ExecutionContext.cpp

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#include <rtm/ExecutionContext.h>
#include <rtm/CORBA_SeqUtil.h>

namespace RTC
{
  
  ExecutionContextBase::ExecutionContextBase(RTObject_ptr owner)
    : rtclog("exec_cxt"), m_running(false)
  {
    m_profile.kind = OTHER;
    m_profile.rate = 0.0;
    m_profile.owner = owner;
    m_profile.participants.length(0);
  }

  CORBA::Boolean ExecutionContextBase::is_running()
  {
    RTC_TRACE(("is_running()"));
    return m_running;
  }
  

  ReturnCode_t ExecutionContextBase::start()
  {
    RTC_TRACE(("start()"));
    return RTC::RTC_OK;
  }
  

  ReturnCode_t ExecutionContextBase::stop()
  {
    RTC_TRACE(("stop()"));
    return RTC::RTC_OK;
  }
  
  
  CORBA::Double ExecutionContextBase::get_rate()
  {
    RTC_TRACE(("get_rate()"));
    return m_profile.rate;
  }
  
  
  ReturnCode_t ExecutionContextBase::set_rate(CORBA::Double rate)
  {
    RTC_TRACE(("set_rate(%f)", rate));
    if (rate > 0.0)
      {
        m_profile.rate = rate;
        return RTC::RTC_OK;
      }
    return RTC::BAD_PARAMETER;
  }
  

  ReturnCode_t
  ExecutionContextBase::activate_component(LightweightRTObject_ptr comp)
  {
    RTC_TRACE(("activate_component()"));
    return RTC::RTC_OK;
  }
  

  ReturnCode_t
  ExecutionContextBase::deactivate_component(LightweightRTObject_ptr comp)
  {
    RTC_TRACE(("deactivate_component()"));
    return RTC::RTC_OK;
  }
  

  ReturnCode_t
  ExecutionContextBase::reset_component(LightweightRTObject_ptr comp)
  {
    RTC_TRACE(("reset_component()"));
    return RTC::RTC_OK;
  }
  
  
  LifeCycleState
  ExecutionContextBase::get_component_state(LightweightRTObject_ptr comp)
  {
    RTC_TRACE(("get_component_state()"));
    return RTC::INACTIVE_STATE;
  }
  
  
  ExecutionKind ExecutionContextBase::get_kind()
  {
    RTC_TRACE(("get_kind()"));
    return m_profile.kind;
  }
  

  ReturnCode_t
  ExecutionContextBase::add_component(LightweightRTObject_ptr comp)
  {
    RTC_TRACE(("add_component()"));
    if (!CORBA::is_nil(comp))
      {
        CORBA_SeqUtil::push_back(m_profile.participants,
                                 RTC::RTObject::_narrow(comp));
        return RTC::RTC_OK;
      }
    return RTC::BAD_PARAMETER;
  }
  
  
  ReturnCode_t
  ExecutionContextBase::remove_component(LightweightRTObject_ptr comp)
  {
    RTC_TRACE(("remove_component()"));
    CORBA::ULong index;
    index = CORBA_SeqUtil::find(m_profile.participants,
                find_objref<RTObject_ptr>(RTC::RTObject::_narrow(comp)));
                                
    if (index < 0) return RTC::BAD_PARAMETER;
    CORBA_SeqUtil::erase(m_profile.participants, index);
    return RTC::RTC_OK;
  }


  //============================================================
  // ExecutionContextAdmin interfaces
  //============================================================
  ExecutionContextProfile* ExecutionContextBase::get_profile()
  {
    RTC_TRACE(("get_profile()"));
    ExecutionContextProfile_var p;
    p = new ExecutionContextProfile(m_profile);
    return p._retn();
  }
  
  
  
}; // namespace RTC