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__
	Protected Copy Constructor.
def	activateManager
	Activate Manager.
def	cleanupComponent
def	cleanupComponents
	This method deletes RT-Components.
def	configureComponent
	void configureComponent(RTObject_impl* comp, const coil::Properties& prop);
def	createComponent
	Create RT-Components.
def	createContext
	Create Context.
def	createORBEndpointOption
	Create a command optional line of Endpoint of ORB.
def	createORBEndpoints
	Create Endpoints.
def	createORBOptions
	ORB command option creation.
def	deleteComponent
	Unregister RT-Component that is registered in the Manager.
def	formatString
def	getComponent
	Get RT-Component's pointer.
def	getComponents
	Get all RT-Component's pointer.
def	getConfig
def	getFactoryProfiles
	Get profiles of factories.
def	getLoadableModules
	Get loadable module names.
def	getLoadedModules
	Get loaded module names std::vector<coil::Properties> getLoadedModules();.
def	getLogbuf
def	getModulesFactories
	Get the list of all RT-Component Factory.
def	getORB
	Get the pointer to the ORB.
def	getPOA
	Get the pointer to the RootPOA.
def	getPOAManager
def	init
	Initializa manager.
def	initComposite
	PeriodicECSharedComposite initialization.
def	initExecContext
def	initFactories
	Factories initialization.
def	initLogger
	System logger initialization.
def	initManager
	Manager internal initialization.
def	initManagerServant
	ManagerServant initialization.
def	initNaming
def	initORB
	CORBA ORB initialization.
def	initTimer
def	instance
	Get instance of the manager.
def	join
def	load
	[CORBA interface] Load module
def	mergeProperty
def	notifyFinalized
	This method deletes RT-Components.
def	procComponentArgs
	bool procComponentArgs(const char* comp_arg, coil::Properties& comp_id, coil::Properties& comp_conf)
def	procContextArgs
def	registerComponent
	Register RT-Component directly without Factory.
def	registerECFactory
	Register ExecutionContext Factory.
def	registerFactory
	Register RT-Component Factory.
def	runManager
	Run the Manager.
def	setModuleInitProc
	Run the Manager.
def	shutdown
def	shutdownComponents
def	shutdownLogger
	System Logger finalization.
def	shutdownManager
def	shutdownNaming
def	shutdownOnNoRtcs
	Shutdown Manager.
def	shutdownORB
	ORB finalization.
def	terminate
def	unload
	Unload module.
def	unloadAll
	Unload module.
def	unregisterComponent
	Register RT-Component directly without Factory.
Static Public Attributes
tuple	init = staticmethod(init)
tuple	instance = staticmethod(instance)
Private Member Functions
def	__try_direct_load
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

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

Protected Copy Constructor.

Definition at line 102 of file Manager.py.

Member Function Documentation

def OpenRTM_aist.Manager.Manager.__try_direct_load	(	self,
		file_name
	)	`[private]`

Definition at line 2180 of file Manager.py.

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.

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

Definition at line 1806 of file Manager.py.

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.

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.

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.

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.

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.

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.

def OpenRTM_aist.Manager.Manager.createORBOptions ( self )

ORB command option creation.

Definition at line 1387 of file Manager.py.

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.

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

Definition at line 2075 of file Manager.py.

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

Get RT-Component's pointer.

Definition at line 1047 of file Manager.py.

def OpenRTM_aist.Manager.Manager.getComponents ( self )

Get all RT-Component's pointer.

Definition at line 1065 of file Manager.py.

def OpenRTM_aist.Manager.Manager.getConfig ( self )

Definition at line 2163 of file Manager.py.

def OpenRTM_aist.Manager.Manager.getFactoryProfiles ( self )

Get profiles of factories.

Returns:: profiles of factories

Definition at line 642 of file Manager.py.

def OpenRTM_aist.Manager.Manager.getLoadableModules ( self )

Get loadable module names.

Definition at line 586 of file Manager.py.

def OpenRTM_aist.Manager.Manager.getLoadedModules ( self )

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

Definition at line 567 of file Manager.py.

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

Definition at line 2141 of file Manager.py.

def OpenRTM_aist.Manager.Manager.getModulesFactories ( self )

Get the list of all RT-Component Factory.

Definition at line 696 of file Manager.py.

def OpenRTM_aist.Manager.Manager.getORB ( self )

Get the pointer to the ORB.

Definition at line 1087 of file Manager.py.

def OpenRTM_aist.Manager.Manager.getPOA ( self )

Get the pointer to the RootPOA.

Definition at line 1105 of file Manager.py.

def OpenRTM_aist.Manager.Manager.getPOAManager ( self )

Definition at line 1123 of file Manager.py.

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.

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.

def OpenRTM_aist.Manager.Manager.initExecContext ( self )

Definition at line 1640 of file Manager.py.

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.

def OpenRTM_aist.Manager.Manager.initLogger ( self )

System logger initialization.

Definition at line 1267 of file Manager.py.

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

Manager internal initialization.

Definition at line 1149 of file Manager.py.

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.

def OpenRTM_aist.Manager.Manager.initNaming ( self )

Definition at line 1581 of file Manager.py.

def OpenRTM_aist.Manager.Manager.initORB ( self )

CORBA ORB initialization.

Definition at line 1350 of file Manager.py.

def OpenRTM_aist.Manager.Manager.initTimer ( self )

Definition at line 1710 of file Manager.py.

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.

def OpenRTM_aist.Manager.Manager.join ( self )

Definition at line 294 of file Manager.py.

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.

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

Definition at line 2028 of file Manager.py.

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.

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.

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

Definition at line 1921 of file Manager.py.

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

Register RT-Component directly without Factory.

Definition at line 909 of file Manager.py.

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

Register ExecutionContext Factory.

Definition at line 671 of file Manager.py.

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

Register RT-Component Factory.

Definition at line 612 of file Manager.py.

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.

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: