Manager.h
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00001 // -*- C++ -*-
00020 #ifndef RTC_MANAGER_H
00021 #define RTC_MANAGER_H
00022 
00023 #include <rtm/RTC.h>
00024 
00025 #include <iostream>
00026 #include <string>
00027 #include <vector>
00028 
00029 #include <coil/Mutex.h>
00030 #include <coil/Guard.h>
00031 #include <coil/Task.h>
00032 
00033 #include <rtm/Factory.h>
00034 #include <rtm/ECFactory.h>
00035 #include <rtm/ObjectManager.h>
00036 #include <rtm/SystemLogger.h>
00037 
00038 namespace RTM
00039 {
00040   class ManagerServant;
00041 }
00042 
00043 namespace coil
00044 {
00045   class Timer;
00046 };
00047 
00048 namespace RTC
00049 {
00050 //  class Properties;
00051   class CorbaNaming;
00052   class ModuleManager;
00053   class NamingManager;
00054   class Manager;
00055   class RTObject_impl;
00056   typedef RTObject_impl RtcBase;
00057 
00058   typedef void (*ModuleInitProc)(Manager* manager);  
00059   
00080   class Manager
00081   {
00082     typedef coil::Mutex Mutex;
00083     typedef coil::Guard<Mutex> Guard;
00084   protected:
00098     Manager();
00099     
00117     Manager(const Manager& manager);
00118     //      Manager& operator=(const Manager& manager){return manager;};
00119     
00120   public:
00173     static Manager* init(int argc, char** argv);
00174     
00197     static Manager& instance();
00198     
00199     //============================================================
00200     // Manager
00201     //============================================================
00202     
00216     void terminate();
00217     
00233     void shutdown();
00234     
00248     void join();
00249     
00267     LogStreamBuf& getLogStreamBuf() {return m_logStreamBuf;}
00268 
00286     std::string& getLogLevel() {return m_config["logger.log_level"];}
00287     
00305     coil::Properties& getConfig() { return m_config;}
00306     
00331     void setModuleInitProc(ModuleInitProc proc);
00332     
00365     bool activateManager();
00366     
00397     void runManager(bool no_block = false);
00398     
00399     //============================================================
00400     // Module management
00401     //============================================================
00424     void load(const char* fname, const char* initfunc);
00425     
00445     void unload(const char* fname);
00446     
00462     void unloadAll();
00463     
00481     std::vector<coil::Properties> getLoadedModules();
00482     
00502   std::vector<coil::Properties> getLoadableModules();
00503     
00504     //============================================================
00505     // Component Factory Management
00506     //============================================================
00533     bool registerFactory(coil::Properties& profile,
00534                          RtcNewFunc new_func,
00535                          RtcDeleteFunc delete_func);
00536 
00554     std::vector<coil::Properties> getFactoryProfiles();
00555 
00582     bool registerECFactory(const char* name,
00583                            ECNewFunc new_func,
00584                            ECDeleteFunc delete_func);
00585     
00603     std::vector<std::string> getModulesFactories();
00604     
00605     //============================================================
00606     // Component management
00607     //============================================================
00666     RTObject_impl* createComponent(const char* comp_args);
00680     ExecutionContextBase* createContext(const char* ec_args);
00681     
00700     void cleanupComponent(RTObject_impl* comp);
00701 
00715     void cleanupComponents();
00716 
00735     void notifyFinalized(RTObject_impl* comp);
00736 
00760     bool registerComponent(RTObject_impl* comp);
00761     
00783     bool unregisterComponent(RTObject_impl* comp);
00784     
00785     
00807     void deleteComponent(RTObject_impl* comp);
00808     
00831     void deleteComponent(const char* instance_name);
00832 
00833     
00857     RTObject_impl* getComponent(const char* instance_name);
00858     
00876     std::vector<RTObject_impl*> getComponents();
00877     
00878     //============================================================
00879     // CORBA 関連
00880     //============================================================
00898     CORBA::ORB_ptr getORB();
00899     
00917     PortableServer::POA_ptr getPOA();
00918     
00936     PortableServer::POAManager_ptr getPOAManager();
00937     
00938     //============================================================
00939     // Protected functions
00940     //============================================================
00941   protected:
00942     
00943     //============================================================
00944     // Manager initialize and finalization
00945     //============================================================
00973     void initManager(int argc, char** argv);
00974     
00990     void shutdownManager();
00991 
01008     void shutdownOnNoRtcs();
01009 
01010     //============================================================
01011     // Logger initialize and terminator
01012     //============================================================
01034     bool initLogger();
01035     
01053     void shutdownLogger();
01054     
01055     //============================================================
01056     // ORB initialization and finalization
01057     //============================================================
01075     bool initORB();
01076     
01096     std::string createORBOptions();
01097 
01115     void createORBEndpoints(coil::vstring& endpoints);
01116     
01130     void createORBEndpointOption(std::string& opt, coil::vstring& endpoint);
01131 
01150     void shutdownORB();
01151     
01152     //============================================================
01153     // NamingService initialization and finalization
01154     //============================================================
01186     bool initNaming();
01187     
01203     void shutdownNaming();
01204     
01205     //============================================================
01206     // Component management
01207     //============================================================
01223     void shutdownComponents();
01224 
01225 
01273     bool procComponentArgs(const char* comp_arg,
01274                            coil::Properties& comp_id,
01275                            coil::Properties& comp_conf);
01316     bool procContextArgs(const char* ec_args,
01317                          std::string& ec_id,
01318                          coil::Properties& ec_conf);
01319 
01342     void configureComponent(RTObject_impl* comp, const coil::Properties& prop);
01343     
01365     bool initExecContext();
01366 
01382     bool initComposite();
01383 
01405     bool initFactories();
01406 
01426     bool initTimer();
01427 
01441     bool initManagerServant();
01442 
01450     RTM::ManagerServant* m_mgrservant;
01451 
01477     bool mergeProperty(coil::Properties& prop, const char* file_name);
01478     
01527     std::string formatString(const char* naming_format,
01528                              coil::Properties& prop);
01529 
01530 
01531     
01532     //============================================================
01533     // protected 変数
01534     //============================================================
01535     
01536     //------------------------------------------------------------
01537     // static var
01538     //------------------------------------------------------------
01546     static Manager* manager;
01547     
01555     static Mutex mutex;
01556     
01557     //------------------------------------------------------------
01558     // CORBA var
01559     //------------------------------------------------------------
01567     CORBA::ORB_var m_pORB;
01568     
01576     PortableServer::POA_var m_pPOA;
01577     
01585     PortableServer::POAManager_var m_pPOAManager;
01586     
01587     //------------------------------------------------------------
01588     // Manager's variable
01589     //------------------------------------------------------------
01597     ModuleInitProc m_initProc;
01598     
01606     coil::Properties m_config;
01607     
01615     ModuleManager* m_module;
01616     
01624     NamingManager* m_namingManager;
01625     
01633     coil::Timer* m_timer;
01634     
01635     //------------------------------------------------------------
01636     // Logger
01637     //------------------------------------------------------------
01645     LogStreamBuf m_logStreamBuf;
01646     
01654     Logger rtclog;
01655 
01663     std::vector<std::filebuf*> m_logfiles;
01664     
01665     //============================================================
01666     // コンポーネントマネージャ
01667     //============================================================
01668     // ObjectManager へ渡す述語クラス
01669     struct InstanceName
01670     {
01671       InstanceName(RTObject_impl* comp);
01672       InstanceName(const char* name);
01673       InstanceName(const std::string name);
01674       bool operator()(RTObject_impl* comp);
01675       std::string m_name;
01676     };
01677     
01678     typedef ObjectManager<std::string, RTObject_impl, InstanceName> ComponentManager;
01679 
01687     ComponentManager m_compManager;
01688     
01689     //============================================================
01690     // コンポーネントファクトリ
01691     //============================================================
01692     // コンポーネントファクトリへ渡す述語クラス
01693     class FactoryPredicate
01694     {
01695     public:
01696       FactoryPredicate(const char* imple_id)
01697         : m_vendor(""), m_category(""), m_impleid(imple_id), m_version("")
01698       {
01699       }
01700       FactoryPredicate(const coil::Properties& prop)
01701         : m_vendor(prop["vendor"]),
01702           m_category(prop["category"]),
01703           m_impleid(prop["implementation_id"]),
01704           m_version(prop["version"])
01705       {
01706       }
01707       FactoryPredicate(FactoryBase* factory)
01708         : m_vendor(factory->profile()["vendor"]),
01709           m_category(factory->profile()["category"]),
01710           m_impleid(factory->profile()["implementation_id"]),
01711           m_version(factory->profile()["version"])
01712       {
01713       }
01714       bool operator()(FactoryBase* factory)
01715       {
01716         // implementation_id must not be empty
01717         if (m_impleid.empty()) return false;
01718 
01719         const coil::Properties& prop(factory->profile());
01720 
01721         if (m_impleid != prop["implementation_id"])
01722           return false;
01723         if (!m_vendor.empty()   && m_vendor != prop["vendor"])
01724           return false;
01725         if (!m_category.empty() && m_category != prop["category"])
01726           return false;
01727         if (!m_version.empty()  && m_version != prop["version"])
01728           return false;
01729           
01730         return true;
01731       }
01732     private:
01733       std::string m_vendor;
01734       std::string m_category;
01735       std::string m_impleid;
01736       std::string m_version;
01737     };
01738     
01739     class ModulePredicate
01740     {
01741       coil::Properties& m_prop;
01742     public:
01743       ModulePredicate(coil::Properties& prop)
01744       : m_prop(prop)
01745       {
01746       }
01747       bool operator()(coil::Properties& prop)
01748       {
01749         if (m_prop["implementation_id"] != prop["implementation_id"])
01750           {
01751             return false;
01752           }
01753         if (!m_prop["vendor"].empty() &&
01754             m_prop["vendor"] != prop["vendor"])     { return false; }
01755         if (!m_prop["category"].empty() &&
01756             m_prop["category"] != prop["category"]) { return false; }
01757         if (!m_prop["version"].empty() && 
01758             m_prop["version"] != prop["version"])   { return false; }
01759         return true;
01760       }
01761     };
01762 
01770     typedef ObjectManager<const coil::Properties, FactoryBase,
01771                           FactoryPredicate> FactoryManager;
01772 
01780     FactoryManager m_factory;
01781     
01782     //============================================================
01783     // ExecutionContextファクトリ
01784     //============================================================
01785     // ECファクトリへ渡す述語クラス
01786     struct ECFactoryPredicate
01787     {
01788       ECFactoryPredicate(const char* name) : m_name(name){};
01789       ECFactoryPredicate(ECFactoryBase* factory)
01790         : m_name(factory->name()) {};
01791       bool operator()(ECFactoryBase* factory)
01792       {
01793         return m_name == factory->name();
01794       }
01795       std::string m_name;
01796     };
01797     typedef ObjectManager<const char*,
01798                           ECFactoryBase,
01799                           ECFactoryPredicate> ECFactoryManager;
01800     
01808     ECFactoryManager m_ecfactory;
01809     
01817     std::vector<ExecutionContextBase*> m_ecs;
01818     
01819     // ファクトリ名をリストアップするためのファンクタ
01820     struct ModuleFactories
01821     {
01822       void operator()(FactoryBase* f)
01823       {
01824         modlist.push_back(f->profile().getProperty("implementation_id"));
01825       }
01826       std::vector<std::string> modlist;
01827     };
01828     
01829     //------------------------------------------------------------
01830     // ORB runner
01831     //------------------------------------------------------------
01851     class OrbRunner
01852       : public coil::Task
01853     {
01854     public:
01868       OrbRunner(CORBA::ORB_ptr orb) : m_pORB(orb)
01869       {
01870         open(0);
01871       };
01872       
01894       virtual int open(void *args)
01895       {
01896         activate();
01897         return 0;
01898       }
01899       
01917       virtual int svc(void)
01918       {
01919         m_pORB->run();
01920 //      Manager::instance().shutdown();
01921         return 0;
01922       }
01923       
01945       virtual int close(unsigned long flags)
01946       {
01947         return 0;
01948       }
01949     private:
01950       CORBA::ORB_ptr m_pORB;
01951     };
01959     OrbRunner* m_runner;
01960     
01961     //------------------------------------------------------------
01962     // Manager Terminator
01963     //------------------------------------------------------------
01983     class Terminator
01984       : public coil::Task
01985     {
01986     public:
02004       Terminator(Manager* manager) : m_manager(manager) {};
02005       
02019       void terminate()
02020       {
02021         open(0);
02022       }
02023       
02045       virtual int open(void *args)
02046       {
02047         activate();
02048         return 0;
02049       }
02050       
02068       virtual int svc(void)
02069       {
02070         Manager::instance().shutdown();
02071         return 0;
02072       }
02073       Manager* m_manager;
02074     };
02075     
02083     Terminator* m_terminator;
02084     
02085     struct Term
02086     {
02087       int waiting;
02088       Mutex mutex;
02089     };
02103     Term m_terminate;
02104 
02105     struct Finalized
02106     {
02107       Mutex mutex;
02108       std::vector<RTObject_impl*> comps;
02109     };
02110     Finalized m_finalized;
02111 
02112 
02113   }; // class Manager
02114 }; // namespace RTC
02115 
02116 #endif // RTC_MANAGER_H


openrtm_aist
Author(s): Noriaki Ando
autogenerated on Sat Jun 8 2019 18:49:04