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OpenRTM_aist.Manager.Manager Class Reference

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_nameTarget 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
optORB options
endpointsEndpoints 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
endpointsEndpoints 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.

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
argvThe 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
fnameThe module file name
initfuncThe 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
DeletedRT 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_blockfalse: 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
procA 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
pathnameModule 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:


openrtm_aist_python
Author(s): Shinji Kurihara
autogenerated on Mon Feb 28 2022 23:01:08