ComponentObserverConsumer.h
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00001 // -*- C++ -*-
00020 #ifndef RTC_COMPONENTOBSERVERCONSUMER_H
00021 #define RTC_COMPONENTOBSERVERCONSUMER_H
00022 
00023 #include <coil/Mutex.h>
00024 #include <coil/Factory.h>
00025 #include <coil/stringutil.h>
00026 #include <rtm/SdoServiceConsumerBase.h>
00027 #include <rtm/CorbaConsumer.h>
00028 #include <rtm/ComponentActionListener.h>
00029 #include <rtm/idl/SDOPackageStub.h>
00030 #include "ComponentObserverStub.h"
00031 
00032 namespace RTC
00033 {
00034 
00040   class ComponentObserverConsumer
00041     : public SdoServiceConsumerBase
00042   {
00043   public:
00051     ComponentObserverConsumer();
00052 
00060     virtual ~ComponentObserverConsumer();
00061 
00069     virtual bool init(RTObject_impl& rtobj,
00070                       const SDOPackage::ServiceProfile& profile);
00071 
00079     virtual bool reinit(const SDOPackage::ServiceProfile& profile);
00080 
00088     virtual const SDOPackage::ServiceProfile& getProfile() const;
00089     
00097     virtual void finalize();
00098 
00099   protected:
00107     inline void updateStatus(OpenRTM::StatusKind statuskind, const char* msg)
00108     {
00109       try
00110         {
00111           m_observer->update_status(statuskind, msg);
00112         }
00113       catch (...)
00114         {
00115           m_rtobj->removeSdoServiceConsumer(m_profile.id);
00116         }
00117     }
00118 
00126     inline const char* toString(OpenRTM::StatusKind kind)
00127     {
00128       static const char* kinds[] = 
00129         {
00130           "COMPONENT_PROFILE",
00131           "RTC_STATUS",
00132           "EC_STATUS",
00133           "PORT_PROFILE",
00134           "CONFIGURATION",
00135           "HEARTBEAT"
00136         };
00137       return (size_t)kind < sizeof(kind)/sizeof(char*) ? kinds[kind] : "";
00138     }
00139 
00147     void setListeners(coil::Properties& prop);
00148 
00156     void switchListeners(bool& next, bool& pre,
00157                          void (ComponentObserverConsumer::*setfunc)(), 
00158                          void (ComponentObserverConsumer::*unsetfunc)());
00159 
00160     //============================================================
00161     // Heartbeat related functions
00169     void heartbeat();
00170 
00178     void setHeartbeat(coil::Properties& prop);
00179 
00187     void unsetHeartbeat();
00188 
00189     //============================================================
00190     // Component status related functions
00198     void setComponentStatusListeners();
00199 
00207     void unsetComponentStatusListeners();
00208 
00209     //============================================================
00210     // Port profile related functions
00218     void setPortProfileListeners();
00219 
00227     void unsetPortProfileListeners();
00228 
00229 
00230     //============================================================
00231     // EC profile related functions
00239     void setExecutionContextListeners();
00240 
00248     void unsetExecutionContextListeners();
00249 
00250 
00251     //============================================================
00252     // ComponentProfile related functions
00260     void setComponentProfileListeners();
00261 
00269     void unsetComponentProfileListeners();
00270 
00271     //============================================================
00272     // Configuration related functions
00273 
00281     void setConfigurationListeners();
00282 
00290     void unsetConfigurationListeners();
00291 
00292 
00293   private:
00301     class CompStatMsg
00302     {
00303     public:
00304       CompStatMsg(ComponentObserverConsumer& coc)
00305         : activatedListener(NULL), deactivatedListener(NULL),
00306           resetListener(NULL), abortingListener(NULL),
00307           finalizeListener(NULL), m_coc(coc) {}
00308       void onGeneric(const char* msgprefix, UniqueId ec_id, ReturnCode_t ret)
00309       {
00310         if (ret == RTC::RTC_OK)
00311           {
00312             std::string msg(msgprefix);
00313             msg += coil::otos(ec_id);
00314             m_coc.updateStatus(OpenRTM::RTC_STATUS, msg.c_str());
00315           }
00316       }
00317       void onActivated(UniqueId ec_id, ReturnCode_t ret)
00318       {
00319         onGeneric("ACTIVE:", ec_id, ret);
00320       }
00321       void onDeactivated(UniqueId ec_id, ReturnCode_t ret)
00322       {
00323         onGeneric("INACTIVE:", ec_id, ret);
00324       }
00325       void onReset(UniqueId ec_id, ReturnCode_t ret)
00326       {
00327         onGeneric("INACTIVE:", ec_id, ret);
00328       }
00329       void onAborting(UniqueId ec_id, ReturnCode_t ret)
00330       {
00331         onGeneric("ERROR:", ec_id, ret);
00332       }
00333       void onFinalize(UniqueId ec_id, ReturnCode_t ret)
00334       {
00335         onGeneric("FINALIZE:", ec_id, ret);
00336       }
00337 
00338       PostComponentActionListener* activatedListener;
00339       PostComponentActionListener* deactivatedListener;
00340       PostComponentActionListener* resetListener;
00341       PostComponentActionListener* abortingListener;
00342       PostComponentActionListener* finalizeListener;
00343     private:
00344       ComponentObserverConsumer& m_coc;
00345     };
00346 
00354     class PortAction
00355     {
00356     public:
00357       PortAction(ComponentObserverConsumer& coc)
00358         : portAddListener(NULL), portRemoveListener(NULL),
00359           portConnectListener(NULL), portDisconnectListener(NULL),
00360           m_coc(coc) {}
00361       void onGeneric(const char* _msg, const char* portname)
00362       {
00363         std::string msg(_msg);
00364         msg += portname;
00365         m_coc.updateStatus(OpenRTM::PORT_PROFILE, msg.c_str());
00366       }
00367       void onAddPort(const ::RTC::PortProfile& pprof)
00368       {
00369         onGeneric("ADD:", static_cast<const char*>(pprof.name));
00370       }
00371       void onRemovePort(const ::RTC::PortProfile& pprof)
00372       {
00373         onGeneric("REMOVE:", static_cast<const char*>(pprof.name));
00374       }
00375       void onConnect(const char* portname,
00376                      ::RTC::ConnectorProfile& pprof, ReturnCode_t ret)
00377       {
00378         if (ret == RTC::RTC_OK)
00379           {
00380             onGeneric("CONNECT:", portname);
00381           }
00382       }
00383       void onDisconnect(const char* portname,
00384                         ::RTC::ConnectorProfile& pprof, ReturnCode_t ret)
00385       {
00386         if (ret == RTC::RTC_OK)
00387           {
00388             onGeneric("DISCONNECT:", portname);
00389           }
00390       }
00391 
00392       PortActionListener* portAddListener;
00393       PortActionListener* portRemoveListener;
00394       PortConnectRetListener* portConnectListener;
00395       PortConnectRetListener* portDisconnectListener;
00396 
00397     private:
00398       ComponentObserverConsumer& m_coc;
00399     };
00400 
00408     class ECAction
00409     {
00410     public:
00411       ECAction(ComponentObserverConsumer& coc)
00412         : ecAttached(NULL), ecDetached(NULL), ecRatechanged(NULL),
00413           ecStartup(NULL), ecShutdown(NULL),
00414           m_coc(coc) {}
00415       void onGeneric(const char* _msg, UniqueId ec_id)
00416       {
00417         std::string msg(_msg + coil::otos(ec_id));
00418         m_coc.updateStatus(OpenRTM::EC_STATUS, msg.c_str());
00419       }
00420       void onAttached(UniqueId ec_id)
00421       {
00422         onGeneric("ATTACHED:", ec_id);
00423       }
00424       void onDetached(UniqueId ec_id)
00425       {
00426         onGeneric("DETACHED:", ec_id);
00427       }
00428       void onRateChanged(UniqueId ec_id, ReturnCode_t ret)
00429       {
00430         if (ret == RTC::RTC_OK)
00431           {
00432             onGeneric("RATE_CHANGED:", ec_id);
00433           }
00434       }
00435       void onStartup(UniqueId ec_id, ReturnCode_t ret)
00436       {
00437         if (ret == RTC::RTC_OK)
00438           {
00439             onGeneric("STARTUP:", ec_id);
00440           }
00441       }
00442       void onShutdown(UniqueId ec_id, ReturnCode_t ret)
00443       {
00444         if (ret == RTC::RTC_OK)
00445           {
00446             onGeneric("SHUTDOWN:", ec_id);
00447           }
00448       }
00449       ExecutionContextActionListener* ecAttached;
00450       ExecutionContextActionListener* ecDetached;
00451       PostComponentActionListener* ecRatechanged;
00452       PostComponentActionListener* ecStartup;
00453       PostComponentActionListener* ecShutdown;
00454     private:
00455       ComponentObserverConsumer& m_coc;
00456     };
00457 
00465     class ConfigAction
00466     {
00467     public:
00468       ConfigAction(ComponentObserverConsumer& coc)
00469         : updateConfigParamListener(NULL), setConfigSetListener(NULL),
00470           addConfigSetListener(NULL), updateConfigSetListener(NULL),
00471           removeConfigSetListener(NULL), activateConfigSetListener(NULL),
00472           m_coc(coc) {}
00473       void updateConfigParam(const char* configsetname,
00474                              const char* configparamname)
00475       {
00476         std::string msg("UPDATE_CONFIG_PARAM: ");
00477         msg += configsetname;
00478         msg += ".";
00479         msg += configparamname;
00480         m_coc.updateStatus(OpenRTM::CONFIGURATION, msg.c_str());
00481       }
00482       void setConfigSet(const coil::Properties& config_set)
00483       {
00484         std::string msg("SET_CONFIG_SET: ");
00485         msg += config_set.getName();
00486         m_coc.updateStatus(OpenRTM::CONFIGURATION, msg.c_str());
00487       }
00488       void addConfigSet(const coil::Properties& config_set)
00489       {
00490         std::string msg("ADD_CONFIG_SET: ");
00491         msg += config_set.getName();
00492         m_coc.updateStatus(OpenRTM::CONFIGURATION, msg.c_str());
00493       }
00494       void updateConfigSet(const char* config_set_name)
00495       {
00496         std::string msg("UPDATE_CONFIG_SET: ");
00497         msg += config_set_name;
00498         m_coc.updateStatus(OpenRTM::CONFIGURATION, msg.c_str());
00499       }
00500       void removeConfigSet(const char* config_set_name)
00501       {
00502         std::string msg("REMOVE_CONFIG_SET: ");
00503         msg += config_set_name;
00504         m_coc.updateStatus(OpenRTM::CONFIGURATION, msg.c_str());
00505       }
00506       void activateConfigSet(const char* config_set_name)
00507       {
00508         std::string msg("ACTIVATE_CONFIG_SET: ");
00509         msg += config_set_name;
00510         m_coc.updateStatus(OpenRTM::CONFIGURATION, msg.c_str());
00511       }
00512       // Listener object's pointer holder
00513       ConfigurationParamListener*   updateConfigParamListener;
00514       ConfigurationSetListener*     setConfigSetListener;
00515       ConfigurationSetListener*     addConfigSetListener;
00516       ConfigurationSetNameListener* updateConfigSetListener;
00517       ConfigurationSetNameListener* removeConfigSetListener;
00518       ConfigurationSetNameListener* activateConfigSetListener;
00519 
00520     private:
00521       ComponentObserverConsumer& m_coc;
00522     };
00523 
00524 
00525 
00526     RTC::RTObject_impl* m_rtobj;
00527     SDOPackage::ServiceProfile m_profile;
00528     CorbaConsumer<OpenRTM::ComponentObserver> m_observer;
00529 
00530     bool m_observed[OpenRTM::STATUS_KIND_NUM];
00531 
00532     CompStatMsg m_compstat;
00533     PortAction m_portaction;
00534     ECAction m_ecaction;
00535     ConfigAction m_configMsg;
00536 
00537     coil::TimeValue m_interval;
00538     bool m_heartbeat;
00539     ListenerId m_hblistenerid;
00540 
00541     // このタイマーはいずれグローバルなタイマにおきかえる
00542     coil::Timer m_timer;
00543 
00544   };
00545 
00546 }; // namespace RTC
00547 
00548 extern "C"
00549 {
00550   DLL_EXPORT void ComponentObserverConsumerInit();
00551 };
00552 
00553 #endif // RTC_COMPONENTOBSERVERCONSUMER_H
00554 
00555 


openrtm_aist
Author(s): Noriaki Ando
autogenerated on Sat Jun 8 2019 18:49:03