#include <VirtualRobotRTC.h>

Inheritance diagram for VirtualRobotRTC:

Public Member Functions
bool	checkOutPortStepTime (double controlTimeStep)

RTC::RTCList *	getConnectedRtcs ()

PortHandlerPtr	getPortHandler (const std::string &name)

void	inputDataFromSimulator (Controller_impl *controller)

RTC::ReturnCode_t	onInitialize ()

void	outputDataToSimulator (Controller_impl *controller)

void	readDataFromInPorts (Controller_impl *controller)

void	stop ()

	VirtualRobotRTC (RTC::Manager *manager)

void	writeDataToOutPorts (Controller_impl *controller)

	~VirtualRobotRTC ()

Public Member Functions inherited from RTC::DataFlowComponentBase
	DataFlowComponentBase (Manager *manager)

void	init ()

virtual	~DataFlowComponentBase (void)

Public Member Functions inherited from RTC::RTObject_impl
ReturnCode_t	activate (RTC::UniqueId ec_id)

void	addConfigurationParamListener (ConfigurationParamListenerType type, ConfigurationParamListener *listener, bool autoclean=true)

ConfigurationParamListener *	addConfigurationParamListener (ConfigurationParamListenerType listener_type, Listener &obj, void(Listener::memfunc)(const char , const char *))

void	addConfigurationSetListener (ConfigurationSetListenerType type, ConfigurationSetListener *listener, bool autoclean=true)

ConfigurationSetListener *	addConfigurationSetListener (ConfigurationSetListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const coil::Properties &config_set))

void	addConfigurationSetNameListener (ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener, bool autoclean=true)

ConfigurationSetNameListener *	addConfigurationSetNameListener (ConfigurationSetNameListenerType type, Listener &obj, void(Listener::memfunc)(const char ))

void	addExecutionContextActionListener (ECActionListenerType listener_type, ECActionListener *listener, bool autoclean=true)

ECActionListener *	addExecutionContextActionListener (ECActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId))

bool	addInPort (const char *name, InPortBase &inport)

bool	addOutPort (const char *name, OutPortBase &outport)

bool	addPort (PortBase &port)

bool	addPort (PortService_ptr port)

bool	addPort (CorbaPort &port)

PortActionListener *	addPortActionListener (PortActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const RTC::PortProfile &))

void	addPortActionListener (PortActionListenerType listener_type, PortActionListener *listener, bool autoclean=true)

void	addPortConnectListener (PortConnectListenerType listener_type, PortConnectListener *listener, bool autoclean=true)

PortConnectListener *	addPortConnectListener (PortConnectListenerType listener_type, Listener &obj, void(Listener::memfunc)(const char , ConnectorProfile &))

void	addPortConnectRetListener (PortConnectRetListenerType listener_type, PortConnectRetListener *listener, bool autoclean=true)

PortConnectRetListener *	addPortConnectRetListener (PortConnectRetListenerType listener_type, Listener &obj, void(Listener::memfunc)(const char , ConnectorProfile &, ReturnCode_t))

void	addPostComponentActionListener (PostComponentActionListenerType listener_type, PostComponentActionListener *listener, bool autoclean=true)

PostComponentActionListener *	addPostComponentActionListener (PostCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id, ReturnCode_t ret))

void	addPreComponentActionListener (PreComponentActionListenerType listener_type, PreComponentActionListener *listener, bool autoclean=true)

PreComponentActionListener *	addPreComponentActionListener (PreCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id))

bool	addSdoServiceConsumer (const SDOPackage::ServiceProfile &prof)

bool	addSdoServiceProvider (const SDOPackage::ServiceProfile &prof, SdoServiceProviderBase *provider)

UniqueId	attach_context (ExecutionContext_ptr exec_context)

UniqueId	bindContext (ExecutionContext_ptr exec_context)

bool	bindParameter (const char param_name, VarType &var, const char def_val, bool(trans)(VarType &, const char )=coil::stringTo)

ReturnCode_t	deactivate (RTC::UniqueId ec_id)

void	deletePort (PortService_ptr port)

void	deletePort (CorbaPort &port)

void	deletePort (PortBase &port)

void	deletePortByName (const char *port_name)

ReturnCode_t	detach_context (UniqueId exec_handle)

virtual ReturnCode_t	exit ()

virtual ReturnCode_t	finalize ()

void	finalizeContexts ()

void	finalizePorts ()

virtual ComponentProfile *	get_component_profile ()

virtual SDOPackage::Configuration_ptr	get_configuration ()

virtual ExecutionContext_ptr	get_context (UniqueId exec_handle)

virtual ExecutionContextHandle_t	get_context_handle (ExecutionContext_ptr cxt)

virtual SDOPackage::DeviceProfile *	get_device_profile ()

virtual SDOPackage::Monitoring_ptr	get_monitoring ()

virtual SDOPackage::OrganizationList *	get_organizations ()

virtual ExecutionContextList *	get_owned_contexts ()

virtual SDOPackage::OrganizationList *	get_owned_organizations ()

virtual ExecutionContextList *	get_participating_contexts ()

virtual PortServiceList *	get_ports ()

virtual char *	get_sdo_id ()

virtual SDOPackage::SDOService_ptr	get_sdo_service (const char *id)

virtual char *	get_sdo_type ()

virtual SDOPackage::ServiceProfile *	get_service_profile (const char *id)

virtual SDOPackage::ServiceProfileList *	get_service_profiles ()

virtual CORBA::Any *	get_status (const char *name)

virtual SDOPackage::NVList *	get_status_list ()

const char *	getCategory ()

const char *	getDescription ()

ExecutionContext_ptr	getExecutionContext (RTC::UniqueId ec_id)

double	getExecutionRate (RTC::UniqueId ec_id)

const char *	getInstanceName ()

std::vector< std::string >	getNamingNames ()

RTObject_ptr	getObjRef () const

coil::Properties &	getProperties ()

const char *	getTypeName ()

const char *	getVendor ()

const char *	getVersion ()

virtual ReturnCode_t	initialize ()

virtual CORBA::Boolean	is_alive (ExecutionContext_ptr exec_context)

bool	isOwnExecutionContext (RTC::UniqueId ec_id)

virtual ReturnCode_t	on_aborting (UniqueId exec_handle)

virtual ReturnCode_t	on_activated (UniqueId exec_handle)

virtual ReturnCode_t	on_deactivated (UniqueId exec_handle)

virtual ReturnCode_t	on_error (UniqueId exec_handle)

virtual ReturnCode_t	on_execute (UniqueId exec_handle)

virtual ReturnCode_t	on_finalize ()

virtual ReturnCode_t	on_initialize ()

virtual ReturnCode_t	on_rate_changed (UniqueId exec_handle)

virtual ReturnCode_t	on_reset (UniqueId exec_handle)

virtual ReturnCode_t	on_shutdown (UniqueId exec_handle)

virtual ReturnCode_t	on_startup (UniqueId exec_handle)

virtual ReturnCode_t	on_state_update (UniqueId exec_handle)

bool	readAll ()

void	registerInPort (const char *name, InPortBase &inport)

void	registerOutPort (const char *name, OutPortBase &outport)

void	registerPort (PortBase &port)

void	registerPort (PortService_ptr port)

void	registerPort (CorbaPort &port)

void	removeConfigurationParamListener (ConfigurationParamListenerType type, ConfigurationParamListener *listener)

void	removeConfigurationSetListener (ConfigurationSetListenerType type, ConfigurationSetListener *listener)

void	removeConfigurationSetNameListener (ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener)

void	removeExecutionContextActionListener (ECActionListenerType listener_type, ECActionListener *listener)

bool	removeInPort (InPortBase &port)

bool	removeOutPort (OutPortBase &port)

bool	removePort (PortService_ptr port)

bool	removePort (CorbaPort &port)

bool	removePort (PortBase &port)

void	removePortActionListener (PortActionListenerType listener_type, PortActionListener *listener)

void	removePortConnectListener (PortConnectListenerType listener_type, PortConnectListener *listener)

void	removePortConnectRetListener (PortConnectRetListenerType listener_type, PortConnectRetListener *listener)

void	removePostComponentActionListener (PostComponentActionListenerType listener_type, PostComponentActionListener *listener)

void	removePreComponentActionListener (PreComponentActionListenerType listener_type, PreComponentActionListener *listener)

bool	removeSdoServiceConsumer (const char *id)

bool	removeSdoServiceProvider (const char *id)

ReturnCode_t	reset (RTC::UniqueId ec_id)

	RTObject_impl (CORBA::ORB_ptr orb, PortableServer::POA_ptr poa)

	RTObject_impl (Manager *manager)

ReturnCode_t	setExecutionRate (RTC::UniqueId ec_id, double rate)

void	setInstanceName (const char *instance_name)

void	setObjRef (const RTObject_ptr rtobj)

void	setProperties (const coil::Properties &prop)

void	setReadAll (bool read=true, bool completion=false)

void	setWriteAll (bool write=true, bool completion=false)

void	updateParameters (const char *config_set)

bool	writeAll ()

virtual	~RTObject_impl (void)

Static Public Member Functions
static void	registerFactory (RTC::Manager manager, const char componentTypeName)

Public Attributes
bool	isOwnedByController

Private Types
typedef std::map< std::string, InPortHandlerPtr >	InPortHandlerMap

typedef std::map< std::string, OutPortHandlerPtr >	OutPortHandlerMap

Private Member Functions
void	addConnectedRtcs (Port_Service_Ptr_Type portRef, RTC::RTCList &rtcList, std::set< std::string > &foundRtcNames)

bool	createInPortHandler (PortInfo &portInfo)

bool	createOutPortHandler (PortInfo &portInfo)

template<class TInPortHandler >
bool	registerInPortHandler (TInPortHandler *handler)

template<class TOutPortHandler >
bool	registerOutPortHandler (TOutPortHandler *handler)

void	updatePortObjectRefs ()

Private Attributes
InPortHandlerMap	inPortHandlers

OutPortHandlerMap	outPortHandlers

Additional Inherited Members
Public Types inherited from RTC::RTObject_impl
typedef ExecutionContextActionListener	ECActionListener

typedef ExecutionContextActionListenerType	ECActionListenerType

typedef PostComponentActionListener	PostCompActionListener

typedef PostComponentActionListenerType	PostCompActionListenerType

typedef PreComponentActionListener	PreCompActionListener

typedef PreComponentActionListenerType	PreCompActionListenerType

Protected Member Functions inherited from RTC::RTObject_impl
virtual ReturnCode_t	onAborting (RTC::UniqueId exec_handle)

virtual ReturnCode_t	onActivated (RTC::UniqueId exec_handle)

void	onAddPort (const PortProfile &pprof)

void	onAttachExecutionContext (UniqueId ec_id)

virtual ReturnCode_t	onDeactivated (RTC::UniqueId exec_handle)

void	onDetachExecutionContext (UniqueId ec_id)

virtual ReturnCode_t	onError (RTC::UniqueId exec_handle)

virtual ReturnCode_t	onExecute (RTC::UniqueId exec_handle)

virtual ReturnCode_t	onFinalize ()

virtual ReturnCode_t	onRateChanged (RTC::UniqueId exec_handle)

void	onRemovePort (const PortProfile &pprof)

virtual ReturnCode_t	onReset (RTC::UniqueId exec_handle)

virtual ReturnCode_t	onShutdown (RTC::UniqueId exec_handle)

virtual ReturnCode_t	onStartup (RTC::UniqueId exec_handle)

virtual ReturnCode_t	onStateUpdate (RTC::UniqueId exec_handle)

void	postOnAborting (UniqueId ec_id, ReturnCode_t ret)

void	postOnActivated (UniqueId ec_id, ReturnCode_t ret)

void	postOnDeactivated (UniqueId ec_id, ReturnCode_t ret)

void	postOnError (UniqueId ec_id, ReturnCode_t ret)

void	postOnExecute (UniqueId ec_id, ReturnCode_t ret)

void	postOnFinalize (UniqueId ec_id, ReturnCode_t ret)

void	postOnInitialize (UniqueId ec_id, ReturnCode_t ret)

void	postOnRateChanged (UniqueId ec_id, ReturnCode_t ret)

void	postOnReset (UniqueId ec_id, ReturnCode_t ret)

void	postOnShutdown (UniqueId ec_id, ReturnCode_t ret)

void	postOnStartup (UniqueId ec_id, ReturnCode_t ret)

void	postOnStateUpdate (UniqueId ec_id, ReturnCode_t ret)

void	preOnAborting (UniqueId ec_id)

void	preOnActivated (UniqueId ec_id)

void	preOnDeactivated (UniqueId ec_id)

void	preOnError (UniqueId ec_id)

void	preOnExecute (UniqueId ec_id)

void	preOnFinalize (UniqueId ec_id)

void	preOnInitialize (UniqueId ec_id)

void	preOnRateChanged (UniqueId ec_id)

void	preOnReset (UniqueId ec_id)

void	preOnShutdown (UniqueId ec_id)

void	preOnStartup (UniqueId ec_id)

void	preOnStateUpdate (UniqueId ec_id)

void	shutdown ()

Protected Attributes inherited from RTC::RTObject_impl
ComponentActionListeners	m_actionListeners

ConfigAdmin	m_configsets

bool	m_created

std::vector< ExecutionContextBase *>	m_eclist

ExecutionContextServiceList	m_ecMine

ExecutionContextServiceList	m_ecOther

bool	m_exiting

std::vector< InPortBase *>	m_inports

RTObject_var	m_objref

std::vector< OutPortBase *>	m_outports

Manager *	m_pManager

CORBA::ORB_var	m_pORB

PortAdmin	m_portAdmin

PortConnectListeners	m_portconnListeners

PortableServer::POA_var	m_pPOA

ComponentProfile	m_profile

coil::Properties	m_properties

SDOPackage::Configuration_var	m_pSdoConfig

SDOPackage::Configuration_impl *	m_pSdoConfigImpl

bool	m_readAll

bool	m_readAllCompletion

SDOPackage::OrganizationList	m_sdoOrganizations

SDOPackage::OrganizationList	m_sdoOwnedOrganizations

SdoServiceAdmin	m_sdoservice

SDOPackage::NVList	m_sdoStatus

bool	m_writeAll

bool	m_writeAllCompletion

Logger	rtclog

Detailed Description

Definition at line 28 of file VirtualRobotRTC.h.

Member Typedef Documentation

◆ InPortHandlerMap

typedef std::map<std::string, InPortHandlerPtr> VirtualRobotRTC::InPortHandlerMap

private

Definition at line 57 of file VirtualRobotRTC.h.

◆ OutPortHandlerMap

typedef std::map<std::string, OutPortHandlerPtr> VirtualRobotRTC::OutPortHandlerMap

private

Definition at line 54 of file VirtualRobotRTC.h.

Constructor & Destructor Documentation

◆ VirtualRobotRTC()

VirtualRobotRTC::VirtualRobotRTC ( RTC::Manager * manager )

Definition at line 60 of file VirtualRobotRTC.cpp.

◆ ~VirtualRobotRTC()

VirtualRobotRTC::~VirtualRobotRTC ( )

Definition at line 101 of file VirtualRobotRTC.cpp.

Member Function Documentation

◆ addConnectedRtcs()

void VirtualRobotRTC::addConnectedRtcs	(	Port_Service_Ptr_Type	portRef,
		RTC::RTCList &	rtcList,
		std::set< std::string > &	foundRtcNames
	)

private

Definition at line 391 of file VirtualRobotRTC.cpp.

◆ checkOutPortStepTime()

bool VirtualRobotRTC::checkOutPortStepTime ( double controlTimeStep )

Definition at line 521 of file VirtualRobotRTC.cpp.

◆ createInPortHandler()

bool VirtualRobotRTC::createInPortHandler ( PortInfo & portInfo )

private

Definition at line 285 of file VirtualRobotRTC.cpp.

◆ createOutPortHandler()

bool VirtualRobotRTC::createOutPortHandler ( PortInfo & portInfo )

private

Definition at line 213 of file VirtualRobotRTC.cpp.

◆ getConnectedRtcs()

RTC::RTCList * VirtualRobotRTC::getConnectedRtcs ( )

Definition at line 372 of file VirtualRobotRTC.cpp.

◆ getPortHandler()

PortHandlerPtr VirtualRobotRTC::getPortHandler ( const std::string & name )

Definition at line 325 of file VirtualRobotRTC.cpp.

◆ inputDataFromSimulator()

void VirtualRobotRTC::inputDataFromSimulator ( Controller_impl * controller )

Definition at line 465 of file VirtualRobotRTC.cpp.

◆ onInitialize()

RTC::ReturnCode_t VirtualRobotRTC::onInitialize ( void )

virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 70 of file VirtualRobotRTC.cpp.

◆ outputDataToSimulator()

void VirtualRobotRTC::outputDataToSimulator ( Controller_impl * controller )

Definition at line 483 of file VirtualRobotRTC.cpp.

◆ readDataFromInPorts()

void VirtualRobotRTC::readDataFromInPorts ( Controller_impl * controller )

Definition at line 509 of file VirtualRobotRTC.cpp.

◆ registerFactory()

void VirtualRobotRTC::registerFactory	(	RTC::Manager *	manager,
		const char *	componentTypeName
	)

static

Definition at line 30 of file VirtualRobotRTC.cpp.

◆ registerInPortHandler()

template<class TInPortHandler >

bool VirtualRobotRTC::registerInPortHandler ( TInPortHandler * handler )

inlineprivate

Definition at line 94 of file VirtualRobotRTC.h.

◆ registerOutPortHandler()

template<class TOutPortHandler >

bool VirtualRobotRTC::registerOutPortHandler ( TOutPortHandler * handler )

inlineprivate

Definition at line 84 of file VirtualRobotRTC.h.

◆ stop()

void VirtualRobotRTC::stop ( void )

Definition at line 516 of file VirtualRobotRTC.cpp.

◆ updatePortObjectRefs()

void VirtualRobotRTC::updatePortObjectRefs ( )

private

Definition at line 347 of file VirtualRobotRTC.cpp.

◆ writeDataToOutPorts()

void VirtualRobotRTC::writeDataToOutPorts ( Controller_impl * controller )

Definition at line 491 of file VirtualRobotRTC.cpp.

Member Data Documentation

◆ inPortHandlers

InPortHandlerMap VirtualRobotRTC::inPortHandlers

private

Definition at line 58 of file VirtualRobotRTC.h.

◆ isOwnedByController

bool VirtualRobotRTC::isOwnedByController

Definition at line 50 of file VirtualRobotRTC.h.

◆ outPortHandlers

OutPortHandlerMap VirtualRobotRTC::outPortHandlers

private

Definition at line 55 of file VirtualRobotRTC.h.

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

Public Member Functions

Static Public Member Functions

Public Attributes

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ InPortHandlerMap

◆ OutPortHandlerMap

Constructor & Destructor Documentation

◆ VirtualRobotRTC()

◆ ~VirtualRobotRTC()

Member Function Documentation

◆ addConnectedRtcs()

◆ checkOutPortStepTime()

◆ createInPortHandler()

◆ createOutPortHandler()

◆ getConnectedRtcs()

◆ getPortHandler()

◆ inputDataFromSimulator()

◆ onInitialize()

◆ outputDataToSimulator()

◆ readDataFromInPorts()

◆ registerFactory()

◆ registerInPortHandler()

◆ registerOutPortHandler()

◆ stop()

◆ updatePortObjectRefs()

◆ writeDataToOutPorts()

Member Data Documentation

◆ inPortHandlers

◆ isOwnedByController

◆ outPortHandlers