string &comp_name)

bool	cleanupComponents ()

bool	cleanupComponentsGroup (const int group)

void	clearConfiguration ()

bool	configure (const std::string &name)

bool	configureComponent (RTT::TaskContext *instance)

bool	configureComponent (const std::string &comp_name)

bool	configureComponents ()

bool	configureComponentsGroup (const int group)

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

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

bool	connectOperations (const std::string &required, const std::string &provided)

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

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	connectServices (const std::string &one, const std::string &other)

bool	createConnectionMapFromPortsTag (RTT::Property< RTT::PropertyBag > &comp, RTT::TaskContext *c, const bool ignoreNonexistentPorts)

bool	createDataPortConnections (const bool skipUnconnected)

bool	createStream (const std::string &component, const std::string &port, ConnPolicy policy)

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

void	displayComponentTypes () const

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

const RTT::FactoryMap &	getFactories () const

bool	import (const std::string &package)

void	kickOut (const std::string &config_file)

bool	kickOutAll ()

bool	kickOutComponent (const std::string &comp_name)

bool	kickOutGroup (const int group)

bool	kickStart (const std::string &file_name)

bool	kickStart2 (const std::string &configurationfile, const bool doStart, bool &loadOk, bool &configureOk, bool &startOk)

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

bool	loadComponents (const std::string &config_file)

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

bool	loadConfiguration (const std::string &config_file)

bool	loadConfigurationString (const std::string &config_text)

bool	loadLibrary (const std::string &name)

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

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

void	path (const std::string &path)

bool	reloadLibrary (const std::string &filepath)

bool	runScript (const std::string &file_name)

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

bool	setActivityOnCPU (const std::string &comp_name, double period, int priority, int scheduler, unsigned int cpu_nr)

bool	setFileDescriptorActivity (const std::string &comp_name, double timeout, int priority, int scheduler)

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, unsigned cpu_affinity, const std::string &master_name="")

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

bool	setSequentialActivity (const std::string &comp_name)

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

bool	setWaitPeriodPolicy (const std::string &comp_name, int policy)

void	shutdownDeployment ()

bool	startComponent (RTT::TaskContext *instance)

bool	startComponent (const std::string &comp_name)

bool	startComponents ()

bool	startComponentsGroup (const int group)

bool	stopComponent (RTT::TaskContext *instance)

bool	stopComponent (const std::string &comp_name)

bool	stopComponents ()

bool	stopComponentsGroup (const int group)

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

bool	unloadComponent (const std::string &name)

bool	unloadComponents ()

bool	unloadComponentsGroup (const int group)

bool	waitForInterrupt ()

bool	waitForSignal (int signumber)

bool	waitForSignals (int *sigs, std::size_t sig_count)

	~DeploymentComponent ()

Public Member Functions inherited from RTT::TaskContext
bool	addAttribute (const std::string &name, T &attr)

bool	addAttribute (base::AttributeBase &a)

bool	addAttribute (base::AttributeBase &a)

bool	addAttribute (const std::string &name, T &attr)

bool	addConstant (const std::string &name, const T &attr)

bool	addConstant (const std::string &name, const T &attr)

base::InputPortInterface &	addEventPort (const std::string &name, base::InputPortInterface &port, SlotFunction callback=SlotFunction())

base::InputPortInterface &	addEventPort (base::InputPortInterface &port, SlotFunction callback=SlotFunction())

Operation< Signature > &	addOperation (Operation< Signature > &op)

Operation< Signature > &	addOperation (Operation< Signature > &op)

Operation< typename internal::GetSignature< Func >::Signature > &	addOperation (const std::string name, Func func, Service *serv, ExecutionThread et=ClientThread)

Operation< Signature > &	addOperation (const std::string name, Signature *func, ExecutionThread et=ClientThread)

Operation< typename internal::GetSignature< Func >::Signature > &	addOperation (const std::string name, Func func, Service *serv, ExecutionThread et=ClientThread)

Operation< Signature > &	addOperation (const std::string name, Signature *func, ExecutionThread et=ClientThread)

virtual bool	addPeer (TaskContext *peer, std::string alias="")

virtual bool	addPeer (TaskContext *peer, std::string alias="")

base::PortInterface &	addPort (const std::string &name, base::PortInterface &port)

base::PortInterface &	addPort (base::PortInterface &port)

Property< T > &	addProperty (const std::string &name, T &attr)

bool	addProperty (base::PropertyBase &pb)

Property< T > &	addProperty (const std::string &name, T &attr)

bool	addProperty (base::PropertyBase &pb)

ConfigurationInterface *	attributes ()

ConfigurationInterface *	attributes ()

virtual void	clear ()

virtual bool	connectPeers (TaskContext *peer)

virtual bool	connectPeers (TaskContext *peer)

virtual bool	connectPorts (TaskContext *peer)

virtual bool	connectServices (TaskContext *peer)

virtual bool	connectServices (TaskContext *peer)

virtual void	disconnect ()

virtual void	disconnect ()

virtual void	disconnectPeers (const std::string &name)

virtual void	disconnectPeers (const std::string &name)

base::ActivityInterface *	getActivity ()

T *	getActivity ()

base::AttributeBase *	getAttribute (const std::string &name) const

base::AttributeBase *	getAttribute (const std::string &name) const

virtual const std::string &	getName () const

OperationInterfacePart *	getOperation (std::string name)

OperationInterfacePart *	getOperation (std::string name)

virtual TaskContext *	getPeer (const std::string &peer_name) const

virtual TaskContext *	getPeer (const std::string &peer_name) const

virtual PeerList	getPeerList () const

virtual PeerList	getPeerList () const

base::PortInterface *	getPort (const std::string &name) const

base::PropertyBase *	getProperty (const std::string &name) const

base::PropertyBase *	getProperty (const std::string &name) const

boost::shared_ptr< ServiceType >	getProvider (const std::string &name)

boost::shared_ptr< ServiceType >	getProvider (const std::string &name)

virtual bool	hasPeer (const std::string &peer_name) const

virtual bool	hasPeer (const std::string &peer_name) const

bool	loadService (const std::string &service_name)

bool	loadService (const std::string &service_name)

OperationInterface *	operations ()

OperationInterface *	operations ()

DataFlowInterface *	ports ()

const DataFlowInterface *	ports () const

PropertyBag *	properties ()

PropertyBag *	properties ()

Service::shared_ptr	provides (const std::string &service_name)

Service::shared_ptr	provides ()

Service::shared_ptr	provides ()

Service::shared_ptr	provides (const std::string &service_name)

virtual bool	ready ()

virtual void	removePeer (const std::string &name)

virtual void	removePeer (TaskContext *peer)

virtual void	removePeer (TaskContext *peer)

virtual void	removePeer (const std::string &name)

ServiceRequester::shared_ptr	requires (const std::string &service_name)

ServiceRequester::shared_ptr	requires (const std::string &service_name)

ServiceRequester::shared_ptr	requires ()

ServiceRequester::shared_ptr	requires ()

bool	setActivity (base::ActivityInterface *new_act)

virtual bool	start ()

virtual bool	stop ()

	TaskContext (const std::string &name, TaskState initial_state=Stopped)

virtual	~TaskContext ()

Public Member Functions inherited from RTT::base::TaskCore
virtual bool	activate ()

virtual bool	activate ()

virtual bool	cleanup ()

virtual bool	cleanup ()

virtual bool	configure ()

virtual bool	configure ()

const ExecutionEngine *	engine () const

ExecutionEngine *	engine ()

virtual void	error ()

virtual void	error ()

virtual unsigned	getCpuAffinity () const

virtual unsigned	getCpuAffinity () const

unsigned int	getCycleCounter () const

unsigned int	getIOCounter () const

virtual Seconds	getPeriod () const

virtual Seconds	getPeriod () const

virtual TaskState	getTargetState () const

virtual TaskState	getTaskState () const

unsigned int	getTimeOutCounter () const

unsigned int	getTriggerCounter () const

virtual bool	inException () const

virtual bool	inException () const

virtual bool	inFatalError () const

virtual bool	inFatalError () const

virtual bool	inRunTimeError () const

virtual bool	inRunTimeError () const

virtual bool	isActive () const

virtual bool	isActive () const

virtual bool	isConfigured () const

virtual bool	isConfigured () const

virtual bool	isRunning () const

virtual bool	isRunning () const

virtual bool	recover ()

virtual bool	recover ()

virtual bool	setCpuAffinity (unsigned cpu)

virtual bool	setCpuAffinity (unsigned cpu)

virtual bool	setPeriod (Seconds s)

virtual bool	setPeriod (Seconds s)

	TaskCore (TaskState initial_state=Stopped, const std::string &name=std::string())

virtual bool	trigger ()

virtual bool	trigger ()

virtual bool	update ()

virtual bool	update ()

virtual	~TaskCore ()

Protected Types
typedef std::list< std::string >	CompList

typedef std::map< std::string, ComponentData >	CompMap

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

Protected Member Functions
virtual bool	componentLoaded (RTT::TaskContext *c)

virtual void	componentUnloaded (RTT::TaskContext *c)

bool	configureHook ()

base::PortInterface *	stringToPort (std::string const &names)

Service::shared_ptr	stringToService (std::string const &names)

ServiceRequester::shared_ptr	stringToServiceRequester (std::string const &names)

bool	unloadComponentImpl (CompMap::iterator cit)

Protected Member Functions inherited from RTT::TaskContext
virtual void	dataOnPortCallback (base::PortInterface *port)

virtual bool	dataOnPortHook (base::PortInterface *port)

void	forceActivity (base::ActivityInterface *new_act)

Protected Member Functions inherited from RTT::base::TaskCore
virtual bool	breakUpdateHook ()

virtual void	cleanupHook ()

virtual void	errorHook ()

virtual void	exception ()

virtual void	exceptionHook ()

virtual void	fatal ()

virtual bool	startHook ()

virtual void	stopHook ()

virtual void	updateHook ()

Protected Attributes
RTT::Property< bool >	autoUnload

CompMap	compmap

std::string	compPath

CompList	comps

ConMap	conmap

int	defaultWaitPeriodPolicy

RTT::Constant< int >	highest_Priority

RTT::Constant< int >	lowest_Priority

int	nextGroup
	Next group number. More...

RTT::PropertyBag	root

RTT::Constant< int >	sched_OTHER

RTT::Constant< int >	sched_RT

RTT::Attribute< std::string >	target

RTT::Attribute< bool >	validConfig

Protected Attributes inherited from RTT::base::TaskCore
ExecutionEngine *	ee

unsigned int	mCycleCounter

unsigned int	mIOCounter

std::string	mName

TaskState	mTaskState

unsigned int	mTimeOutCounter

unsigned int	mTriggerCounter

bool	mTriggerOnStart

Additional Inherited Members
Public Types inherited from RTT::TaskContext
typedef std::vector< std::string >	PeerList

typedef boost::function< void(base::PortInterface *)>	SlotFunction

Public Types inherited from RTT::base::TaskCore
enum	TaskState

Public Attributes inherited from RTT::base::TaskCore
	Exception

	FatalError

	Init

	PreOperational

	Running

	RunTimeError

	Stopped

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 DeploymentComponent.hpp.

Member Typedef Documentation

typedef std::list<std::string> OCL::DeploymentComponent::CompList

protected

Definition at line 171 of file DeploymentComponent.hpp.

typedef std::map<std::string, ComponentData> OCL::DeploymentComponent::CompMap

protected

This list and map hold the dynamically loaded components.

Definition at line 170 of file DeploymentComponent.hpp.

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

protected

This maps connection names to associated ports.

Definition at line 164 of file 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 97 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 281 of file DeploymentComponent.cpp.

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.

Definition at line 357 of file DeploymentComponent.cpp.

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

Make one component a peer of the other, in one direction, with an alternative name, such that one can use the services of the other and knows it under the name of the alias.

Parameters

from	The component that must 'see' target and use its services.
target	The component that is 'seen' and used by from.
alias	The name of the target as it will be seen by from.

Returns: true if both components are peers of this deployment component and target became a peer of from.

Definition at line 377 of file DeploymentComponent.cpp.

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 2319 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 967 of file DeploymentComponent.hpp.

bool OCL::DeploymentComponent::cleanupComponents ( )

Cleanup all loaded and not running components.

Definition at line 1757 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

Definition at line 1767 of file DeploymentComponent.cpp.

void OCL::DeploymentComponent::clearConfiguration ( )

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

Definition at line 1848 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::componentLoaded ( RTT::TaskContext * c )

protectedvirtual

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.

Definition at line 277 of file DeploymentComponent.cpp.

void OCL::DeploymentComponent::componentUnloaded ( RTT::TaskContext * c )

protectedvirtual

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.

Definition at line 279 of file DeploymentComponent.cpp.

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 2265 of file DeploymentComponent.cpp.

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

Configure a single loaded and running component.

Parameters

instance instance pointer of the component.

Returns: true if successfully configured.

Definition at line 2337 of file DeploymentComponent.cpp.

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

inline

Configure a single loaded and running components.

Parameters

comp_name name of the component.

Returns: true if successfully configured

Definition at line 916 of file DeploymentComponent.hpp.

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 1426 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.

Definition at line 1437 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.

Definition at line 2270 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::configureHook ( )

protectedvirtual

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

ComponentPath + "/rtt/"+ Target + "/plugins"

Returns: always true.

Reimplemented from RTT::base::TaskCore.

Definition at line 261 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.

Definition at line 567 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::connectOperations	(	const std::string &	required,
		const std::string &	provided
	)

Connects a required operation to a provided operation.

Parameters

required	The dot-separated name of a required operation
provided	The dot-separated name of a provided operation

Returns: true if required is connected to provided

Definition at line 621 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.

Definition at line 341 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 496 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.

Definition at line 514 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.

Definition at line 603 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::createConnectionMapFromPortsTag	(	RTT::Property< RTT::PropertyBag > &	comp,
		RTT::TaskContext *	c,
		const bool	ignoreNonexistentPorts
	)

Make connection map from the <Ports> tag of comp.

Parameters

comp	Property bag describing component to scan the <Ports> tag of.
c	The TaskContext instance corresponding to comp
ignoreNonexistentPorts	Whether to ignore ports listed in the <Ports> tag that do not exist, otherwise to throw an error if such ports do not exist.

Returns: true if all elements in the <Ports> tag are strings (and so contain port names) and either ignoreNonexistentPorts or !ignoreNonexistentPorts and all ports named exist in c.

Precondition: 0 != c

Definition at line 797 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::createDataPortConnections ( const bool skipUnconnected )

Create data connections for all known connections in the conmap. This can be run multiple times, and it will only try to create any data connections that don't already exist.

Parameters

skipUnconnected Whether to skip connections that have only one port. This may occur when the port for one side of a connection does not yet exist, but will be created later in the deployment process (e.g. by a component that dynamically creates ports in its configureHook() ). If skipUnconnected==false then a connection with only one port will attempt to create a stream for the connection.

Returns: true if all connections have an output port and all port connections were made succesfully.

Definition at line 1341 of file DeploymentComponent.cpp.

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

Deprecated:: by stream()

Definition at line 553 of file DeploymentComponent.cpp.

void OCL::DeploymentComponent::displayComponentTypes ( ) const

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

See also: loadComponent()

Definition at line 2018 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()

Definition at line 2029 of file DeploymentComponent.cpp.

const FactoryMap & OCL::DeploymentComponent::getFactories ( ) const

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

Definition at line 2287 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.

Definition at line 1855 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() ).

Definition at line 2292 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::kickOutAll ( )

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

Postcondition: 0 == nextGroup

Definition at line 763 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

Definition at line 2393 of file DeploymentComponent.cpp.

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

Stop, cleanup and unload all components in group group.

Definition at line 776 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.

Definition at line 705 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::kickStart2	(	const std::string &	configurationfile,
		const bool	doStart,
		bool &	loadOk,
		bool &	configureOk,
		bool &	startOk
	)

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

Parameters

configurationfile	The file to load
doStart	True to run startComponents, otherwise the components are only loaded and configured.
loadOk	True if successfully loaded the file
configureOk	True if successfully configured all components loaded from the file
startOk	True if did not want to start (doStart==false) or did want to start (doStart==true) and successfully started all components loaded from the file, otherwise false

Returns: (loadOk && configureOk && (!doStart || startOk))

Definition at line 721 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.

Definition at line 1896 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.

Definition at line 859 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.

Definition at line 866 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.

Definition at line 854 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.

Definition at line 667 of file DeploymentComponent.cpp.

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

Use this command to load a plugin or component library into the memory of the current process. This is a low-level function which you should only use if you could not use import().

Parameters

name	an absolute or relative path to a loadable library.

Returns: True if it could be loaded, false otherwise.

Definition at line 1868 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.

Definition at line 1880 of file DeploymentComponent.cpp.

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

inline

Definition at line 264 of file 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.

Definition at line 1861 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::reloadLibrary ( const std::string & filepath )

Use this command to reload a component library into the memory of the current process. This is a low-level function which you should only use for testing/development

Parameters

filepath an absolute path to a loaded library.

Returns: True if it could be reloaded, false otherwise.

Definition at line 1874 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.

Definition at line 676 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.

Definition at line 2039 of file DeploymentComponent.cpp.

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

(Re-)set the activity of a component and run it on a given CPU.

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.
cpu_nr	The CPU to run the thread on. Numbering starts from zero.

Returns: false if one of the parameters does not match or if the component is running.

Definition at line 2067 of file DeploymentComponent.cpp.

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

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

Parameters

comp_name	The name of the component to change.
timeout	The timeout of the activity (or 0.0 if no timeout).
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 2053 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.

Definition at line 2121 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.

CPU affinity defaults to all available CPUs

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 2135 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::setNamedActivity	(	const std::string &	comp_name,
		const std::string &	act_type,
		double	period,
		int	priority,
		int	scheduler,
		unsigned	cpu_affinity,
		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.
cpu_affinity	The prefered cpu to run on (a mask)
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 2149 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.

Definition at line 2082 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.

Definition at line 2109 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.

Definition at line 2096 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::setWaitPeriodPolicy	(	const std::string &	comp_name,
		int	policy
	)

(Re-)set the wait period policy of a component's thread.

Parameters

comp_name	The name of the component to change.
policy	The new policy ORO_WAIT_ABS or ORO_WAIT_REL

Returns: false if one of the parameters does not match.

Definition at line 2248 of file DeploymentComponent.cpp.

void OCL::DeploymentComponent::shutdownDeployment ( )

Clean up and shutdown the entire deployment If an operation named "shutdownDeployment" is found in a peer component named "Application", then that operation is called otherwise if a scripting program named "shutdown" is loaded, then that will be executed, otherwise nothing occurs.

Definition at line 2413 of file DeploymentComponent.cpp.

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

Stop a single loaded and running component.

Parameters

instance instance pointer of the component.

Returns: true if successfully started.

Definition at line 2355 of file DeploymentComponent.cpp.

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

inline

Stop a single loaded and running components.

Parameters

comp_name name of the component.

Returns: true if successfully started

Definition at line 933 of file DeploymentComponent.hpp.

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 1662 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.

Definition at line 1672 of file DeploymentComponent.cpp.

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 2374 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 950 of file DeploymentComponent.hpp.

bool OCL::DeploymentComponent::stopComponents ( )

Stop all loaded and running components.

Definition at line 1725 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

Definition at line 1735 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.

Definition at line 594 of file DeploymentComponent.cpp.

base::PortInterface * OCL::DeploymentComponent::stringToPort ( std::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 457 of file DeploymentComponent.cpp.

Service::shared_ptr OCL::DeploymentComponent::stringToService ( std::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 393 of file DeploymentComponent.cpp.

ServiceRequester::shared_ptr OCL::DeploymentComponent::stringToServiceRequester ( std::string const & names )

protected

Converts a dot-separated path to a service to a ServiceRequester 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 427 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.

Definition at line 1999 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::unloadComponentImpl ( CompMap::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 1938 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::unloadComponents ( )

Unload all loaded and not running components.

Definition at line 1812 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

Definition at line 1822 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::waitForInterrupt ( )

Waits for SIGINT, SIGTERM or SIGHUP and then returns.

Returns: false if this function could not install a signal handler.

Definition at line 289 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::waitForSignal ( int signumber )

Waits for any signal and then returns.

Returns: false if this function could not install a signal handler.

Definition at line 297 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::waitForSignals	(	int *	sigs,
		std::size_t	sig_count
	)

Waits for any signal in the list and then returns.

Parameters

sigs	a pointer to the first element in the list of signals
the	number of signals in the list

Returns: false if this function could not install a signal handler.

Definition at line 301 of file DeploymentComponent.cpp.

Member Data Documentation

RTT::Property<bool> OCL::DeploymentComponent::autoUnload

protected

Definition at line 97 of file DeploymentComponent.hpp.

CompMap OCL::DeploymentComponent::compmap

protected

Definition at line 172 of file DeploymentComponent.hpp.

std::string OCL::DeploymentComponent::compPath

protected

Definition at line 95 of file DeploymentComponent.hpp.

CompList OCL::DeploymentComponent::comps

protected

Definition at line 173 of file DeploymentComponent.hpp.

ConMap OCL::DeploymentComponent::conmap

protected

Definition at line 165 of file DeploymentComponent.hpp.

int OCL::DeploymentComponent::defaultWaitPeriodPolicy

protected

Definition at line 96 of file DeploymentComponent.hpp.

RTT::Constant<int> OCL::DeploymentComponent::highest_Priority

protected

Definition at line 102 of file DeploymentComponent.hpp.

RTT::Constant<int> OCL::DeploymentComponent::lowest_Priority

protected

Definition at line 101 of file DeploymentComponent.hpp.

int OCL::DeploymentComponent::nextGroup

protected

Next group number.

Definition at line 105 of file 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 DeploymentComponent.hpp.

RTT::Constant<int> OCL::DeploymentComponent::sched_OTHER

protected

Definition at line 100 of file DeploymentComponent.hpp.

RTT::Constant<int> OCL::DeploymentComponent::sched_RT

protected

Definition at line 99 of file DeploymentComponent.hpp.

RTT::Attribute<std::string> OCL::DeploymentComponent::target

protected

Definition at line 103 of file DeploymentComponent.hpp.

RTT::Attribute<bool> OCL::DeploymentComponent::validConfig

protected

Definition at line 98 of file DeploymentComponent.hpp.

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

Classes

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Automatically loading a site local XML file

Configuring the DeploymentComponent itself.

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation