#include <TaskContextProxy.hpp>

Inheritance diagram for RTT::corba::TaskContextProxy:

Public Types
typedef std::map< TaskContextProxy *, corba::CTaskContext_ptr >	PMap

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 { Init, PreOperational, FatalError, Exception, Stopped, Running, RunTimeError }

Public Member Functions
virtual bool	activate ()

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

virtual bool	cleanup ()

virtual bool	configure ()

virtual bool	connectPeers (TaskContext *peer)

virtual bool	connectPorts (TaskContext *peer)

virtual bool	connectServices (TaskContext *peer)

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

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

virtual PeerList	getPeerList () const

virtual TaskState	getTaskState () const

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

virtual bool	inException () const

virtual bool	inFatalError () const

virtual bool	inRunTimeError () const

virtual bool	isActive () const

virtual bool	isConfigured () const

virtual bool	isRunning () const

virtual bool	ready ()

virtual bool	recover ()

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

virtual void	removePeer (TaskContext *peer)

corba::CTaskContext_ptr	server () const

virtual void	setName (const std::string &n)

virtual bool	start ()

virtual bool	stop ()

	~TaskContextProxy ()

Public Member Functions inherited from RTT::TaskContext
virtual void	clear ()

base::ActivityInterface *	getActivity ()

template<typename T >
T *	getActivity ()

virtual const std::string &	getName () const

bool	setActivity (base::ActivityInterface *new_act)

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

virtual	~TaskContext ()

virtual void	disconnect ()

Service::shared_ptr	provides ()

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

ServiceRequester::shared_ptr	requires ()

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

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

bool	loadService (const std::string &service_name)

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

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

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

OperationInterfacePart *	getOperation (std::string name)

OperationInterface *	operations ()

template<class T >
bool	addAttribute (const std::string &name, T &attr)

template<class T >
bool	addConstant (const std::string &name, const T &attr)

bool	addAttribute (base::AttributeBase &a)

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

ConfigurationInterface *	attributes ()

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

bool	addProperty (base::PropertyBase &pb)

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

PropertyBag *	properties ()

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

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

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

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

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

DataFlowInterface *	ports ()

const DataFlowInterface *	ports () const

Public Member Functions inherited from RTT::base::TaskCore
const ExecutionEngine *	engine () const

ExecutionEngine *	engine ()

unsigned int	getCycleCounter () const

unsigned int	getIOCounter () const

virtual TaskState	getTargetState () const

unsigned int	getTimeOutCounter () const

unsigned int	getTriggerCounter () const

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

virtual	~TaskCore ()

virtual Seconds	getPeriod () const

virtual bool	setPeriod (Seconds s)

virtual unsigned	getCpuAffinity () const

virtual bool	setCpuAffinity (unsigned cpu)

virtual bool	update ()

virtual bool	trigger ()

virtual void	error ()

Static Public Member Functions
static TaskContextProxy *	Create (std::string name, bool is_ior=false)

static TaskContext *	Create (::RTT::corba::CTaskContext_ptr task, bool force_remote=false)

static TaskContextProxy *	CreateFromFile (std::string filename)

static void	DestroyOrb ()

static PortableServer::POA_ptr	ProxyPOA ()

Static Public Member Functions inherited from RTT::corba::ApplicationServer
static RTT_CORBA_API bool	InitOrb (int argc, char *argv[], Seconds orb_timeout=0)

Static Public Attributes
static PMap	proxies

Static Public Attributes inherited from RTT::corba::ApplicationServer
static CORBA::ORB_var	orb

static PortableServer::POA_var	rootPOA

Protected Member Functions
void	initFromURIOrTaskname (std::string location, bool is_ior)

void	synchronize ()

void	synchronizePorts (Service::shared_ptr parent, CDataFlowInterface_ptr dfact, const CServiceDescription &cdescription)

void	synchronizeRequesters (ServiceRequester::shared_ptr parent, CServiceRequester_ptr csrq, const CServiceRequesterDescription &cdescription)

void	synchronizeServices (Service::shared_ptr parent, CService_ptr serv, const CServiceDescription &cdescription)

	TaskContextProxy (std::string location, bool is_ior)

	TaskContextProxy ()

	TaskContextProxy (::RTT::corba::CTaskContext_ptr t)

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 bool	configureHook ()

virtual void	errorHook ()

virtual void	exception ()

virtual void	exceptionHook ()

virtual void	fatal ()

virtual bool	startHook ()

virtual void	stopHook ()

virtual void	updateHook ()

Protected Attributes
corba::CTaskContext_var	mtask

std::list< base::PortInterface * >	port_proxies

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

Static Protected Attributes
static PortableServer::POA_var	proxy_poa

Detailed Description

This class manages the access of remote TaskContext Corba Servers and a Corba Object Request Broker (Orb) which connects to these servers.

Definition at line 82 of file TaskContextProxy.hpp.

Member Typedef Documentation

typedef std::map<TaskContextProxy*, corba::CTaskContext_ptr> RTT::corba::TaskContextProxy::PMap

Definition at line 87 of file TaskContextProxy.hpp.

Constructor & Destructor Documentation

RTT::corba::TaskContextProxy::TaskContextProxy	(	std::string	location,
		bool	is_ior
	)

protected

Private constructor which creates a new connection to a stringified ior or taskname in NameServer.

Definition at line 94 of file TaskContextProxy.cpp.

RTT::corba::TaskContextProxy::TaskContextProxy ( )

protected

A Private constructor which does nothing

Definition at line 100 of file TaskContextProxy.cpp.

RTT::corba::TaskContextProxy::TaskContextProxy ( ::RTT::corba::CTaskContext_ptr t )

protected

Private constructor which creates a new connection to a corba object

Definition at line 172 of file TaskContextProxy.cpp.

RTT::corba::TaskContextProxy::~TaskContextProxy ( )

Definition at line 82 of file TaskContextProxy.cpp.

Member Function Documentation

bool RTT::corba::TaskContextProxy::activate ( void )

virtual

This method starts the ExecutionEngine of this component in case it was not running. Normally, it is always running. There is no way to deactivate it from the public interface.

Returns: true if the ExecutionEngine is running (again) and false if it could not be started.

Reimplemented from RTT::base::TaskCore.

Definition at line 653 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::addPeer	(	TaskContext *	peer,
		std::string	alias = `""`
	)

virtual

Add a one-way connection from this task to a peer task.

Parameters

peer	The peer to add.
alias	An optional alias (another name) for the peer. defaults to peer->getName()

Reimplemented from RTT::TaskContext.

Definition at line 766 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::cleanup ( void )

virtual

This method instructs a stopped component to enter the pre-operational state again. It calls cleanupHook().

Returns: true if the component was in the Stopped state.

Reimplemented from RTT::base::TaskCore.

Definition at line 697 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::configure ( void )

virtual

This method instructs the component to (re-)read configuration data and try to enter the Stopped state. This can only succeed if the component is not running and configureHook() returns true.

Reimplemented from RTT::base::TaskCore.

Definition at line 685 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::connectPeers ( TaskContext * peer )

virtual

Add a two-way connection from this task to a peer task.

Reimplemented from RTT::TaskContext.

Definition at line 821 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::connectPorts ( TaskContext * peer )

virtual

Add a data flow connection from this task's ports to a peer's ports.

Reimplemented from RTT::TaskContext.

Definition at line 890 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::connectServices ( TaskContext * peer )

virtual

Connects all requires/provides services of this component to these of a peer.

Reimplemented from RTT::TaskContext.

Definition at line 905 of file TaskContextProxy.cpp.

TaskContextProxy * RTT::corba::TaskContextProxy::Create	(	std::string	name,
		bool	is_ior = `false`
	)

static

Factory method: create a CORBA Proxy for an existing TaskContextServer.

Parameters

name	The name of the TaskContextServer to connect to or the Object Reference of the object to connect to
is_ior	set to true if name is an IOR. Defaults to false.

Return values

0	if the ORB is not initialised

Returns: A new or previously created CORBA proxy for name.

Definition at line 530 of file TaskContextProxy.cpp.

TaskContext * RTT::corba::TaskContextProxy::Create	(	::RTT::corba::CTaskContext_ptr	task,
		bool	force_remote = `false`
	)

static

Factory method: create a CORBA Proxy for an existing TaskContextServer. This method may in fact return the real TaskContext in case the servant of task is in the same process.

Parameters

task	The Object to create a proxy for.

Return values

0	if the ORB is not initialised

Returns: A new or previously created CORBA proxy for task, or the TaskContext itself.

Definition at line 570 of file TaskContextProxy.cpp.

TaskContextProxy * RTT::corba::TaskContextProxy::CreateFromFile ( std::string filename )

static

Factory method: create a CORBA Proxy for an existing TaskContextServer.

Parameters

filename A file containing an IOR which refers to the existing TaskContextServer.

Return values

0	if the ORB is not initialised

Returns: A new or previously created CORBA proxy for filename.

Definition at line 553 of file TaskContextProxy.cpp.

void RTT::corba::TaskContextProxy::DestroyOrb ( )

static

Invoke this method once to cleanup the orb.

Definition at line 512 of file TaskContextProxy.cpp.

void RTT::corba::TaskContextProxy::disconnectPeers ( const std::string & name )

virtual

Remove a two-way connection from this task to a peer task.

Reimplemented from RTT::TaskContext.

Definition at line 836 of file TaskContextProxy.cpp.

TaskContext * RTT::corba::TaskContextProxy::getPeer ( const std::string & peer_name ) const

virtual

Get a pointer to a peer of this task.

Returns: null if no such peer.

Reimplemented from RTT::TaskContext.

Definition at line 875 of file TaskContextProxy.cpp.

TaskContext::PeerList RTT::corba::TaskContextProxy::getPeerList ( void ) const

virtual

Return a standard container which contains all the Peer names of this TaskContext.

Reimplemented from RTT::TaskContext.

Definition at line 848 of file TaskContextProxy.cpp.

TaskContext::TaskState RTT::corba::TaskContextProxy::getTaskState ( void ) const

virtual

Returns the current state of the TaskCore. For example, before start(), this function returns Stopped. During startHook() it returns Stopped, and after start() it returns Running.

See also: getTargetState()

Reimplemented from RTT::base::TaskCore.

Definition at line 751 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::hasPeer ( const std::string & peer_name ) const

virtual

Return true if it knows a peer by that name.

Reimplemented from RTT::TaskContext.

Definition at line 864 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::inException ( void ) const

virtual

Inspect if the component is in the Exception state.

Reimplemented from RTT::base::TaskCore.

Definition at line 739 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::inFatalError ( void ) const

virtual

Inspect if the component is in the FatalError state. There is no possibility to recover from this state. You need to destroy and recreate your component.

Reimplemented from RTT::base::TaskCore.

Definition at line 719 of file TaskContextProxy.cpp.

void RTT::corba::TaskContextProxy::initFromURIOrTaskname	(	std::string	location,
		bool	is_ior
	)

protected

initializes the class from a stringified ior or taskname in NameServer.

Definition at line 105 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::inRunTimeError ( void ) const

virtual

Inspect if the component is in the RunTimeError state.

Reimplemented from RTT::base::TaskCore.

Definition at line 729 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::isActive ( void ) const

virtual

Inspect if the component's ExecutionEngine is processing requests. Normally this is always the case, but user code could stop the ExecutionEngine manually.

Reimplemented from RTT::base::TaskCore.

Definition at line 665 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::isConfigured ( void ) const

virtual

Inspect if the component is configured, i.e. in the Stopped, Active or Running state.

Reimplemented from RTT::base::TaskCore.

Definition at line 709 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::isRunning ( void ) const

virtual

Inspect if the component is in the Running or RunTimeError state. As RunTimeError is a substate of Running, this method also returns true when the component is in one of these states. See inRunTimeError() or testing the run-time error state.

Reimplemented from RTT::base::TaskCore.

Definition at line 675 of file TaskContextProxy.cpp.

PortableServer::POA_ptr RTT::corba::TaskContextProxy::ProxyPOA ( )

static

Returns the default POA for all proxies.

Definition at line 943 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::ready ( void )

virtual

Checks the validity of this TaskContext. When this method returns false, the TaskContext should not be used and various methods may throw exceptions. Use this in case the TaskContext could be a remote object. Will always return true when this TaskContext is local.

Reimplemented from RTT::TaskContext.

Definition at line 920 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::recover ( void )

virtual

Call this method in a RunTimeError or Exception state to indicate that the run-time error conditions are gone and nominal operation is resumed. Makes transition to Running or PreOperational, depending on the state it was in.

Returns: false if not applicable in the current state.

Reimplemented from RTT::base::TaskCore.

Definition at line 639 of file TaskContextProxy.cpp.

void RTT::corba::TaskContextProxy::removePeer ( const std::string & name )

virtual

Remove a one-way connection from this task to a peer task.

Reimplemented from RTT::TaskContext.

Definition at line 795 of file TaskContextProxy.cpp.

void RTT::corba::TaskContextProxy::removePeer ( TaskContext * peer )

virtual

Remove a one-way connection from this task to a peer task.

Reimplemented from RTT::TaskContext.

Definition at line 808 of file TaskContextProxy.cpp.

corba::CTaskContext_ptr RTT::corba::TaskContextProxy::server ( ) const

Get the Corba Object of the CTaskContext. You need to duplicate this object reference in case you wish to keep a reference to it. This object universally identifies the remote TaskContextServer and can be used to tell other (remote) objects where to find it.

Definition at line 937 of file TaskContextProxy.cpp.

void RTT::corba::TaskContextProxy::setName ( const std::string & n )

virtual

Definition at line 761 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::start ( void )

virtual

This method starts the execution of the updateHook() with each trigger or period. This function calls the user function startHook(), which must return true in order to allow this component to run.

Return values

false	if startHook() returned false if the component was not Stopped
true	if the Running state was entered.

Reimplemented from RTT::TaskContext.

Definition at line 615 of file TaskContextProxy.cpp.

bool RTT::corba::TaskContextProxy::stop ( void )

virtual

This method stops the execution of updateHook() of this component. You can override this method to do something else or in addition. This function calls stopHook() as well.

Returns: false if the component was not Running or not Active.

Reimplemented from RTT::TaskContext.

Definition at line 627 of file TaskContextProxy.cpp.

void RTT::corba::TaskContextProxy::synchronize ( )

protected

Definition at line 195 of file TaskContextProxy.cpp.

void RTT::corba::TaskContextProxy::synchronizePorts	(	Service::shared_ptr	parent,
		CDataFlowInterface_ptr	dfact,
		const CServiceDescription &	cdescription
	)

protected

Definition at line 332 of file TaskContextProxy.cpp.

void RTT::corba::TaskContextProxy::synchronizeRequesters	(	ServiceRequester::shared_ptr	parent,
		CServiceRequester_ptr	csrq,
		const CServiceRequesterDescription &	cdescription
	)

protected

Definition at line 213 of file TaskContextProxy.cpp.

void RTT::corba::TaskContextProxy::synchronizeServices	(	Service::shared_ptr	parent,
		CService_ptr	serv,
		const CServiceDescription &	cdescription
	)

protected

Definition at line 232 of file TaskContextProxy.cpp.

Member Data Documentation

corba::CTaskContext_var RTT::corba::TaskContextProxy::mtask

mutableprotected

Definition at line 123 of file TaskContextProxy.hpp.

std::list<base::PortInterface*> RTT::corba::TaskContextProxy::port_proxies

protected

CDataFlowInterface does not delete ports automatically, because they can then be defined as members of the TaskContext classes.

We must therefore delete in the proxy destructor the ones we are adding through synchronization

Definition at line 114 of file TaskContextProxy.hpp.

std::map< TaskContextProxy *, corba::CTaskContext_ptr > RTT::corba::TaskContextProxy::proxies

static

Definition at line 88 of file TaskContextProxy.hpp.

PortableServer::POA_var RTT::corba::TaskContextProxy::proxy_poa

staticprotected

For now one POA handles all proxies.

Definition at line 128 of file TaskContextProxy.hpp.

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

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation