#include <RTSample.h>

Inheritance diagram for RTSample:

Public Member Functions
virtual RTC::ReturnCode_t	onActivated (RTC::UniqueId ec_id)
	Callback function to activate. More...

virtual RTC::ReturnCode_t	onDeactivated (RTC::UniqueId ec_id)
	Callback function to deactivate. More...

virtual RTC::ReturnCode_t	onExecute (RTC::UniqueId ec_id)
	Callback function to execute periodically. More...

virtual RTC::ReturnCode_t	onInitialize ()
	Callback function to initialize. More...

	RTSample (RTC::Manager *manager)

	~RTSample ()

Public Member Functions inherited from RTC::DataFlowComponentBase
	DataFlowComponentBase (Manager *manager)
	Constructor. More...

void	init ()
	Initialization. More...

virtual	~DataFlowComponentBase (void)
	Destructor. More...

Public Member Functions inherited from RTC::RTObject_impl
ReturnCode_t	activate (RTC::UniqueId ec_id)
	[local interface] Make transition to Active state More...

void	addConfigurationParamListener (ConfigurationParamListenerType type, ConfigurationParamListener *listener, bool autoclean=true)
	Adding ConfigurationParamListener. More...

template<class Listener >
ConfigurationParamListener *	addConfigurationParamListener (ConfigurationParamListenerType listener_type, Listener &obj, void(Listener::memfunc)(const char , const char *))

void	addConfigurationSetListener (ConfigurationSetListenerType type, ConfigurationSetListener *listener, bool autoclean=true)
	Adding ConfigurationSetListener. More...

template<class Listener >
ConfigurationSetListener *	addConfigurationSetListener (ConfigurationSetListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const coil::Properties &config_set))

void	addConfigurationSetNameListener (ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener, bool autoclean=true)
	Adding ConfigurationSetNameListener. More...

template<class Listener >
ConfigurationSetNameListener *	addConfigurationSetNameListener (ConfigurationSetNameListenerType type, Listener &obj, void(Listener::memfunc)(const char ))

void	addExecutionContextActionListener (ECActionListenerType listener_type, ECActionListener *listener, bool autoclean=true)
	Adding ExecutionContextAction type listener. More...

template<class Listener >
ECActionListener *	addExecutionContextActionListener (ECActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId))

bool	addInPort (const char *name, InPortBase &inport)
	[local interface] Register DataInPort More...

bool	addOutPort (const char *name, OutPortBase &outport)
	[local interface] Register DataOutPort More...

bool	addPort (PortBase &port)
	[local interface] Register Port More...

bool	addPort (PortService_ptr port)
	[local interface] Register Port More...

bool	addPort (CorbaPort &port)
	[local interface] Register Port More...

void	addPortActionListener (PortActionListenerType listener_type, PortActionListener *listener, bool autoclean=true)
	Adding PortAction type listener. More...

template<class Listener >
PortActionListener *	addPortActionListener (PortActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const RTC::PortProfile &))

void	addPortConnectListener (PortConnectListenerType listener_type, PortConnectListener *listener, bool autoclean=true)
	Adding PortConnect type listener. More...

template<class Listener >
PortConnectListener *	addPortConnectListener (PortConnectListenerType listener_type, Listener &obj, void(Listener::memfunc)(const char , ConnectorProfile &))

void	addPortConnectRetListener (PortConnectRetListenerType listener_type, PortConnectRetListener *listener, bool autoclean=true)
	Adding PortConnectRet type listener. More...

template<class Listener >
PortConnectRetListener *	addPortConnectRetListener (PortConnectRetListenerType listener_type, Listener &obj, void(Listener::memfunc)(const char , ConnectorProfile &, ReturnCode_t))

void	addPostComponentActionListener (PostComponentActionListenerType listener_type, PostComponentActionListener *listener, bool autoclean=true)
	Adding PostComponentAction type listener. More...

template<class Listener >
PostComponentActionListener *	addPostComponentActionListener (PostCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id, ReturnCode_t ret))

void	addPreComponentActionListener (PreComponentActionListenerType listener_type, PreComponentActionListener *listener, bool autoclean=true)
	Adding PreComponentAction type listener. More...

template<class Listener >
PreComponentActionListener *	addPreComponentActionListener (PreCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id))

bool	addSdoServiceConsumer (const SDOPackage::ServiceProfile &prof)
	[local interface] Set a SDO service provider More...

bool	addSdoServiceProvider (const SDOPackage::ServiceProfile &prof, SdoServiceProviderBase *provider)
	[local interface] Set a SDO service provider More...

UniqueId	attach_context (ExecutionContext_ptr exec_context) throw (CORBA::SystemException)
	[CORBA interface] Attach ExecutionContext More...

UniqueId	bindContext (ExecutionContext_ptr exec_context)

template<typename VarType >
bool	bindParameter (const char param_name, VarType &var, const char def_val, bool(trans)(VarType &, const char )=coil::stringTo)
	Setup for configuration parameters. More...

ReturnCode_t	deactivate (RTC::UniqueId ec_id)
	[local interface] Make transition to Inactive state More...

void	deletePort (PortBase &port)
	[local interface] Unregister Port More...

void	deletePort (PortService_ptr port)
	[local interface] Unregister Port More...

void	deletePort (CorbaPort &port)
	[local interface] Unregister Port More...

void	deletePortByName (const char *port_name)
	[local interface] Delete Port by specifying its name More...

ReturnCode_t	detach_context (UniqueId exec_handle) throw (CORBA::SystemException)
	[CORBA interface] Detach ExecutionContext. More...

virtual ReturnCode_t	exit () throw (CORBA::SystemException)
	[CORBA interface]top the RTC's execution context(s) and finalize it along with its contents. More...

virtual ReturnCode_t	finalize () throw (CORBA::SystemException)
	[CORBA interface] Finalize the RTC for destruction More...

void	finalizeContexts ()
	The ExecutionContextBase list is deleted. More...

void	finalizePorts ()
	Unregister All Ports. More...

virtual ComponentProfile *	get_component_profile () throw (CORBA::SystemException)
	[RTObject CORBA interface] Get RTC's profile More...

virtual SDOPackage::Configuration_ptr	get_configuration () throw (CORBA::SystemException, SDOPackage::InterfaceNotImplemented, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get Configuration object More...

virtual ExecutionContext_ptr	get_context (UniqueId exec_handle) throw (CORBA::SystemException)
	[CORBA interface] Get ExecutionContext. More...

virtual ExecutionContextHandle_t	get_context_handle (ExecutionContext_ptr cxt) throw (CORBA::SystemException)
	[CORBA interface] Return a handle of a ExecutionContext More...

virtual SDOPackage::DeviceProfile *	get_device_profile () throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get SDO DeviceProfile list More...

virtual SDOPackage::Monitoring_ptr	get_monitoring () throw (CORBA::SystemException, SDOPackage::InterfaceNotImplemented, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get Monitoring object More...

virtual SDOPackage::OrganizationList *	get_organizations () throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get Organization list More...

virtual ExecutionContextList *	get_owned_contexts () throw (CORBA::SystemException)
	[CORBA interface] Get ExecutionContextList. More...

virtual SDOPackage::OrganizationList *	get_owned_organizations () throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get Organization list More...

virtual ExecutionContextList *	get_participating_contexts () throw (CORBA::SystemException)
	[CORBA interface] Get participating ExecutionContextList. More...

virtual PortServiceList *	get_ports () throw (CORBA::SystemException)
	[RTObject CORBA interface] Get Ports More...

virtual char *	get_sdo_id () throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get the SDO ID More...

virtual SDOPackage::SDOService_ptr	get_sdo_service (const char *id) throw (CORBA::SystemException, SDOPackage::InvalidParameter, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get specified SDO Service's reference More...

virtual char *	get_sdo_type () throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get SDO type More...

virtual SDOPackage::ServiceProfile *	get_service_profile (const char *id) throw (CORBA::SystemException, SDOPackage::InvalidParameter, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get specified ServiceProfile More...

virtual SDOPackage::ServiceProfileList *	get_service_profiles () throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get SDO ServiceProfile More...

virtual CORBA::Any *	get_status (const char *name) throw (CORBA::SystemException, SDOPackage::InvalidParameter, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get SDO Status More...

virtual SDOPackage::NVList *	get_status_list () throw (CORBA::SystemException, SDOPackage::NotAvailable, SDOPackage::InternalError)
	[SDO interface] Get SDO Status list More...

const char *	getCategory ()
	[local interface] Get category information More...

const char *	getDescription ()
	[local interface] GetDescription More...

ExecutionContext_ptr	getExecutionContext (RTC::UniqueId ec_id)
	[local interface] Getting current execution context More...

double	getExecutionRate (RTC::UniqueId ec_id)
	[local interface] Getting current context' execution rate More...

const char *	getInstanceName ()
	[local interface] Get instance name More...

std::vector< std::string >	getNamingNames ()
	[local interface] Get Naming Server information More...

RTObject_ptr	getObjRef () const
	[local interface] Get the object reference More...

coil::Properties &	getProperties ()
	[local interface] Get RTC property More...

const char *	getTypeName ()
	[local interface] Get type name More...

const char *	getVendor ()
	[local interface] Get vendor More...

const char *	getVersion ()
	[local interface] Get version information More...

virtual ReturnCode_t	initialize () throw (CORBA::SystemException)
	[CORBA interface] Initialize the RTC that realizes this interface. More...

virtual CORBA::Boolean	is_alive (ExecutionContext_ptr exec_context) throw (CORBA::SystemException)
	[CORBA interface] Confirm whether RTC is the alive state More...

bool	isOwnExecutionContext (RTC::UniqueId ec_id)
	[local interface] Checking if the current context is own context More...

virtual ReturnCode_t	on_aborting (UniqueId exec_handle) throw (CORBA::SystemException)
	[ComponentAction CORBA interface] Transition to Error State More...

virtual ReturnCode_t	on_activated (UniqueId exec_handle) throw (CORBA::SystemException)
	[ComponentAction CORBA interface] Activate RTC More...

virtual ReturnCode_t	on_deactivated (UniqueId exec_handle) throw (CORBA::SystemException)
	[ComponentAction CORBA interface] Deactivate RTC More...

virtual ReturnCode_t	on_error (UniqueId exec_handle) throw (CORBA::SystemException)
	[ComponentAction CORBA interface] Error Processing of RTC More...

virtual ReturnCode_t	on_execute (UniqueId exec_handle) throw (CORBA::SystemException)
	[DataFlowComponentAction CORBA interface] Primary Periodic Operation of RTC More...

virtual ReturnCode_t	on_finalize () throw (CORBA::SystemException)
	[ComponentAction CORBA interface] Finalize RTC More...

virtual ReturnCode_t	on_initialize () throw (CORBA::SystemException)
	[RTObject CORBA interface] Get ExecutionContextAdmin More...

virtual ReturnCode_t	on_rate_changed (UniqueId exec_handle) throw (CORBA::SystemException)
	[DataFlowComponentAction CORBA interface] Notify rate changed More...

virtual ReturnCode_t	on_reset (UniqueId exec_handle) throw (CORBA::SystemException)
	[ComponentAction CORBA interface] Resetting RTC More...

virtual ReturnCode_t	on_shutdown (UniqueId exec_handle) throw (CORBA::SystemException)
	[ComponentAction CORBA interface] Shutdown RTC More...

virtual ReturnCode_t	on_startup (UniqueId exec_handle) throw (CORBA::SystemException)
	[ComponentAction CORBA interface] Startup RTC More...

virtual ReturnCode_t	on_state_update (UniqueId exec_handle) throw (CORBA::SystemException)
	[DataFlowComponentAction CORBA interface] Secondary Periodic Operation of RTC More...

bool	readAll ()
	Readout the value from All InPorts. More...

void	registerInPort (const char *name, InPortBase &inport)
	[local interface] Register DataInPort More...

void	registerOutPort (const char *name, OutPortBase &outport)
	[local interface] Register DataOutPort More...

void	registerPort (PortBase &port)
	[local interface] Register Port More...

void	registerPort (PortService_ptr port)
	[local interface] Register Port More...

void	registerPort (CorbaPort &port)
	[local interface] Register Port More...

void	removeConfigurationParamListener (ConfigurationParamListenerType type, ConfigurationParamListener *listener)
	Removing ConfigurationParamListener. More...

void	removeConfigurationSetListener (ConfigurationSetListenerType type, ConfigurationSetListener *listener)
	Removing ConfigurationSetListener. More...

void	removeConfigurationSetNameListener (ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener)
	Removing ConfigurationSetNameListener. More...

void	removeExecutionContextActionListener (ECActionListenerType listener_type, ECActionListener *listener)
	Removing ExecutionContextAction type listener. More...

bool	removeInPort (InPortBase &port)
	[local interface] Unregister InPort More...

bool	removeOutPort (OutPortBase &port)
	[local interface] Unregister OutPort More...

bool	removePort (PortBase &port)
	[local interface] Unregister Port More...

bool	removePort (PortService_ptr port)
	[local interface] Unregister Port More...

bool	removePort (CorbaPort &port)
	[local interface] Unregister Port More...

void	removePortActionListener (PortActionListenerType listener_type, PortActionListener *listener)
	Removing PortAction type listener. More...

void	removePortConnectListener (PortConnectListenerType listener_type, PortConnectListener *listener)
	Removing PortConnect type listener. More...

void	removePortConnectRetListener (PortConnectRetListenerType listener_type, PortConnectRetListener *listener)
	Removing PortConnectRet type listener. More...

void	removePostComponentActionListener (PostComponentActionListenerType listener_type, PostComponentActionListener *listener)
	Removing PostComponentAction type listener. More...

void	removePreComponentActionListener (PreComponentActionListenerType listener_type, PreComponentActionListener *listener)
	Removing PreComponentAction type listener. More...

bool	removeSdoServiceConsumer (const char *id)
	[local interface] Remove a SDO service provider More...

bool	removeSdoServiceProvider (const char *id)
	[local interface] Remove a SDO service provider More...

ReturnCode_t	reset (RTC::UniqueId ec_id)
	[local interface] Resetting and go to Inactive state More...

	RTObject_impl (Manager *manager)
	Constructor. More...

	RTObject_impl (CORBA::ORB_ptr orb, PortableServer::POA_ptr poa)
	Constructor. More...

ReturnCode_t	setExecutionRate (RTC::UniqueId ec_id, double rate)
	[local interface] Setting current context' execution rate More...

void	setInstanceName (const char *instance_name)
	[local interface] Set instance name More...

void	setObjRef (const RTObject_ptr rtobj)
	[local interface] Set the object reference More...

void	setProperties (const coil::Properties &prop)
	[local interface] Set RTC property More...

void	setReadAll (bool read=true, bool completion=false)
	Set whether to execute the readAll() method. More...

void	setWriteAll (bool write=true, bool completion=false)
	Set whether to execute the writeAll() method. More...

void	updateParameters (const char *config_set)
	Update configuration parameters (by ID) More...

bool	writeAll ()
	The write() method of all OutPort is called. More...

virtual	~RTObject_impl (void)
	Virtual destructor. More...

Private Attributes
coil::TimeMeasure	m_tm

Additional Inherited Members
Public Types inherited from RTC::RTObject_impl
typedef ExecutionContextActionListener	ECActionListener

typedef ExecutionContextActionListenerType	ECActionListenerType
	Adding ExecutionContextAction type listener. More...

typedef PostComponentActionListener	PostCompActionListener
	Adding PostComponentAction type listener. More...

typedef PostComponentActionListenerType	PostCompActionListenerType

typedef PreComponentActionListener	PreCompActionListener
	Adding PreComponentAction type listener. More...

typedef PreComponentActionListenerType	PreCompActionListenerType

Protected Member Functions inherited from RTC::RTObject_impl
virtual ReturnCode_t	onAborting (RTC::UniqueId exec_handle)
	Callback function to abort. More...

void	onAddPort (const PortProfile &pprof)

void	onAttachExecutionContext (UniqueId ec_id)

void	onDetachExecutionContext (UniqueId ec_id)

virtual ReturnCode_t	onError (RTC::UniqueId exec_handle)
	Callback function for error handling. More...

virtual ReturnCode_t	onFinalize ()
	Callback function to finalize. More...

virtual ReturnCode_t	onRateChanged (RTC::UniqueId exec_handle)
	Callback function to change execution cycle. More...

void	onRemovePort (const PortProfile &pprof)

virtual ReturnCode_t	onReset (RTC::UniqueId exec_handle)
	Callback function to reset. More...

virtual ReturnCode_t	onShutdown (RTC::UniqueId exec_handle)
	Callback function for shutdown action. More...

virtual ReturnCode_t	onStartup (RTC::UniqueId exec_handle)
	Callback function for startup action. More...

virtual ReturnCode_t	onStateUpdate (RTC::UniqueId exec_handle)
	Callback function to update the state. More...

void	postOnAborting (UniqueId ec_id, ReturnCode_t ret)

void	postOnActivated (UniqueId ec_id, ReturnCode_t ret)

void	postOnDeactivated (UniqueId ec_id, ReturnCode_t ret)

void	postOnError (UniqueId ec_id, ReturnCode_t ret)

void	postOnExecute (UniqueId ec_id, ReturnCode_t ret)

void	postOnFinalize (UniqueId ec_id, ReturnCode_t ret)

void	postOnInitialize (UniqueId ec_id, ReturnCode_t ret)

void	postOnRateChanged (UniqueId ec_id, ReturnCode_t ret)

void	postOnReset (UniqueId ec_id, ReturnCode_t ret)

void	postOnShutdown (UniqueId ec_id, ReturnCode_t ret)

void	postOnStartup (UniqueId ec_id, ReturnCode_t ret)

void	postOnStateUpdate (UniqueId ec_id, ReturnCode_t ret)

void	preOnAborting (UniqueId ec_id)

void	preOnActivated (UniqueId ec_id)

void	preOnDeactivated (UniqueId ec_id)

void	preOnError (UniqueId ec_id)

void	preOnExecute (UniqueId ec_id)

void	preOnFinalize (UniqueId ec_id)

void	preOnInitialize (UniqueId ec_id)

void	preOnRateChanged (UniqueId ec_id)

void	preOnReset (UniqueId ec_id)

void	preOnShutdown (UniqueId ec_id)

void	preOnStartup (UniqueId ec_id)

void	preOnStateUpdate (UniqueId ec_id)

void	shutdown ()
	Shutdown RTC. More...

Protected Attributes inherited from RTC::RTObject_impl
ComponentActionListeners	m_actionListeners
	ComponentActionListener holder. More...

ConfigAdmin	m_configsets
	Configuration Administrator Object. More...

bool	m_created
	Created Status Flag. More...

std::vector< ExecutionContextBase * >	m_eclist
	List of ExecutionContextBase. More...

ExecutionContextServiceList	m_ecMine
	List of owned ExecutionContextService. More...

ExecutionContextServiceList	m_ecOther
	List of participating ExecutionContextService. More...

bool	m_exiting
	RTC Finalize Status Flag. More...

std::vector< InPortBase * >	m_inports
	List of InPortBase*. More...

RTObject_var	m_objref
	Object reference. More...

std::vector< OutPortBase * >	m_outports
	List of OutPortBase*. More...

Manager *	m_pManager
	Manager object. More...

CORBA::ORB_var	m_pORB
	The pointer to the ORB. More...

PortAdmin	m_portAdmin
	List of Port Object reference. More...

PortConnectListeners	m_portconnListeners
	PortConnectListener holder. More...

PortableServer::POA_var	m_pPOA
	The pointer to the POA. More...

ComponentProfile	m_profile
	ComponentProfile. More...

coil::Properties	m_properties
	Alive Status Flag. More...

SDOPackage::Configuration_var	m_pSdoConfig
	The pointer to the SDO Configuration Interface. More...

SDOPackage::Configuration_impl *	m_pSdoConfigImpl
	The pointer to the SDO Configuration Object. More...

bool	m_readAll
	flag for readAll() More...

bool	m_readAllCompletion
	flag for readAll() More...

SDOPackage::OrganizationList	m_sdoOrganizations
	SDO organization. More...

SDOPackage::OrganizationList	m_sdoOwnedOrganizations
	SDO owned organization list. More...

SdoServiceAdmin	m_sdoservice
	SDO Service Administrator Object. More...

SDOPackage::NVList	m_sdoStatus
	SDO Status. More...

bool	m_writeAll
	flag for writeAll() More...

bool	m_writeAllCompletion
	flag for writeAll() More...

Logger	rtclog
	Logger stream. More...

Detailed Description

Definition at line 31 of file RTSample.h.

Constructor & Destructor Documentation

RTSample::RTSample ( RTC::Manager * manager )

Definition at line 29 of file RTSample.cpp.

RTSample::~RTSample ( )

Definition at line 36 of file RTSample.cpp.

Member Function Documentation

RTC::ReturnCode_t RTSample::onActivated ( RTC::UniqueId exec_handle )

virtual

Callback function to activate.

This is a callback function that is executed when ComponentAction::on_activated was invoked.
As for actual activation of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.

Parameters

exec_handle ID of the participant ExecutionContext

Returns: The return code of ReturnCode_t type

Reimplemented from RTC::RTObject_impl.

Definition at line 84 of file RTSample.cpp.

RTC::ReturnCode_t RTSample::onDeactivated ( RTC::UniqueId exec_handle )

virtual

Callback function to deactivate.

This is a callback function that is executed when ComponentAction::on_deactivated was invoked.
As for actual deactivation of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.

Parameters

exec_handle ID of the participant ExecutionContext

Returns: The return code of ReturnCode_t type

Reimplemented from RTC::RTObject_impl.

Definition at line 91 of file RTSample.cpp.

RTC::ReturnCode_t RTSample::onExecute ( RTC::UniqueId exec_handle )

virtual

Callback function to execute periodically.

This is a callback function that is executed when DataFlowComponentAction::on_execute is invoked.
As for actual periodic execution of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it. This function is invoked periodically as the first execution pass of Two-Pass Execution in Periodic Sampled Data Processing.

Parameters

exec_handle ID of the participant ExecutionContext

Returns: The return code of ReturnCode_t type

Reimplemented from RTC::RTObject_impl.

Definition at line 103 of file RTSample.cpp.

RTC::ReturnCode_t RTSample::onInitialize ( void )

virtual

Callback function to initialize.

This is a callback function that is executed when ComponentAction::on_initialize was invoked.
As for actual initialization of each component, since this function is dummy-implemented to return RTC::RTC_OK unconditionally, you need to implement this function by overriding it.

Returns: The return code of ReturnCode_t type

Reimplemented from RTC::RTObject_impl.

Definition at line 41 of file RTSample.cpp.

Member Data Documentation

coil::TimeMeasure RTSample::m_tm

private

Definition at line 118 of file RTSample.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation