RTObjectServant.h
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1 // -*- C++ -*-
19 #ifndef RTC_RTOBJECTSERVANT_H
20 #define RTC_RTOBJECTSERVANT_H
21 
22 #include <memory>
23 
24 // doil include
25 #include <doil/ImplBase.h>
26 #include <doil/corba/CORBA.h>
29 
30 // rtc include
31 #include <rtc/IRTC.h>
32 
33 // CORBA header include
34 #include "rtc/corba/idl/RTCSkel.h"
35 #include "rtc/corba/idl/OpenRTMSkel.h"
36 
37 
38 
39 namespace RTC
40 {
41 namespace Local
42 {
43  class IRTObject;
44 };
45 namespace CORBA
46 {
49 
51  {
52  return RTC::ReturnCode_t((int)r);
53  }
54 
56  : public virtual POA_RTC::RTObject,
57  public virtual doil::CORBA::CORBAServantBase
58  {
59  public:
61  virtual ~RTObjectServant();
62 
63  //============================================================
64  // RTC::LightweightRTObject
65  //============================================================
66  virtual ReturnCode_t initialize()
67  throw (::CORBA::SystemException);
68 
69  virtual ReturnCode_t finalize()
70  throw (::CORBA::SystemException);
71 
72  virtual ReturnCode_t exit()
73  throw (::CORBA::SystemException);
74 
75  virtual ::CORBA::Boolean is_alive(ExecutionContext_ptr exec_context)
76  throw (::CORBA::SystemException);
77 
78  virtual ExecutionContext_ptr get_context(EChandle exec_handle)
79  throw (::CORBA::SystemException);
80 
81  virtual ExecutionContextList* get_owned_contexts()
82  throw (::CORBA::SystemException);
83 
84  virtual ExecutionContextList* get_participating_contexts()
85  throw (::CORBA::SystemException);
86 
88  get_context_handle(ExecutionContext_ptr cxt)
89  throw (::CORBA::SystemException);
90 
91  EChandle attach_context(ExecutionContext_ptr exec_context)
92  throw (::CORBA::SystemException);
93 
94  ReturnCode_t detach_context(EChandle exec_handle)
95  throw (::CORBA::SystemException);
96 
97  virtual ComponentProfile* get_component_profile()
98  throw (::CORBA::SystemException);
99 
100  virtual PortServiceList* get_ports()
101  throw (::CORBA::SystemException);
102 
103  virtual ReturnCode_t on_initialize()
104  throw (::CORBA::SystemException);
105 
106  virtual ReturnCode_t on_finalize()
107  throw (::CORBA::SystemException);
108 
109  virtual ReturnCode_t on_startup(EChandle exec_handle)
110  throw (::CORBA::SystemException);
111 
112  virtual ReturnCode_t on_shutdown(EChandle exec_handle)
113  throw (::CORBA::SystemException);
114 
115  virtual ReturnCode_t on_activated(EChandle exec_handle)
116  throw (::CORBA::SystemException);
117 
118  virtual ReturnCode_t on_deactivated(EChandle exec_handle)
119  throw (::CORBA::SystemException);
120 
121  virtual ReturnCode_t on_aborting(EChandle exec_handle)
122  throw (::CORBA::SystemException);
123 
124  virtual ReturnCode_t on_error(EChandle exec_handle)
125  throw (::CORBA::SystemException);
126 
127  virtual ReturnCode_t on_reset(EChandle exec_handle)
128  throw (::CORBA::SystemException);
129 
130 
131  //============================================================
132  // SDOPackage::SdoSystemElement
133  //============================================================
134  virtual SDOPackage::OrganizationList* get_owned_organizations()
135  throw (::CORBA::SystemException, SDOPackage::NotAvailable);
136 
137  //============================================================
138  // SDOPackage::SDO
139  //============================================================
140  virtual char* get_sdo_id()
141  throw (::CORBA::SystemException,
142  SDOPackage::NotAvailable, SDOPackage::InternalError);
143 
144  virtual char* get_sdo_type()
145  throw (::CORBA::SystemException,
146  SDOPackage::NotAvailable, SDOPackage::InternalError);
147 
148  virtual SDOPackage::DeviceProfile* get_device_profile()
149  throw (::CORBA::SystemException,
150  SDOPackage::NotAvailable, SDOPackage::InternalError);
151 
152  virtual SDOPackage::ServiceProfileList* get_service_profiles()
153  throw (::CORBA::SystemException,
154  SDOPackage::NotAvailable, SDOPackage::InternalError);
155 
156  virtual SDOPackage::ServiceProfile* get_service_profile(const char* id)
157  throw (::CORBA::SystemException,
158  SDOPackage::InvalidParameter, SDOPackage::NotAvailable,
159  SDOPackage::InternalError);
160 
161  virtual SDOPackage::SDOService_ptr get_sdo_service(const char* id)
162  throw (::CORBA::SystemException,
163  SDOPackage::InvalidParameter, SDOPackage::NotAvailable,
164  SDOPackage::InternalError);
165 
166  virtual SDOPackage::Configuration_ptr get_configuration()
167  throw (::CORBA::SystemException,
168  SDOPackage::InterfaceNotImplemented, SDOPackage::NotAvailable,
169  SDOPackage::InternalError);
170 
171  virtual SDOPackage::Monitoring_ptr get_monitoring()
172  throw (::CORBA::SystemException,
173  SDOPackage::InterfaceNotImplemented, SDOPackage::NotAvailable,
174  SDOPackage::InternalError);
175 
176  virtual SDOPackage::OrganizationList* get_organizations()
177  throw (::CORBA::SystemException,
178  SDOPackage::NotAvailable, SDOPackage::InternalError);
179 
180  virtual SDOPackage::NVList* get_status_list()
181  throw (::CORBA::SystemException,
182  SDOPackage::NotAvailable, SDOPackage::InternalError);
183 
184  virtual ::CORBA::Any* get_status(const char* name)
185  throw (::CORBA::SystemException,
186  SDOPackage::InvalidParameter, SDOPackage::NotAvailable,
187  SDOPackage::InternalError);
188 
189  protected:
191 
192  };
193 };
194 };
195 #endif // RTObject
EXECUTION_HANDLE_TYPE_NATIVE ExecutionContextHandle_t
Definition: IRTC.h:63
RT-Component.
ReturnCode_t
Definition: doil.h:53
std::vector< std::pair< std::string, std::string > > NVList
Definition: IRTC.h:67
RTC::ReturnCode_t ret(RTC::Local::ReturnCode_t r)
::RTC::Local::IRTObject IRTObject
doil implementation base class
std::vector< ExecutionContext * > ExecutionContextList
Definition: IRTC.h:69
CORBA manager for doil.
ReturnCode_t
Definition: IRTC.h:30
RTC::ExecutionContextHandle_t EChandle
::RTC::Local::IRTObject * m_impl
RTC interfaces.
std::vector< IPortService * > PortServiceList
Definition: IPortService.h:39
doil CORBA header
IRTObject interface class.
Definition: IRTObject.h:61


openrtm_aist
Author(s): Noriaki Ando
autogenerated on Mon Jun 10 2019 14:07:55