Classes | Public Member Functions | Protected Types | Protected Member Functions | Protected Attributes
OCL::DeploymentComponent Class Reference

#include <DeploymentComponent.hpp>

Inheritance diagram for OCL::DeploymentComponent:
Inheritance graph
[legend]

List of all members.

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 configureComponent (RTT::TaskContext *instance)
bool configureComponent (const std::string &comp_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::FactoryMapgetFactories () 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::TaskContextmyGetPeer (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)
bool setWaitPeriodPolicy (const std::string &comp_name, int policy)
void shutdownDeployment ()
bool startComponent (RTT::TaskContext *instance)
bool startComponent (const std::string &comp_name)
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::list< std::string > CompList
typedef std::map< std::string,
ComponentData
CompMap
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::PortInterfacestringToPort (std::string const &names)
Service::shared_ptr stringToService (std::string const &names)
ServiceRequester::shared_ptr stringToServiceRequester (std::string const &names)
bool unloadComponentImpl (CompMap::iterator cit)
bool waitForInterrupt ()
bool waitForSignal (int signumber)

Protected Attributes

RTT::Property< bool > autoUnload
CompMap compmap
std::string compPath
CompList comps
ConMap conmap
int defaultWaitPeriodPolicy
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::list<std::string> OCL::DeploymentComponent::CompList [protected]

Definition at line 171 of file DeploymentComponent.hpp.

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

This list and map hold the dynamically loaded components.

Definition at line 170 of file DeploymentComponent.hpp.

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

This maps connection names to associated ports.

Definition at line 164 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:
nameThe name of this component. By default: Deployer
siteFileThe 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.

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 280 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:
fromThe component that must 'see' target and use its services.
targetThe 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 336 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:
fromThe component that must 'see' target and use its services.
targetThe component that is 'seen' and used by from.
aliasThe 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 356 of file DeploymentComponent.cpp.

Cleanup a single loaded and not running component.

Parameters:
instanceinstance pointer of the component.
Returns:
true if successfully cleaned up

Definition at line 2173 of file DeploymentComponent.cpp.

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

Cleanup a single loaded and not running component.

Parameters:
comp_namename of the component.
Returns:
true if successfully cleaned up

Definition at line 920 of file DeploymentComponent.hpp.

Cleanup all loaded and not running components.

Definition at line 1612 of file DeploymentComponent.cpp.

Cleanup all loaded and not running components.

Parameters:
groupThe group number to cleanup

Definition at line 1622 of file DeploymentComponent.cpp.

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

Definition at line 1703 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 276 of file DeploymentComponent.cpp.

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

Parameters:
ca valid TaskContext object.

Reimplemented in OCL::CorbaDeploymentComponent.

Definition at line 278 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:
nameThe 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 2119 of file DeploymentComponent.cpp.

Configure a single loaded and running component.

Parameters:
instanceinstance pointer of the component.
Returns:
true if successfully configured.

Definition at line 2191 of file DeploymentComponent.cpp.

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

Configure a single loaded and running components.

Parameters:
comp_namename of the component.
Returns:
true if successfully configured

Definition at line 869 of file DeploymentComponent.hpp.

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 1223 of file DeploymentComponent.cpp.

Configure the components in group group.

See also:
configureComponents()
Returns:
true if all the group's components could be succesfully configured.

Definition at line 1234 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:
nameThe name of the component to configure
filenameThe 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 2124 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 260 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:
oneA dot-separated path to a port in a service
otherA dot-separated path to a port in a service
policyThe connection policy of the new connetion.
Returns:
true if the ports are present and could be connected, false otherwise.

Definition at line 546 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:
requiredThe dot-separated name of a required operation
providedThe dot-separated name of a provided operation
Returns:
true if required is connected to provided

Definition at line 600 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:
oneThe component that must 'see' other.
otherThe component that must 'see' one.
Returns:
true if both components are peers of this deployment component and could be connected.

Definition at line 320 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:
oneThe first component
otherThe second component
Returns:
true if both tasks are peers of this component and data ports could be connected.

Definition at line 475 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:
oneName of the first component or a dot-separated path to its service
one_portName of the port of the first component to connect to other_port
otherName of the second component or a dot-separated path to its service
other_portName 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 493 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:
oneThe name of a provided service or a dot-separated path to a Service
oneThe 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 582 of file DeploymentComponent.cpp.

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

Definition at line 532 of file DeploymentComponent.cpp.

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

See also:
loadComponent()

Definition at line 1873 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 1884 of file DeploymentComponent.cpp.

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

Definition at line 2141 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:
packageA (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 1710 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_filename of an XML file (probably the same used by loadComponents() or kickStart() ).

Definition at line 2146 of file DeploymentComponent.cpp.

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

Postcondition:
0 == nextGroup

Definition at line 705 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_namename of the component.
Returns:
true if successfully stopped, cleaned and unloaded

Definition at line 2247 of file DeploymentComponent.cpp.

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

Stop, cleanup and unload all components in group group.

Definition at line 718 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 684 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:
nameName the new component will receive.
typeThe 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 1751 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_fileA file on local disk containing the XML configuration.
Returns:
true if the configuration could be read and was valid.

Definition at line 744 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_fileA file on local disk containing the XML configuration.
groupThe group number to load into
Precondition:
0 <= group
Returns:
true if the configuration could be read and was valid.

Definition at line 751 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_fileA file on local disk containing the XML configuration.
Returns:
true if the configuration could be read and was valid.

Definition at line 739 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_textA string containing the XML configuration.
Returns:
true if the configuration string could be read and was valid.

Definition at line 646 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:
namean absolute or relative path to a loadable library.
Returns:
True if it could be loaded, false otherwise.

Definition at line 1723 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:
componentA peer of this component.
serviceA 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 1735 of file DeploymentComponent.cpp.

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

Definition at line 276 of file DeploymentComponent.hpp.

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

Add an additional path to search for component packages.

Parameters:
acolon 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 1716 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:
filepathan absolute path to a loaded library.
Returns:
True if it could be reloaded, false otherwise.

Definition at line 1729 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 655 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_nameThe name of the component to change.
periodThe period of the activity (or 0.0 if non periodic).
priorityThe scheduler priority (OS dependent).
schedulerThe 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 1894 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_nameThe name of the component to change.
periodThe period of the activity (or 0.0 if non periodic).
priorityThe scheduler priority (OS dependent).
schedulerThe scheduler type ORO_SCHED_RT or ORO_SCHED_OTHER.
cpu_nrThe 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 1922 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_nameThe name of the component to change.
timeoutThe timeout of the activity (or 0.0 if no timeout).
priorityThe scheduler priority (OS dependent).
schedulerThe 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 1908 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_nameThe name of the component to change.
master_nameThe name of the master component.
Returns:
false if one of the components is not found or comp_name is running.

Definition at line 1976 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_nameThe name of the component to change.
act_typeThe RTT::Activity type: 'Activity', 'PeriodicActivity', 'SequentialActivity' or 'SlaveActivity'.
priorityThe scheduler priority (OS dependent).
periodThe period of the activity.
schedulerThe scheduler type ORO_SCHED_RT or ORO_SCHED_OTHER.
master_nameThe 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 1990 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_nameThe name of the component to change.
act_typeThe RTT::Activity type: 'Activity', 'PeriodicActivity', 'SequentialActivity' or 'SlaveActivity'.
priorityThe scheduler priority (OS dependent).
periodThe period of the activity.
schedulerThe scheduler type ORO_SCHED_RT or ORO_SCHED_OTHER.
cpu_affinityThe prefered cpu to run on (a mask)
master_nameThe 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 2004 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_nameThe name of the component to change.
periodThe period of the activity.
priorityThe scheduler priority (OS dependent).
schedulerThe 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 1937 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_nameThe 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 1964 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_nameThe name of the component to change.
periodThe period of the activity.
Returns:
false if one of the parameters does not match or if the component is running.

Definition at line 1951 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::setWaitPeriodPolicy ( const std::string &  comp_name,
int  policy 
)

(Re-)set the wait period policy of a component's thread.

Parameters:
comp_nameThe name of the component to change.
policyThe new policy ORO_WAIT_ABS or ORO_WAIT_REL
Returns:
false if one of the parameters does not match.

Definition at line 2102 of file DeploymentComponent.cpp.

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 if a scripting program named "shutdown" is loaded, then that will be executed, otherwise nothing occurs.

Definition at line 2267 of file DeploymentComponent.cpp.

Stop a single loaded and running component.

Parameters:
instanceinstance pointer of the component.
Returns:
true if successfully started.

Definition at line 2209 of file DeploymentComponent.cpp.

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

Stop a single loaded and running components.

Parameters:
comp_namename of the component.
Returns:
true if successfully started

Definition at line 886 of file DeploymentComponent.hpp.

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 1517 of file DeploymentComponent.cpp.

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 1527 of file DeploymentComponent.cpp.

Stop a single loaded and running component.

Parameters:
instanceinstance pointer of the component.
Returns:
true if successfully stopped.

Definition at line 2228 of file DeploymentComponent.cpp.

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

Stop a single loaded and running components.

Parameters:
comp_namename of the component.
Returns:
true if successfully stopped

Definition at line 903 of file DeploymentComponent.hpp.

Stop all loaded and running components.

Definition at line 1580 of file DeploymentComponent.cpp.

Stop all loaded and running components in group group.

Parameters:
groupThe group number to stop

Definition at line 1590 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:
portThe dot-separated path to an input or output port of component or service.
policyThe 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 573 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:
namea 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 436 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:
namea 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 372 of file DeploymentComponent.cpp.

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

Parameters:
namea 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 406 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:
nameThe name of a component loaded with loadComponent().
Returns:
true if name was not running and could be unloaded.

Definition at line 1854 of file DeploymentComponent.cpp.

bool OCL::DeploymentComponent::unloadComponentImpl ( CompMap::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 1793 of file DeploymentComponent.cpp.

Unload all loaded and not running components.

Definition at line 1667 of file DeploymentComponent.cpp.

Unload all loaded and not running components in group group

Parameters:
groupThe group number to unload

Definition at line 1677 of file DeploymentComponent.cpp.

Waits for SIGINT and then returns.

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

Definition at line 288 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 295 of file DeploymentComponent.cpp.


Member Data Documentation

Definition at line 97 of file DeploymentComponent.hpp.

Definition at line 172 of file DeploymentComponent.hpp.

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

Definition at line 95 of file DeploymentComponent.hpp.

Definition at line 173 of file DeploymentComponent.hpp.

Definition at line 165 of file DeploymentComponent.hpp.

Definition at line 96 of file DeploymentComponent.hpp.

Definition at line 102 of file DeploymentComponent.hpp.

Definition at line 101 of file DeploymentComponent.hpp.

Next group number.

Definition at line 105 of file DeploymentComponent.hpp.

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

Definition at line 94 of file DeploymentComponent.hpp.

Definition at line 100 of file DeploymentComponent.hpp.

Definition at line 99 of file DeploymentComponent.hpp.

Definition at line 103 of file DeploymentComponent.hpp.

Definition at line 98 of file DeploymentComponent.hpp.


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


ocl
Author(s): OCL Development Team
autogenerated on Sat Jun 8 2019 18:48:55