ManagerServant.h

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// -*- C++ -*-
#ifndef RTM_MANAGERSERVANT_H
#define RTM_MANAGERSERVANT_H

#include <iostream>
#include <coil/Mutex.h>
#include <coil/Guard.h>
#include <rtm/idl/ManagerSkel.h>
#include <rtm/Manager.h>
#include <rtm/SystemLogger.h>

namespace RTM
{
  class ManagerServant
    : public virtual POA_RTM::Manager,
      public virtual PortableServer::RefCountServantBase
  {
  public:
    // standard constructor
    ManagerServant();

    virtual ~ManagerServant(void);

    RTC::ReturnCode_t load_module(const char* pathname, const char* initfunc);

    RTC::ReturnCode_t unload_module(const char* pathname);

    RTM::ModuleProfileList* get_loadable_modules();

    RTM::ModuleProfileList* get_loaded_modules();

    // component ��Ϣ
    RTM::ModuleProfileList* get_factory_profiles();

    RTC::RTObject_ptr create_component(const char* module_name);

    RTC::ReturnCode_t delete_component(const char* instance_name);

    RTC::RTCList* get_components();

    RTC::ComponentProfileList* get_component_profiles();

    // manager ����    /*!
     * @if jp
     * @brief �ޥ͡�����Υץ��ե�������������
     *
     * ���������ޥ͡�����Υץ��ե������������롣
     *
     * @return �ޥ͡�����ץ��ե�����
     *
     * @else
     * @brief Getting this manager's profile.
     *
     * This operation returns this manager's profile.
     *
     * @return Manager's profile
     *
     * @endif
     */
    RTM::ManagerProfile* get_profile();

    /*!
     * @if jp
     * @brief �ޥ͡�����Υ���ե�����졼�������������
     *
     * ���������ޥ͡�����Υ���ե�����졼������������롣
     *
     * @return �ޥ͡����㥳��ե�����졼�����
     *
     * @else
     * @brief Getting this manager's configuration.
     *
     * This operation returns this manager's configuration.
     *
     * @return Manager's configuration
     *
     * @endif
     */
    RTM::NVList* get_configuration();

    /*!
     * @if jp
     * @brief �ޥ͡�����Υ���ե�����졼���������ꤹ��
     *
     * ���������ޥ͡�����Υ���ե�����졼���������ꤹ�롣
     *
     * @param name ���åȤ��륳��ե�����졼�����Υ���̾
     * @param value ���åȤ��륳��ե�����졼��������
     * @return �꥿���󥳡���
     *
     * @else
     * @brief Setting manager's configuration
     *
     * This operation sets managers configuration.
     *  
     * @param name A configuration key name to be set
     * @param value A configuration value to be set
     * @return Return code
     *
     * @endif
     */
    RTC::ReturnCode_t set_configuration(const char* name, const char* value);

    /*!
     * @if jp
     * @brief �ޥ͡����㤬�ޥ��������ɤ���
     *
     * ���δؿ��ϥޥ͡����㤬�ޥ��������ɤ������֤���True�ʤ�С�������
     * �͡�����ϥޥ������Ǥ��ꡢ����ʳ��� False ���֤���
     *
     * @return �ޥ������ޥ͡����㤫�ɤ�����bool��
     *
     * @else
     * @brief Whether this manager is master or not
     *
     * It returns "True" if this manager is a master, and it returns
     * "False" in other cases.
     *  
     * @return A boolean value that means it is master or not.
     *
     * @endif
     */
    ::CORBA::Boolean is_master();

    /*!
     * @if jp
     * @brief �ޥ������ޥ͡�����μ���
     *
     * ���Υޥ͡����㤬���졼�֥ޥ͡�����ξ�硢�ޥ������ȤʤäƤ����
     * �͡�����Υꥹ�Ȥ��֤������Υޥ͡����㤬�ޥ������ξ�硢���Υꥹ
     * �Ȥ��֤롣
     *
     * @return �ޥ������ޥ͡�����Υꥹ��
     *
     * @else
     * @brief Getting master managers
     *
     * This operation returns master manager list if this manager is
     * slave. If this manager is master, an empty sequence would be
     * returned.
     *  
     * @return Master manager list
     *
     * @endif
     */
    RTM::ManagerList* get_master_managers();

    /*!
     * @if jp
     * @brief �ޥ������ޥ͡�������ɲ�
     *
     * ���Υޥ͡�����Υޥ����Ȥ��ƥޥ͡���������ɲä��롣����ͤˤϡ�
     * �����ޥ͡��������ɲä��줿�ޥ������ޥ͡�������̤����ˡ���
     * ��ID���֤���롣���Υޥ͡����㤬�ޥ����ξ�硢����ID�ǻ��ꤵ�줿
     * �ޥ������ޥ͡�������֤���ID�ǻ��ꤵ�줿�ޥ������ޥ͡����㤬�ʤ�
     * ��硢nil���֥������Ȥ��֤롣
     *
     * @return �ޥ������ޥ͡�����
     *
     * @else
     * @brief Getting a master manager
     *
     * This operation returns a master manager with specified id. If
     * the manager with the specified id does not exist, nil object
     * reference would be returned.
     *  
     * @return A master manager
     *
     * @endif
     */
    RTC::ReturnCode_t add_master_manager(RTM::Manager_ptr mgr);

    /*!
     * @if jp
     * @brief �ޥ������ޥ͡�����κ��
     *
     * ���Υޥ͡����㤬�ݻ�����ޥ����Τ��������ꤵ�줿��Τ������롣
     *
     * @param mgr �ޥ������ޥ͡�����
     * @return ReturnCode_t
     *
     * @else
     * @brief Removing a master manager
     *
     * This operation removes a master manager from this manager.
     * 
     * @param mgr A master manager
     * @return ReturnCode_t 
     *
     * @endif
     */
    RTC::ReturnCode_t remove_master_manager(RTM::Manager_ptr mgr);

    /*!
     * @if jp
     * @brief ���졼�֥ޥ͡�����μ���
     *
     * ���Υޥ͡����㤬���졼�֥ޥ͡�����ξ�硢���졼�֤ȤʤäƤ����
     * �͡�����Υꥹ�Ȥ��֤������Υޥ͡����㤬���졼�֤ξ�硢���Υꥹ
     * �Ȥ��֤롣
     *
     * @return ���졼�֥ޥ͡�����Υꥹ��
     *
     * @else
     * @brief Getting slave managers
     *
     * This operation returns slave manager list if this manager is
     * slave. If this manager is slave, an empty sequence would be
     * returned.
     *  
     * @return Slave manager list
     *
     * @endif
     */
    RTM::ManagerList* get_slave_managers();

    /*!
     * @if jp
     * @brief ���졼�֥ޥ͡�������ɲ�
     *
     * ���Υޥ͡�����Υޥ����Ȥ��ƥޥ͡���������ɲä��롣
     *
     * @param mgr ���졼�֥ޥ͡�����
     * @return ReturnCode_t
     *
     * @else
     * @brief Getting a slave manager
     *
     * This operation add a slave manager to this manager.
     *  
     * @param mgr A slave manager
     * @return ReturnCode_t
     *
     * @endif
     */
    RTC::ReturnCode_t add_slave_manager(RTM::Manager_ptr mgr);

    /*!
     * @if jp
     * @brief ���졼�֥ޥ͡�����κ��
     *
     * ���Υޥ͡����㤬�ݻ�����ޥ����Τ��������ꤵ�줿��Τ������롣
     *
     * @param mgr ���졼�֥ޥ͡�����
     * @return ReturnCode_t
     *
     * @else
     * @brief Removing a slave manager
     *
     * This operation removes a slave manager from this manager.
     * 
     * @param mgr A slave manager
     * @return ReturnCode_t 
     *
     * @endif
     */
    RTC::ReturnCode_t remove_slave_manager(RTM::Manager_ptr mgr);



    /*!
     * @if jp
     * @brief �ץ������Υ��ԡ�����������
     * @return ReturnCode_t
     * @else
     * @brief The copy of the process is generated. 
     * @return ReturnCode_t 
     * @endif
     */
    RTC::ReturnCode_t fork();
    /*!
     * @if jp
     * @brief shutdown����
     * @return ReturnCode_t
     * @else
     * @brief This method shutdowns RTC. 
     * @return ReturnCode_t 
     * @endif
     */
    RTC::ReturnCode_t shutdown();
    /*!
     * @if jp
     * @brief �Ƶ�ư���롣
     * @return ReturnCode_t
     * @else
     * @brief This method restarts RTC.  
     * @return ReturnCode_t 
     * @endif
     */
    RTC::ReturnCode_t restart();

    /*!
     * @if jp
     * @brief RTC�Υ�ե���󥹤�������롣
     * @return RTC�Υ�ե����
     * @else
     * @brief Get the reference of RTC. 
     * @return RTC reference
     * @endif
     */
    CORBA::Object_ptr get_service(const char* name);

    /*!
     * @if jp
     * @brief Manager�Υ�ե���󥹤�������롣
     * @return Manager�Υ�ե����
     * @else
     * @brief Get the reference of Manager. 
     * @return Manager reference
     * @endif
     */
    RTM::Manager_ptr getObjRef() const;

    /*!
     * @if jp
     * @brief INSManager������
     * @return 
     * @else ����:true, ����:false
     * @brief Generate INSManager. 
     * @return Successful:true, Failed:false
     * @endif
     */
    bool createINSManager();

    /*!
     * @if jp
     * @brief Manager�Υ�ե���󥹤򸡺����롣
     * @return Manager�Υ�ե����
     * @else
     * @brief Find the reference of Manager. 
     * @return Manager reference
     * @endif
     */
    RTM::Manager_ptr findManager(const char* host_port);

  private:
    typedef coil::Guard<coil::Mutex> Guard;
    /*!
     * @if jp
     * @brief ���������֥�������
     * @else
     * @brief Logger object
     * @endif
     */
    ::RTC::Logger rtclog;

    /*!
     * @if jp
     * @brief RTC::Manager�ؤλ���
     * @else
     * @brief Reference to the RTC::Manager
     * @endif
     */
    ::RTC::Manager& m_mgr;

    /*!
     * @if jp
     * @brief ManagerServant�Υ��֥������ȥ�ե����
     * @else
     * @brief An object reference of ManagerServant
     * @endif
     */
    ::RTM::Manager_var m_objref;

    /*!
     * @if jp
     * @brief �ޥ����ޥ͡�����Υꥹ��
     * @else
     * @brief List of master managers
     * @endif
     */
    ::RTM::ManagerList m_masters;

    /*!
     * @if jp
     * @brief m_masters �� Mutex
     * @else
     * @brief Mutex of m_masters
     * @endif
     */
    ::coil::Mutex m_masterMutex;

    /*!
     * @if jp
     * @brief ���졼�֥ޥ͡�����Υꥹ��
     * @else
     * @brief List of slave managers
     * @endif
     */
    ::RTM::ManagerList m_slaves;

    /*!
     * @if jp
     * @brief m_slaves �� Mutex
     * @else
     * @brief Mutex of m_slaves
     * @endif
     */
    ::coil::Mutex m_slaveMutex;

    /*!
     * @if jp
     * @brief �ޥ������ɤ����Υե饰
     * @else
     * @brief Flag if this is master
     * @endif
     */
    CORBA::Boolean m_isMaster;

    /*!
     * @if jp
     * @brief Manager_var ���������ɤ����Υե��󥯥�
     * @else
     * @brief Functor to inspect if Manster_var is equivalent
     * @endif
     */
    class is_equiv
    {
      RTM::Manager_var m_mgr;
    public:
      is_equiv(RTM::Manager_ptr mgr)
        : m_mgr(RTM::Manager::_duplicate(mgr)) {}
      bool operator()(RTM::Manager_ptr mgr)
      {
        return m_mgr->_is_equivalent(mgr);
      }
    };

  };
}; // namespace RTM
#endif // RTM_MANAGERSERVANT_H

    RTM::ManagerProfile* get_profile();

    RTM::NVList* get_configuration();

    RTC::ReturnCode_t set_configuration(const char* name, const char* value);

    ::CORBA::Boolean is_master();

    RTM::ManagerList* get_master_managers();

    RTC::ReturnCode_t add_master_manager(RTM::Manager_ptr mgr);

    RTC::ReturnCode_t remove_master_manager(RTM::Manager_ptr mgr);

    RTM::ManagerList* get_slave_managers();

    RTC::ReturnCode_t add_slave_manager(RTM::Manager_ptr mgr);

    RTC::ReturnCode_t remove_slave_manager(RTM::Manager_ptr mgr);



    RTC::ReturnCode_t fork();
    RTC::ReturnCode_t shutdown();
    RTC::ReturnCode_t restart();

    CORBA::Object_ptr get_service(const char* name);

    RTM::Manager_ptr getObjRef() const;

    bool createINSManager();

    RTM::Manager_ptr findManager(const char* host_port);

  private:
    typedef coil::Guard<coil::Mutex> Guard;
    ::RTC::Logger rtclog;

    ::RTC::Manager& m_mgr;

    ::RTM::Manager_var m_objref;

    ::RTM::ManagerList m_masters;

    ::coil::Mutex m_masterMutex;

    ::RTM::ManagerList m_slaves;

    ::coil::Mutex m_slaveMutex;

    CORBA::Boolean m_isMaster;

    class is_equiv
    {
      RTM::Manager_var m_mgr;
    public:
      is_equiv(RTM::Manager_ptr mgr)
        : m_mgr(RTM::Manager::_duplicate(mgr)) {}
      bool operator()(RTM::Manager_ptr mgr)
      {
        return m_mgr->_is_equivalent(mgr);
      }
    };

  };
}; // namespace RTM
#endif // RTM_MANAGERSERVANT_H