Manager class. More...

Classes
class	ECFactoryPredicate

class	FactoryPredicate

class	Finalized

class	InstanceName

class	ModulePredicate

class	OrbRunner
	OrbRunner class. More...

class	Term

class	Terminator

Public Member Functions
def	__init__ (self, _manager=None)
	Protected Copy Constructor. More...

def	activateManager (self)
	Activate Manager. More...

def	cleanupComponent (self, comp)

def	cleanupComponents (self)
	This method deletes RT-Components. More...

def	configureComponent (self, comp, prop)
	void configureComponent(RTObject_impl* comp, const coil::Properties& prop); More...

def	createComponent (self, comp_args)
	Create RT-Components. More...

def	createContext (self, ec_args)
	Create Context. More...

def	createORBEndpointOption (self, opt, endpoints)
	Create a command optional line of Endpoint of ORB. More...

def	createORBEndpoints (self, endpoints)
	Create Endpoints. More...

def	createORBOptions (self)
	ORB command option creation. More...

def	deleteComponent (self, instance_name=None, comp=None)
	Unregister RT-Component that is registered in the Manager. More...

def	formatString (self, naming_format, prop)

def	getComponent (self, instance_name)
	Get RT-Component's pointer. More...

def	getComponents (self)
	Get all RT-Component's pointer. More...

def	getConfig (self)

def	getFactoryProfiles (self)
	Get profiles of factories. More...

def	getLoadableModules (self)
	Get loadable module names. More...

def	getLoadedModules (self)
	Get loaded module names std::vector<coil::Properties> getLoadedModules();. More...

def	getLogbuf (self, name="manager")

def	getModulesFactories (self)
	Get the list of all RT-Component Factory. More...

def	getORB (self)
	Get the pointer to the ORB. More...

def	getPOA (self)
	Get the pointer to the RootPOA. More...

def	getPOAManager (self)

def	init (arg)
	Initializa manager. More...

def	initComposite (self)
	PeriodicECSharedComposite initialization. More...

def	initExecContext (self)

def	initFactories (self)
	Factories initialization. More...

def	initLogger (self)
	System logger initialization. More...

def	initManager (self, argv)
	Manager internal initialization. More...

def	initManagerServant (self)
	ManagerServant initialization. More...

def	initNaming (self)

def	initORB (self)
	CORBA ORB initialization. More...

def	initTimer (self)

def	instance ()
	Get instance of the manager. More...

def	join (self)

def	load (self, fname, initfunc)
	[CORBA interface] Load module More...

def	mergeProperty (self, prop, file_name)

def	notifyFinalized (self, comp)
	This method deletes RT-Components. More...

def	procComponentArgs (self, comp_arg, comp_id, comp_conf)
	bool procComponentArgs(const char* comp_arg, coil::Properties& comp_id, coil::Properties& comp_conf) More...

def	procContextArgs (self, ec_args, ec_id, ec_conf)

def	registerComponent (self, comp)
	Register RT-Component directly without Factory. More...

def	registerECFactory (self, name, new_func, delete_func)
	Register ExecutionContext Factory. More...

def	registerFactory (self, profile, new_func, delete_func)
	Register RT-Component Factory. More...

def	runManager (self, no_block=None)
	Run the Manager. More...

def	setModuleInitProc (self, proc)
	Run the Manager. More...

def	shutdown (self)

def	shutdownComponents (self)

def	shutdownLogger (self)
	System Logger finalization. More...

def	shutdownManager (self)

def	shutdownNaming (self)

def	shutdownOnNoRtcs (self)
	Shutdown Manager. More...

def	shutdownORB (self)
	ORB finalization. More...

def	terminate (self)

def	unload (self, fname)
	Unload module. More...

def	unloadAll (self)
	Unload module. More...

def	unregisterComponent (self, comp)
	Register RT-Component directly without Factory. More...

Static Public Attributes
	init = staticmethod(init)

	instance = staticmethod(instance)

Private Member Functions
def	__try_direct_load (self, file_name)

Private Attributes
	_compManager

	_config

	_ecfactory

	_ecs

	_factory

	_finalized

	_initProc

	_mgrservant

	_modlist

	_module

	_namingManager

	_orb

	_poa

	_poaManager

	_rtcout

	_runner

	_terminate

	_terminator

	_timer

Detailed Description

Manager class.

Definition at line 83 of file Manager.py.

Constructor & Destructor Documentation

◆ init()

def OpenRTM_aist.Manager.Manager.__init__	(	self,
		_manager = `None`
	)

Protected Copy Constructor.

Definition at line 102 of file Manager.py.

Member Function Documentation

◆ __try_direct_load()

def OpenRTM_aist.Manager.Manager.__try_direct_load	(	self,
		file_name
	)

private

Definition at line 2180 of file Manager.py.

◆ activateManager()

def OpenRTM_aist.Manager.Manager.activateManager ( self )

Activate Manager.

This operation do the following,

Activate CORBA POAManager
Activate Manager CORBA object
Execute the initial procedure call of the Manager

This operationo should be invoked after Manager:init(), and before tunManager().

Definition at line 367 of file Manager.py.

◆ cleanupComponent()

def OpenRTM_aist.Manager.Manager.cleanupComponent	(	self,
		comp
	)

Definition at line 1806 of file Manager.py.

◆ cleanupComponents()

def OpenRTM_aist.Manager.Manager.cleanupComponents ( self )

This method deletes RT-Components.

This method deletes RT-Components registered by notifyFinalized().

void cleanupComponents();

Definition at line 1827 of file Manager.py.

◆ configureComponent()

def OpenRTM_aist.Manager.Manager.configureComponent	(	self,
		comp,
		prop
	)

void configureComponent(RTObject_impl* comp, const coil::Properties& prop);

Definition at line 1959 of file Manager.py.

◆ createComponent()

def OpenRTM_aist.Manager.Manager.createComponent	(	self,
		comp_args
	)

Create RT-Components.

Create specified RT-Component's instances via registered Factory. When its instances have been created successfully, the following processings are also executed.

Read and set configuration information that was set by external file.
Bind ExecutionContext and start operation.
Register to naming service.

Parameters

module_name Target RT-Component names for the creation

Returns: Created RT-Component's instances

Definition at line 767 of file Manager.py.

◆ createContext()

def OpenRTM_aist.Manager.Manager.createContext	(	self,
		ec_args
	)

Create Context.

Returns: Created Context's instances

ExecutionContextBase* createContext(const char* ec_args);

Definition at line 962 of file Manager.py.

◆ createORBEndpointOption()

def OpenRTM_aist.Manager.Manager.createORBEndpointOption	(	self,
		opt,
		endpoints
	)

Create a command optional line of Endpoint of ORB.

Parameters

opt	ORB options
endpoints	Endpoints list

void createORBEndpointOption(std::string& opt, coil::vstring& endpoints);

Definition at line 1467 of file Manager.py.

◆ createORBEndpoints()

def OpenRTM_aist.Manager.Manager.createORBEndpoints	(	self,
		endpoints
	)

Create Endpoints.

Create Endpoints from the configuration.

Parameters

endpoints Endpoints list

void createORBEndpoints(coil::vstring& endpoints);

Definition at line 1419 of file Manager.py.

◆ createORBOptions()

def OpenRTM_aist.Manager.Manager.createORBOptions ( self )

ORB command option creation.

Definition at line 1387 of file Manager.py.

◆ deleteComponent()

def OpenRTM_aist.Manager.Manager.deleteComponent	(	self,
		instance_name = `None`,
		comp = `None`
	)

Unregister RT-Component that is registered in the Manager.

Definition at line 994 of file Manager.py.

◆ formatString()

def OpenRTM_aist.Manager.Manager.formatString	(	self,
		naming_format,
		prop
	)

Definition at line 2075 of file Manager.py.

◆ getComponent()

def OpenRTM_aist.Manager.Manager.getComponent	(	self,
		instance_name
	)

Get RT-Component's pointer.

Definition at line 1047 of file Manager.py.

◆ getComponents()

def OpenRTM_aist.Manager.Manager.getComponents ( self )

Get all RT-Component's pointer.

Definition at line 1065 of file Manager.py.

◆ getConfig()

def OpenRTM_aist.Manager.Manager.getConfig ( self )

Definition at line 2163 of file Manager.py.

◆ getFactoryProfiles()

def OpenRTM_aist.Manager.Manager.getFactoryProfiles ( self )

Get profiles of factories.

Returns: profiles of factories

Definition at line 642 of file Manager.py.

◆ getLoadableModules()

def OpenRTM_aist.Manager.Manager.getLoadableModules ( self )

Get loadable module names.

Definition at line 586 of file Manager.py.

◆ getLoadedModules()

def OpenRTM_aist.Manager.Manager.getLoadedModules ( self )

Get loaded module names std::vector<coil::Properties> getLoadedModules();.

Definition at line 567 of file Manager.py.

◆ getLogbuf()

def OpenRTM_aist.Manager.Manager.getLogbuf	(	self,
		name = `"manager"`
	)

Definition at line 2141 of file Manager.py.

◆ getModulesFactories()

def OpenRTM_aist.Manager.Manager.getModulesFactories ( self )

Get the list of all RT-Component Factory.

Definition at line 696 of file Manager.py.

◆ getORB()

def OpenRTM_aist.Manager.Manager.getORB ( self )

Get the pointer to the ORB.

Definition at line 1087 of file Manager.py.

◆ getPOA()

def OpenRTM_aist.Manager.Manager.getPOA ( self )

Get the pointer to the RootPOA.

Definition at line 1105 of file Manager.py.

◆ getPOAManager()

def OpenRTM_aist.Manager.Manager.getPOAManager ( self )

Definition at line 1123 of file Manager.py.

◆ init()

def OpenRTM_aist.Manager.Manager.init ( arg )

Initializa manager.

This is the static function to tintialize the Manager. The Manager is initialized by given arguments. At the starting the manager, this static function "must" be called from application program. The manager has two static functions to get the instance, "init()" and "instance()". Since initializing process is only performed by the "init()" function, the "init()" has to be called at the beginning of the lifecycle of the Manager. function.

Parameters

argv	The array of the command line arguments.

Definition at line 160 of file Manager.py.

◆ initComposite()

def OpenRTM_aist.Manager.Manager.initComposite ( self )

PeriodicECSharedComposite initialization.

Returns: PeriodicECSharedComposite initialization result (Successful:true, Failed:false)

Definition at line 1663 of file Manager.py.

◆ initExecContext()

def OpenRTM_aist.Manager.Manager.initExecContext ( self )

Definition at line 1640 of file Manager.py.

◆ initFactories()

def OpenRTM_aist.Manager.Manager.initFactories ( self )

Factories initialization.

Initialize buffer factories, thread factories, publisher factories, provider factories, and consumer factories.

Returns: PeriodicECSharedComposite initialization result (Successful:true, Failed:false)

Definition at line 1690 of file Manager.py.

◆ initLogger()

def OpenRTM_aist.Manager.Manager.initLogger ( self )

System logger initialization.

Definition at line 1267 of file Manager.py.

◆ initManager()

def OpenRTM_aist.Manager.Manager.initManager	(	self,
		argv
	)

Manager internal initialization.

Definition at line 1149 of file Manager.py.

◆ initManagerServant()

def OpenRTM_aist.Manager.Manager.initManagerServant ( self )

ManagerServant initialization.

Returns: Timer Initialization result (Successful:true, Failed:false)

Definition at line 1727 of file Manager.py.

◆ initNaming()

def OpenRTM_aist.Manager.Manager.initNaming ( self )

Definition at line 1581 of file Manager.py.

◆ initORB()

def OpenRTM_aist.Manager.Manager.initORB ( self )

CORBA ORB initialization.

Definition at line 1350 of file Manager.py.

◆ initTimer()

def OpenRTM_aist.Manager.Manager.initTimer ( self )

Definition at line 1710 of file Manager.py.

◆ instance()

def OpenRTM_aist.Manager.Manager.instance ( )

Get instance of the manager.

This is the static function to get the instance of the Manager. Before calling this function, ensure that the initialization function "init()" is called.

Returns: The only instance reference of the manager

Definition at line 214 of file Manager.py.

◆ join()

def OpenRTM_aist.Manager.Manager.join ( self )

Definition at line 294 of file Manager.py.

◆ load()

def OpenRTM_aist.Manager.Manager.load	(	self,
		fname,
		initfunc
	)

[CORBA interface] Load module

Load module (shared library, DLL etc..) by file name, and invoke initialize function.

Parameters

fname	The module file name
initfunc	The initialize function name

Definition at line 485 of file Manager.py.

◆ mergeProperty()

def OpenRTM_aist.Manager.Manager.mergeProperty	(	self,
		prop,
		file_name
	)

Definition at line 2028 of file Manager.py.

◆ notifyFinalized()

def OpenRTM_aist.Manager.Manager.notifyFinalized	(	self,
		comp
	)

This method deletes RT-Components.

The deleted RT-Component is registered. The registered RT-Components are deleted by cleanupComponents().

Parameters

Deleted RT component

void notifyFinalized(RTObject_impl* comp);

Definition at line 1859 of file Manager.py.

◆ procComponentArgs()

def OpenRTM_aist.Manager.Manager.procComponentArgs	(	self,
		comp_arg,
		comp_id,
		comp_conf
	)

bool procComponentArgs(const char* comp_arg, coil::Properties& comp_id, coil::Properties& comp_conf)

Definition at line 1882 of file Manager.py.

◆ procContextArgs()

def OpenRTM_aist.Manager.Manager.procContextArgs	(	self,
		ec_args,
		ec_id,
		ec_conf
	)

Definition at line 1921 of file Manager.py.

◆ registerComponent()

def OpenRTM_aist.Manager.Manager.registerComponent	(	self,
		comp
	)

Register RT-Component directly without Factory.

Definition at line 909 of file Manager.py.

◆ registerECFactory()

def OpenRTM_aist.Manager.Manager.registerECFactory	(	self,
		name,
		new_func,
		delete_func
	)

Register ExecutionContext Factory.

Definition at line 671 of file Manager.py.

◆ registerFactory()

def OpenRTM_aist.Manager.Manager.registerFactory	(	self,
		profile,
		new_func,
		delete_func
	)

Register RT-Component Factory.

Definition at line 612 of file Manager.py.

◆ runManager()

def OpenRTM_aist.Manager.Manager.runManager	(	self,
		no_block = `None`
	)

Run the Manager.

This operation processes the main event loop of the Manager. In this main loop, CORBA's ORB event loop or other processes are performed. As the default behavior, this operation is going to blocking mode and never returns until manager::destroy() is called. When the given argument "no_block" is set to "true", this operation creates a thread to process the event loop internally, and it doesn't block and returns.

Parameters

no_block false: Blocking mode, true: non-blocking mode.

Definition at line 444 of file Manager.py.

◆ setModuleInitProc()

def OpenRTM_aist.Manager.Manager.setModuleInitProc	(	self,
		proc
	)

Run the Manager.

This operation sets the initial procedure call to process module initialization, other user defined initialization and so on. The given procedure will be called at the proper timing after the manager initialization, activation and run.

Parameters

proc	A function pointer to the initial procedure call

Definition at line 332 of file Manager.py.

◆ shutdown()

def OpenRTM_aist.Manager.Manager.shutdown ( self )

Definition at line 265 of file Manager.py.

◆ shutdownComponents()

def OpenRTM_aist.Manager.Manager.shutdownComponents ( self )

Definition at line 1773 of file Manager.py.

◆ shutdownLogger()

def OpenRTM_aist.Manager.Manager.shutdownLogger ( self )

System Logger finalization.

Definition at line 1327 of file Manager.py.

◆ shutdownManager()

def OpenRTM_aist.Manager.Manager.shutdownManager ( self )

Definition at line 1208 of file Manager.py.

◆ shutdownNaming()

def OpenRTM_aist.Manager.Manager.shutdownNaming ( self )

Definition at line 1620 of file Manager.py.

◆ shutdownOnNoRtcs()

def OpenRTM_aist.Manager.Manager.shutdownOnNoRtcs ( self )

Shutdown Manager.

This method shutdowns Manager as follows.

"Manager.shutdown_on_nortcs" of configuration is YES.
The component is not registered.

void shutdownOnNoRtcs();

Definition at line 1235 of file Manager.py.

◆ shutdownORB()

def OpenRTM_aist.Manager.Manager.shutdownORB ( self )

ORB finalization.

Definition at line 1512 of file Manager.py.

◆ terminate()

def OpenRTM_aist.Manager.Manager.terminate ( self )

Definition at line 248 of file Manager.py.

◆ unload()

def OpenRTM_aist.Manager.Manager.unload	(	self,
		fname
	)

Unload module.

Unload shared library.

Parameters

pathname Module file name

Definition at line 525 of file Manager.py.

◆ unloadAll()

def OpenRTM_aist.Manager.Manager.unloadAll ( self )

Unload module.

Unload all loaded shared library.

Definition at line 547 of file Manager.py.

◆ unregisterComponent()

def OpenRTM_aist.Manager.Manager.unregisterComponent	(	self,
		comp
	)

Register RT-Component directly without Factory.

Definition at line 936 of file Manager.py.

Member Data Documentation

◆ _compManager

OpenRTM_aist.Manager.Manager._compManager

private

Definition at line 106 of file Manager.py.

◆ _config

OpenRTM_aist.Manager.Manager._config

private

Definition at line 1151 of file Manager.py.

◆ _ecfactory

OpenRTM_aist.Manager.Manager._ecfactory

private

Definition at line 108 of file Manager.py.

◆ _ecs

OpenRTM_aist.Manager.Manager._ecs

private

Definition at line 110 of file Manager.py.

◆ _factory

OpenRTM_aist.Manager.Manager._factory

private

Definition at line 107 of file Manager.py.

◆ _finalized

OpenRTM_aist.Manager.Manager._finalized

private

Definition at line 115 of file Manager.py.

◆ _initProc

OpenRTM_aist.Manager.Manager._initProc

private

Definition at line 103 of file Manager.py.

◆ _mgrservant

OpenRTM_aist.Manager.Manager._mgrservant

private

Definition at line 1733 of file Manager.py.

◆ _modlist

OpenRTM_aist.Manager.Manager._modlist

private

Definition at line 699 of file Manager.py.

◆ _module

OpenRTM_aist.Manager.Manager._module

private

Definition at line 1155 of file Manager.py.

◆ _namingManager

OpenRTM_aist.Manager.Manager._namingManager

private

Definition at line 1583 of file Manager.py.

◆ _orb

OpenRTM_aist.Manager.Manager._orb

private

Definition at line 112 of file Manager.py.

◆ _poa

OpenRTM_aist.Manager.Manager._poa

private

Definition at line 113 of file Manager.py.

◆ _poaManager

OpenRTM_aist.Manager.Manager._poaManager

private

Definition at line 114 of file Manager.py.

◆ _rtcout

OpenRTM_aist.Manager.Manager._rtcout

private

Definition at line 1270 of file Manager.py.

◆ _runner

OpenRTM_aist.Manager.Manager._runner

private

Definition at line 104 of file Manager.py.

◆ _terminate

OpenRTM_aist.Manager.Manager._terminate

private

Definition at line 109 of file Manager.py.

◆ _terminator

OpenRTM_aist.Manager.Manager._terminator

private

Definition at line 105 of file Manager.py.

◆ _timer

OpenRTM_aist.Manager.Manager._timer

private

Definition at line 111 of file Manager.py.

◆ init

OpenRTM_aist.Manager.Manager.init = staticmethod(init)

static

Definition at line 191 of file Manager.py.

◆ instance

OpenRTM_aist.Manager.Manager.instance = staticmethod(instance)

static

Definition at line 234 of file Manager.py.

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

Manager.py

Classes

Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ __init__()

Member Function Documentation

◆ __try_direct_load()

◆ activateManager()

◆ cleanupComponent()

◆ cleanupComponents()

◆ configureComponent()

◆ createComponent()

◆ createContext()

◆ createORBEndpointOption()

◆ createORBEndpoints()

◆ createORBOptions()

◆ deleteComponent()

◆ formatString()

◆ getComponent()

◆ getComponents()

◆ getConfig()

◆ getFactoryProfiles()

◆ getLoadableModules()

◆ getLoadedModules()

◆ getLogbuf()

◆ getModulesFactories()

◆ getORB()

◆ getPOA()

◆ getPOAManager()

◆ init()

◆ initComposite()

◆ initExecContext()

◆ initFactories()

◆ initLogger()

◆ initManager()

◆ initManagerServant()

◆ initNaming()

◆ initORB()

◆ initTimer()

◆ instance()

◆ join()

◆ load()

◆ mergeProperty()

◆ notifyFinalized()

◆ procComponentArgs()

◆ procContextArgs()

◆ registerComponent()

◆ registerECFactory()

◆ registerFactory()

◆ runManager()

◆ setModuleInitProc()

◆ shutdown()

◆ shutdownComponents()

◆ shutdownLogger()

◆ shutdownManager()

◆ shutdownNaming()

◆ shutdownOnNoRtcs()

◆ shutdownORB()

◆ terminate()

◆ unload()

◆ unloadAll()

◆ unregisterComponent()

Member Data Documentation

◆ _compManager

◆ _config

◆ _ecfactory

◆ _ecs

◆ _factory

◆ _finalized

◆ _initProc

◆ _mgrservant

◆ _modlist

◆ _module

◆ _namingManager

◆ _orb

◆ _poa

◆ _poaManager

◆ init()