#include <DeploymentComponent.hpp>

Inheritance diagram for OCL::DeploymentComponent:

Classes
struct	ComponentData
struct	ConnectionData
Public Member Functions
bool	addPeer (const std::string &from, const std::string &target)
bool	aliasPeer (const std::string &from, const std::string &target, const std::string &alias)
bool	cleanupComponent (RTT::TaskContext *instance)
bool	cleanupComponent (const std::string &comp_name)
bool	cleanupComponents ()
bool	cleanupComponentsGroup (const int group)
void	clearConfiguration ()
bool	configure (const std::string &name)
bool	configureComponents ()
bool	configureComponentsGroup (const int group)
bool	configureFromFile (const std::string &name, const std::string &filename)
bool	connect (const std::string &one, const std::string &other, ConnPolicy policy)
bool	connectOperations (const std::string &required, const std::string &provided)
bool	connectPeers (const std::string &one, const std::string &other)
bool	connectPorts (const std::string &one, const std::string &other)
bool	connectPorts (const std::string &one, const std::string &one_port, const std::string &other, const std::string &other_port)
bool	connectServices (const std::string &one, const std::string &other)
bool	createStream (const std::string &component, const std::string &port, ConnPolicy policy)
	DeploymentComponent (std::string name="Deployer", std::string siteFile="")
void	displayComponentTypes () const
std::vector< std::string >	getComponentTypes () const
const RTT::FactoryMap &	getFactories () const
bool	import (const std::string &package)
void	kickOut (const std::string &config_file)
bool	kickOutAll ()
bool	kickOutComponent (const std::string &comp_name)
bool	kickOutGroup (const int group)
bool	kickStart (const std::string &file_name)
bool	loadComponent (const std::string &name, const std::string &type)
bool	loadComponents (const std::string &config_file)
bool	loadComponentsInGroup (const std::string &config_file, const int group)
bool	loadConfiguration (const std::string &config_file)
bool	loadConfigurationString (const std::string &config_text)
bool	loadLibrary (const std::string &name)
bool	loadService (const std::string &component, const std::string &service)
RTT::TaskContext *	myGetPeer (std::string name)
void	path (const std::string &path)
bool	reloadLibrary (const std::string &filepath)
bool	runScript (const std::string &file_name)
bool	setActivity (const std::string &comp_name, double period, int priority, int scheduler)
bool	setActivityOnCPU (const std::string &comp_name, double period, int priority, int scheduler, unsigned int cpu_nr)
bool	setFileDescriptorActivity (const std::string &comp_name, double timeout, int priority, int scheduler)
bool	setMasterSlaveActivity (const std::string &comp_name, const std::string &master_name)
bool	setNamedActivity (const std::string &comp_name, const std::string &act_type, double period, int priority, int scheduler, const std::string &master_name="")
bool	setNamedActivity (const std::string &comp_name, const std::string &act_type, double period, int priority, int scheduler, unsigned cpu_affinity, const std::string &master_name="")
bool	setPeriodicActivity (const std::string &comp_name, double period, int priority, int scheduler)
bool	setSequentialActivity (const std::string &comp_name)
bool	setSlaveActivity (const std::string &comp_name, double period)
void	shutdownDeployment ()
bool	startComponents ()
bool	startComponentsGroup (const int group)
bool	stopComponent (RTT::TaskContext *instance)
bool	stopComponent (const std::string &comp_name)
bool	stopComponents ()
bool	stopComponentsGroup (const int group)
bool	stream (const std::string &port, ConnPolicy policy)
bool	unloadComponent (const std::string &name)
bool	unloadComponents ()
bool	unloadComponentsGroup (const int group)
	~DeploymentComponent ()
Protected Types
typedef std::map< std::string, ComponentData >	CompList
typedef std::map< std::string, ConnectionData >	ConMap
Protected Member Functions
virtual bool	componentLoaded (RTT::TaskContext *c)
virtual void	componentUnloaded (RTT::TaskContext *c)
bool	configureHook ()
base::PortInterface *	stringToPort (std::string const &names)
Service::shared_ptr	stringToService (std::string const &names)
ServiceRequester *	stringToServiceRequester (std::string const &names)
bool	unloadComponentImpl (CompList::iterator cit)
bool	waitForInterrupt ()
bool	waitForSignal (int signumber)
Protected Attributes
RTT::Property< bool >	autoUnload
std::string	compPath
CompList	comps
ConMap	conmap
RTT::Constant< int >	highest_Priority
RTT::Constant< int >	lowest_Priority
int	nextGroup
	Next group number.
RTT::PropertyBag	root
RTT::Constant< int >	sched_OTHER
RTT::Constant< int >	sched_RT
RTT::Attribute< std::string >	target
RTT::Attribute< bool >	validConfig

Detailed Description

A Component for deploying (configuring) other components in an application. It allows to create connections between components, load the properties and scripts for components and setup component activities.

The main idea is to load an XML file as described in the Deployment Component Manual. It dictates the libraries to load, the components to create, configure and start. Every aspect of the XML file can be expressed in a program script as well. If you want this component to execute a program script, assign it a periodic activity using either a 'site local' XML script (see below), or by listing the DeploymentComponent in your main XML file.

Automatically loading a site local XML file

It is possible to store site local settings in a separate XML configuration file which will be automatically loaded when the DeploymentComponent is created. The default name of this file is 'this->getName() + "-site.cpf"'. It is only looked for and loaded in the constructor of this class.

Configuring the DeploymentComponent itself.

When reading an XML file (for example, when using kickStart() or loadComponents() ) the DeploymentComponent checks if a section is devoted to itself by comparing the listed component name with its own name ( this->getName() ). If it matches, it applies the configuration instructions to itself in the same manner as it would configure other components.

Definition at line 86 of file DeploymentComponent.hpp.

Member Typedef Documentation

typedef std::map<std::string, ComponentData> OCL::DeploymentComponent::CompList [protected]

This vector holds the dynamically loaded components.

Definition at line 169 of file DeploymentComponent.hpp.

typedef std::map<std::string, ConnectionData> OCL::DeploymentComponent::ConMap [protected]

This maps connection names to associated ports.

Definition at line 163 of file DeploymentComponent.hpp.

Constructor & Destructor Documentation

OCL::DeploymentComponent::DeploymentComponent	(	std::string	name = `"Deployer"`,
		std::string	siteFile = `""`
	)

Constructs and configures this component.

The constructor looks for the site local configuration XML file ('name + "-site.cpf"') and if found, kickStart()'s it. You need to set AutoConf to true in order to force a call to configureHook(). In case this file is not present in the current working directory, the component is configured and is thus constructed in the Stopped state. Using a site file does not prevent you from kickstarting or loading other XML files lateron.

Parameters:

name	The name of this component. By default: Deployer
siteFile	The site-specific XML file which, if found, will be used for a site-specific kickStart. If left empty, the value becomes by default: name + "-site.cpf"

See also:: kickStart; configureHook

Definition at line 96 of file DeploymentComponent.cpp.

OCL::DeploymentComponent::~DeploymentComponent ( )

Cleans up all configuration related information. If the property 'AutoUnload' is set to true, it will also call kickOutAll(), otherwise, the loaded components are left as-is.

Definition at line 273 of file DeploymentComponent.cpp.

Member Function Documentation

bool OCL::DeploymentComponent::addPeer	(	const std::string &	from,
		const std::string &	target
	)

Make one component a peer of the other, in one direction, such that one can use the services of the other.

Parameters:

from	The component that must 'see' target and use its services.
target	The component that is 'seen' and used by from.

Returns:: true if both components are peers of this deployment component and target became a peer of from.

Definition at line 330 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::aliasPeer	(	const std::string &	from,
		const std::string &	target,
		const std::string &	alias
	)

Make one component a peer of the other, in one direction, with an alternative name, such that one can use the services of the other and knows it under the name of the alias.

Parameters:

from	The component that must 'see' target and use its services.
target	The component that is 'seen' and used by from.
alias	The name of the target as it will be seen by from.

Returns:: true if both components are peers of this deployment component and target became a peer of from.

Definition at line 346 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::cleanupComponent ( RTT::TaskContext * instance )

Cleanup a single loaded and not running component.

Parameters:

instance instance pointer of the component.

Returns:: true if successfully cleaned up

Definition at line 2068 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::cleanupComponent ( const std::string & comp_name ) [inline]

Cleanup a single loaded and not running component.

Parameters:

comp_name name of the component.

Returns:: true if successfully cleaned up

Definition at line 872 of file DeploymentComponent.hpp.

bool OCL::DeploymentComponent::cleanupComponents ( )

Cleanup all loaded and not running components.

Definition at line 1535 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::cleanupComponentsGroup ( const int group )

Cleanup all loaded and not running components.

Parameters:

group The group number to cleanup

Definition at line 1545 of file DeploymentComponent.cpp.

void OCL::DeploymentComponent::clearConfiguration ( )

Clear all loaded configuration options. This does not alter any component.

Definition at line 1626 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::componentLoaded ( RTT::TaskContext * c ) [protected, virtual]

Hook function for subclasses. Allows a subclass to abort or extend the loading of a component. By default, this function returns true.

Returns:: false if the component should be unloaded again, true if loading was succesful.

Reimplemented in OCL::CorbaDeploymentComponent.

Definition at line 269 of file DeploymentComponent.cpp.

void OCL::DeploymentComponent::componentUnloaded ( RTT::TaskContext * c ) [protected, virtual]

Hook function for subclasses. Allows a subclass to take notice of a component being deleted.

Parameters:

c	a valid TaskContext object.

Reimplemented in OCL::CorbaDeploymentComponent.

Definition at line 271 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::configure ( const std::string & name )

Configure a component by loading the property file 'name.cpf' for component with name name.

Parameters:

name	The name of the component to configure. The file used will be 'name.cpf'.

Returns:: true if the component is a peer of this component and the file could be read.

Definition at line 2014 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::configureComponents ( )

Configure the components with loaded configuration(s). This function connects components and data ports, reads properties for the components, attaches activities and loads program and state machine scripts. If a component XML entry has the AutoConf element, configure() will be called upon this component as well. If the configuration fails halfway, the system is configured as complete as possible. You can try to reconfigure by loading a new configuration (using loadConfiguration ) and call configureComponents again to resolve remaining issues.

This function tries to apply the configuration with a best effort. For example, if a program must be loaded in the component, and a program with that same name is already present, the present one is unloaded and the new one is attempted to be loaded. If that fails, the configuration process leaves the scripts as-is and proceeds with further configuration steps of the same component and other components.

The order of configuration depends on the order of components during loadConfiguration. The first encountered component is configured first. If additional loadConfiguration operations refer to the same component, the configuration order is not changed.

Returns:: true if all components could be succesfully configured.

Definition at line 1157 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::configureComponentsGroup ( const int group )

Configure the components in group group.

See also:: configureComponents()

Returns:: true if all the group's components could be succesfully configured.

Definition at line 1168 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::configureFromFile	(	const std::string &	name,
		const std::string &	filename
	)

Configure a component by loading a property file.

Parameters:

name	The name of the component to configure
filename	The filename where the configuration is in.

Returns:: true if the component is a peer of this component and the file could be read.

Definition at line 2019 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::configureHook ( ) [protected, virtual]

This function imports available plugins from the path formed by the expression

 ComponentPath + "/rtt/"+ Target + "/plugins"

Returns:: always true.

Reimplemented from RTT::base::TaskCore.

Definition at line 253 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::connect	(	const std::string &	one,
		const std::string &	other,
		ConnPolicy	policy
	)

Connect two named ports of components. The direction of the connection is determined by the read/write port types.

Parameters:

one	A dot-separated path to a port in a service
other	A dot-separated path to a port in a service
policy	The connection policy of the new connetion.

Returns:: true if the ports are present and could be connected, false otherwise.

Definition at line 532 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::connectOperations	(	const std::string &	required,
		const std::string &	provided
	)

Connects a required operation to a provided operation.

Parameters:

required	The dot-separated name of a required operation
provided	The dot-separated name of a provided operation

Returns:: true if required is connected to provided

Definition at line 586 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::connectPeers	(	const std::string &	one,
		const std::string &	other
	)

Make two components peers in both directions, such that both can use each other's services.

Parameters:

one	The component that must 'see' other.
other	The component that must 'see' one.

Returns:: true if both components are peers of this deployment component and could be connected.

Definition at line 314 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::connectPorts	(	const std::string &	one,
		const std::string &	other
	)

Establish a data flow connection between two tasks. The direction of the connection is determined by the read/write port types.

Note:: Using this function is not advised, since it relies on equal port names on both components. Use the alternative form of connectPorts() which specify component/service and port name.

Deprecated:: by connect()

Parameters:

one	The first component
other	The second component

Returns:: true if both tasks are peers of this component and data ports could be connected.

Definition at line 461 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::connectPorts	(	const std::string &	one,
		const std::string &	one_port,
		const std::string &	other,
		const std::string &	other_port
	)

Connect two named ports of components. The direction of the connection is determined by the read/write port types.

Parameters:

one	Name of the first component or a dot-separated path to its service
one_port	Name of the port of the first component to connect to other_port
other	Name of the second component or a dot-separated path to its service
other_port	Name of the port of the second component to connect to one_port

Deprecated:: by connect()

Returns:: true if the ports are present and could be connected, false otherwise.

Definition at line 479 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::connectServices	(	const std::string &	one,
		const std::string &	other
	)

Connects the required services of one component to the provided services of another and vice versa.

Parameters:

one	The name of a provided service or a dot-separated path to a Service
one	The name of a required service or a dot-separated path to a ServiceRequester

Note:: One of the parameters must be a Service and the other a ServiceRequester, or vice versa.

Definition at line 568 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::createStream	(	const std::string &	component,
		const std::string &	port,
		ConnPolicy	policy
	)

Deprecated:: by stream()

Definition at line 518 of file DeploymentComponent.cpp.

void OCL::DeploymentComponent::displayComponentTypes ( ) const

This function prints out the component types this DeploymentComponent can create.

See also:: loadComponent()

Definition at line 1788 of file DeploymentComponent.cpp.

std::vector< std::string > OCL::DeploymentComponent::getComponentTypes ( ) const

This function returns the component types this DeploymentComponent can create in a comma separated list.

See also:: loadComponent()

Definition at line 1799 of file DeploymentComponent.cpp.

const FactoryMap & OCL::DeploymentComponent::getFactories ( ) const

Returns the factory singleton which creates all types of components for the DeploymentComponent.

Definition at line 2036 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::import ( const std::string & package )

Import a component package or directory. The import statement searches through the component paths set with path() or set using the RTT_COMPONENT_PATH environment variable.

Parameters:

package A (ros) package or directory name. All components, plugins and typekits in package will be loaded and become available to the application. As a special case, you may specify a path to a library directly, which will be loaded when found.

Returns:: true if the package could be found and loaded, false if no such package was found in the search path.

Definition at line 1633 of file DeploymentComponent.cpp.

void OCL::DeploymentComponent::kickOut ( const std::string & config_file )

Identical to kickOutAll, but it reads the name of the Components to kickOut from an XML file.

Parameters:

config_file name of an XML file (probably the same used by loadComponents() or kickStart() ).

Definition at line 2041 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::kickOutAll ( )

Stop, cleanup and unload all components loaded by the DeploymentComponent.

Postcondition:: 0 == nextGroup

Definition at line 667 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::kickOutComponent ( const std::string & comp_name )

Stop, cleanup and unload a single component which were loaded by this component.

Parameters:

comp_name name of the component.

Returns:: true if successfully stopped, cleaned and unloaded

Definition at line 2105 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::kickOutGroup ( const int group )

Stop, cleanup and unload all components in group group.

Definition at line 680 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::kickStart ( const std::string & file_name )

This function runs loadComponents, configureComponents and startComponents in a row, given no failures occur along the way.

Definition at line 646 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::loadComponent	(	const std::string &	name,
		const std::string &	type
	)

Load a new component in the current process. It wil appear as a peer with name name of this component.

Parameters:

name	Name the new component will receive.
type	The type of the component. This is usually a library (.dll or .so) name.

Returns:: True if the component could be created, false if name is already in use or type was not an Orocos library.

Definition at line 1674 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::loadComponents ( const std::string & config_file )

Load a (partial) application XML configuration from disk. The necessary components are located or loaded, but no component configuration is yet applied. One can load multiple configurations and call configureComponents() once to apply all settings. In case of duplicate information is the latest loaded configuration option used. The components are loaded into the next group number, and the next group number is incremented.

See also:: configureComponents to configure the components with the loaded configuration and startComponents to start them.

Parameters:

config_file A file on local disk containing the XML configuration.

Returns:: true if the configuration could be read and was valid.

Definition at line 706 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::loadComponentsInGroup	(	const std::string &	config_file,
		const int	group
	)

Load a (partial) application XML configuration from disk into a specific group.

If the group already exists, then adds to that group. Does not affect existing members of the group.

See also:: loadComponents for general details

Parameters:

config_file	A file on local disk containing the XML configuration.
group	The group number to load into

Precondition:: 0 <= group

Returns:: true if the configuration could be read and was valid.

Definition at line 713 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::loadConfiguration ( const std::string & config_file )

Load a (partial) application XML configuration from disk. The necessary components are located or loaded, but no component configuration is yet applied. One can load multiple configurations and call configureComponents() once to apply all settings. In case of duplicate information is the latest loaded configuration option used.

Deprecated:: by loadComponents.

See also:: configureComponents to configure the components with the loaded configuration.

Parameters:

config_file A file on local disk containing the XML configuration.

Returns:: true if the configuration could be read and was valid.

Definition at line 701 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::loadConfigurationString ( const std::string & config_text )

Identical to loadConfiguration, but reads the XML from a string instead of a file.

Parameters:

config_text A string containing the XML configuration.

Returns:: true if the configuration string could be read and was valid.

Definition at line 632 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::loadLibrary ( const std::string & name )

Use this command to load a plugin or component library into the memory of the current process. This is a low-level function which you should only use if you could not use import().

Parameters:

name	an absolute or relative path to a loadable library.

Returns:: True if it could be loaded, false otherwise.

Definition at line 1646 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::loadService	(	const std::string &	component,
		const std::string &	service
	)

Loads a service in the given component. If a service with the name of service is already loaded, does nothing and returns true.

Note:: If the loaded service uses another name to expose itself or does not register itself with an RTT::Service object, this function will load the service anyway in case it has been loaded before.

Parameters:

component	A peer of this component.
service	A service discovered by the PluginLoader which will be loaded into component.

Returns:: false if component is not a peer or service is not known. true otherwise.

Definition at line 1658 of file DeploymentComponent.cpp.

RTT::TaskContext* OCL::DeploymentComponent::myGetPeer ( std::string name ) [inline]

Definition at line 273 of file DeploymentComponent.hpp.

void OCL::DeploymentComponent::path ( const std::string & path )

Add an additional path to search for component packages.

Parameters:

a	colon or semi-colon separated list of directories to search for. Typically, paths have the form prefix1/lib/orocos:prefix2/lib/orocos etc.

Definition at line 1639 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::reloadLibrary ( const std::string & filepath )

Use this command to reload a component library into the memory of the current process. This is a low-level function which you should only use for testing/development

Parameters:

filepath an absolute path to a loaded library.

Returns:: True if it could be reloaded, false otherwise.

Definition at line 1652 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::runScript ( const std::string & file_name )

Scripting-alternative to kickStart: runs this script in the Orocos scripting service.

Definition at line 641 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::setActivity	(	const std::string &	comp_name,
		double	period,
		int	priority,
		int	scheduler
	)

(Re-)set the activity of a component with an activity.

Parameters:

comp_name	The name of the component to change.
period	The period of the activity (or 0.0 if non periodic).
priority	The scheduler priority (OS dependent).
scheduler	The scheduler type ORO_SCHED_RT or ORO_SCHED_OTHER.

Returns:: false if one of the parameters does not match or if the component is running.

Definition at line 1809 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::setActivityOnCPU	(	const std::string &	comp_name,
		double	period,
		int	priority,
		int	scheduler,
		unsigned int	cpu_nr
	)

(Re-)set the activity of a component and run it on a given CPU.

Parameters:

comp_name	The name of the component to change.
period	The period of the activity (or 0.0 if non periodic).
priority	The scheduler priority (OS dependent).
scheduler	The scheduler type ORO_SCHED_RT or ORO_SCHED_OTHER.
cpu_nr	The CPU to run the thread on. Numbering starts from zero.

Returns:: false if one of the parameters does not match or if the component is running.

Definition at line 1837 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::setFileDescriptorActivity	(	const std::string &	comp_name,
		double	timeout,
		int	priority,
		int	scheduler
	)

(Re-)set the activity of a component with a FileDescriptor activity.

Parameters:

comp_name	The name of the component to change.
timeout	The timeout of the activity (or 0.0 if no timeout).
priority	The scheduler priority (OS dependent).
scheduler	The scheduler type ORO_SCHED_RT or ORO_SCHED_OTHER.

Returns:: false if one of the parameters does not match or if the component is running.

Definition at line 1823 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::setMasterSlaveActivity	(	const std::string &	comp_name,
		const std::string &	master_name
	)

(Re-)set the activity of a component with a slave activity with master.

Parameters:

comp_name	The name of the component to change.
master_name	The name of the master component.

Returns:: false if one of the components is not found or comp_name is running.

Definition at line 1891 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::setNamedActivity	(	const std::string &	comp_name,
		const std::string &	act_type,
		double	period,
		int	priority,
		int	scheduler,
		const std::string &	master_name = `""`
	)

(Re-)set the activity of a component.

CPU affinity defaults to all available CPUs

Parameters:

comp_name	The name of the component to change.
act_type	The RTT::Activity type: 'Activity', 'PeriodicActivity', 'SequentialActivity' or 'SlaveActivity'.
priority	The scheduler priority (OS dependent).
period	The period of the activity.
scheduler	The scheduler type ORO_SCHED_RT or ORO_SCHED_OTHER.
master_name	The name of the master component in case of a extras::SlaveActivity with a master.

Returns:: false if one of the parameters does not match or if the component is running.

Definition at line 1905 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::setNamedActivity	(	const std::string &	comp_name,
		const std::string &	act_type,
		double	period,
		int	priority,
		int	scheduler,
		unsigned	cpu_affinity,
		const std::string &	master_name = `""`
	)

(Re-)set the activity of a component.

Parameters:

comp_name	The name of the component to change.
act_type	The RTT::Activity type: 'Activity', 'PeriodicActivity', 'SequentialActivity' or 'SlaveActivity'.
priority	The scheduler priority (OS dependent).
period	The period of the activity.
scheduler	The scheduler type ORO_SCHED_RT or ORO_SCHED_OTHER.
cpu_affinity	The prefered cpu to run on (a mask)
master_name	The name of the master component in case of a extras::SlaveActivity with a master.

Returns:: false if one of the parameters does not match or if the component is running.

Definition at line 1919 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::setPeriodicActivity	(	const std::string &	comp_name,
		double	period,
		int	priority,
		int	scheduler
	)

(Re-)set the activity of a component with a periodic activity.

Parameters:

comp_name	The name of the component to change.
period	The period of the activity.
priority	The scheduler priority (OS dependent).
scheduler	The scheduler type ORO_SCHED_RT or ORO_SCHED_OTHER.

Returns:: false if one of the parameters does not match or if the component is running.

Definition at line 1852 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::setSequentialActivity ( const std::string & comp_name )

(Re-)set the activity of a component with a (threadless, reactive) sequential activity.

Parameters:

comp_name The name of the component to change.

Returns:: false if one of the parameters does not match or if the component is running.

Definition at line 1879 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::setSlaveActivity	(	const std::string &	comp_name,
		double	period
	)

(Re-)set the activity of a component with a (stand alone) slave activity.

Parameters:

comp_name	The name of the component to change.
period	The period of the activity.

Returns:: false if one of the parameters does not match or if the component is running.

Definition at line 1866 of file DeploymentComponent.cpp.

void OCL::DeploymentComponent::shutdownDeployment ( )

Clean up and shutdown the entire deployment If an operation named "shutdownDeployment" is found in a peer component named "Application", then that operation is called otherwise nothing occurs.

Definition at line 2125 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::startComponents ( )

Start all components in the current configuration which have AutoStart set to true.

Returns:: true if all components could be succesfully started.

Definition at line 1440 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::startComponentsGroup ( const int group )

Start all components in group group which have AutoStart set to true.

Returns:: true if all the group's components could be succesfully started.

Definition at line 1450 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::stopComponent ( RTT::TaskContext * instance )

Stop a single loaded and running component.

Parameters:

instance instance pointer of the component.

Returns:: true if successfully stopped.

Definition at line 2086 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::stopComponent ( const std::string & comp_name ) [inline]

Stop a single loaded and running components.

Parameters:

comp_name name of the component.

Returns:: true if successfully stopped

Definition at line 855 of file DeploymentComponent.hpp.

bool OCL::DeploymentComponent::stopComponents ( )

Stop all loaded and running components.

Definition at line 1503 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::stopComponentsGroup ( const int group )

Stop all loaded and running components in group group.

Parameters:

group The group number to stop

Definition at line 1513 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::stream	(	const std::string &	port,
		ConnPolicy	policy
	)

Creates a stream from a given port of a component.

Parameters:

port	The dot-separated path to an input or output port of component or service.
policy	The connection policy that instructs how to set up the stream. The policy.transport field is mandatory, the policy.name_id field is highly recommended.

Returns:: true if the stream could be setup.

Definition at line 559 of file DeploymentComponent.cpp.

base::PortInterface * OCL::DeploymentComponent::stringToPort ( std::string const & names ) [protected]

Converts a dot-separated path to a service to a Port object.

Parameters:

name	a dot-separated path name to a port. The first part of the name must be the component name. Example: "Controller.arm.input".

Returns:: null if the port could not be found, the port otherwise

Definition at line 423 of file DeploymentComponent.cpp.

Service::shared_ptr OCL::DeploymentComponent::stringToService ( std::string const & names ) [protected]

Converts a dot-separated path to a service to a Service object.

Parameters:

name	a dot-separated path name to a service. The first part of the name must be the component name. For example 'Controller.arm'.

Returns:: null if the service could not be found, the service otherwise

Definition at line 362 of file DeploymentComponent.cpp.

ServiceRequester * OCL::DeploymentComponent::stringToServiceRequester ( std::string const & names ) [protected]

Converts a dot-separated path to a service to a ServiceRequester object.

Parameters:

name	a dot-separated path name to a service. The first part of the name must be the component name. For example 'Controller.arm'.

Returns:: null if the service could not be found, the service otherwise

Definition at line 394 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::unloadComponent ( const std::string & name )

Unload a loaded component from the current process. It may not be running.

Parameters:

name	The name of a component loaded with loadComponent().

Returns:: true if name was not running and could be unloaded.

Definition at line 1769 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::unloadComponentImpl ( CompList::iterator cit ) [protected]

This method removes all references to the component hold in cit, on the condition that it is not running.

Definition at line 1715 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::unloadComponents ( )

Unload all loaded and not running components.

Definition at line 1590 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::unloadComponentsGroup ( const int group )

Unload all loaded and not running components in group group

Parameters:

group The group number to unload

Definition at line 1600 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::waitForInterrupt ( ) [protected]

Waits for SIGINT and then returns.

Returns:: false if this function could not install a signal handler.

Definition at line 282 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::waitForSignal ( int signumber ) [protected]

Waits for any signal and then returns.

Returns:: false if this function could not install a signal handler.

Definition at line 289 of file DeploymentComponent.cpp.

Member Data Documentation

RTT::Property<bool> OCL::DeploymentComponent::autoUnload [protected]

Definition at line 96 of file DeploymentComponent.hpp.

std::string OCL::DeploymentComponent::compPath [protected]

Definition at line 95 of file DeploymentComponent.hpp.

CompList OCL::DeploymentComponent::comps [protected]

Definition at line 170 of file DeploymentComponent.hpp.

ConMap OCL::DeploymentComponent::conmap [protected]

Definition at line 164 of file DeploymentComponent.hpp.

RTT::Constant<int> OCL::DeploymentComponent::highest_Priority [protected]

Definition at line 101 of file DeploymentComponent.hpp.

RTT::Constant<int> OCL::DeploymentComponent::lowest_Priority [protected]

Definition at line 100 of file DeploymentComponent.hpp.

int OCL::DeploymentComponent::nextGroup [protected]

Next group number.

Definition at line 104 of file DeploymentComponent.hpp.

RTT::PropertyBag OCL::DeploymentComponent::root [protected]

This bag stores the current configuration. It is the cumulation of all loadConfiguration() calls.

Definition at line 94 of file DeploymentComponent.hpp.

RTT::Constant<int> OCL::DeploymentComponent::sched_OTHER [protected]

Definition at line 99 of file DeploymentComponent.hpp.

RTT::Constant<int> OCL::DeploymentComponent::sched_RT [protected]

Definition at line 98 of file DeploymentComponent.hpp.

RTT::Attribute<std::string> OCL::DeploymentComponent::target [protected]

Definition at line 102 of file DeploymentComponent.hpp.

RTT::Attribute<bool> OCL::DeploymentComponent::validConfig [protected]

Definition at line 97 of file DeploymentComponent.hpp.

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

Classes

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Automatically loading a site local XML file

Configuring the DeploymentComponent itself.

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation