Public Member Functions | Static Public Member Functions | Public Attributes | Private Types | Private Member Functions | Private Attributes | List of all members
VirtualRobotRTC Class Reference

#include <VirtualRobotRTC.h>

Inheritance diagram for VirtualRobotRTC:
Inheritance graph
[legend]

Public Member Functions

bool checkOutPortStepTime (double controlTimeStep)
 
RTC::RTCListgetConnectedRtcs ()
 
PortHandlerPtr getPortHandler (const std::string &name)
 
void inputDataFromSimulator (Controller_impl *controller)
 
RTC::ReturnCode_t onInitialize ()
 
void outputDataToSimulator (Controller_impl *controller)
 
void readDataFromInPorts (Controller_impl *controller)
 
void stop ()
 
 VirtualRobotRTC (RTC::Manager *manager)
 
void writeDataToOutPorts (Controller_impl *controller)
 
 ~VirtualRobotRTC ()
 
- Public Member Functions inherited from RTC::DataFlowComponentBase
 DataFlowComponentBase (Manager *manager)
 
void init ()
 
virtual ~DataFlowComponentBase (void)
 
- Public Member Functions inherited from RTC::RTObject_impl
ReturnCode_t activate (RTC::UniqueId ec_id)
 
void addConfigurationParamListener (ConfigurationParamListenerType type, ConfigurationParamListener *listener, bool autoclean=true)
 
ConfigurationParamListeneraddConfigurationParamListener (ConfigurationParamListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *, const char *))
 
void addConfigurationSetListener (ConfigurationSetListenerType type, ConfigurationSetListener *listener, bool autoclean=true)
 
ConfigurationSetListeneraddConfigurationSetListener (ConfigurationSetListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const coil::Properties &config_set))
 
void addConfigurationSetNameListener (ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener, bool autoclean=true)
 
ConfigurationSetNameListeneraddConfigurationSetNameListener (ConfigurationSetNameListenerType type, Listener &obj, void(Listener::*memfunc)(const char *))
 
void addExecutionContextActionListener (ECActionListenerType listener_type, ECActionListener *listener, bool autoclean=true)
 
ECActionListeneraddExecutionContextActionListener (ECActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId))
 
bool addInPort (const char *name, InPortBase &inport)
 
bool addOutPort (const char *name, OutPortBase &outport)
 
bool addPort (PortBase &port)
 
bool addPort (PortService_ptr port)
 
bool addPort (CorbaPort &port)
 
PortActionListeneraddPortActionListener (PortActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const RTC::PortProfile &))
 
void addPortActionListener (PortActionListenerType listener_type, PortActionListener *listener, bool autoclean=true)
 
void addPortConnectListener (PortConnectListenerType listener_type, PortConnectListener *listener, bool autoclean=true)
 
PortConnectListeneraddPortConnectListener (PortConnectListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *, ConnectorProfile &))
 
void addPortConnectRetListener (PortConnectRetListenerType listener_type, PortConnectRetListener *listener, bool autoclean=true)
 
PortConnectRetListeneraddPortConnectRetListener (PortConnectRetListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *, ConnectorProfile &, ReturnCode_t))
 
void addPostComponentActionListener (PostComponentActionListenerType listener_type, PostComponentActionListener *listener, bool autoclean=true)
 
PostComponentActionListeneraddPostComponentActionListener (PostCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id, ReturnCode_t ret))
 
void addPreComponentActionListener (PreComponentActionListenerType listener_type, PreComponentActionListener *listener, bool autoclean=true)
 
PreComponentActionListeneraddPreComponentActionListener (PreCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id))
 
bool addSdoServiceConsumer (const SDOPackage::ServiceProfile &prof)
 
bool addSdoServiceProvider (const SDOPackage::ServiceProfile &prof, SdoServiceProviderBase *provider)
 
UniqueId attach_context (ExecutionContext_ptr exec_context)
 
UniqueId bindContext (ExecutionContext_ptr exec_context)
 
bool bindParameter (const char *param_name, VarType &var, const char *def_val, bool(*trans)(VarType &, const char *)=coil::stringTo)
 
ReturnCode_t deactivate (RTC::UniqueId ec_id)
 
void deletePort (PortService_ptr port)
 
void deletePort (CorbaPort &port)
 
void deletePort (PortBase &port)
 
void deletePortByName (const char *port_name)
 
ReturnCode_t detach_context (UniqueId exec_handle)
 
virtual ReturnCode_t exit ()
 
virtual ReturnCode_t finalize ()
 
void finalizeContexts ()
 
void finalizePorts ()
 
virtual ComponentProfile * get_component_profile ()
 
virtual SDOPackage::Configuration_ptr get_configuration ()
 
virtual ExecutionContext_ptr get_context (UniqueId exec_handle)
 
virtual ExecutionContextHandle_t get_context_handle (ExecutionContext_ptr cxt)
 
virtual SDOPackage::DeviceProfile * get_device_profile ()
 
virtual SDOPackage::Monitoring_ptr get_monitoring ()
 
virtual SDOPackage::OrganizationList * get_organizations ()
 
virtual ExecutionContextListget_owned_contexts ()
 
virtual SDOPackage::OrganizationList * get_owned_organizations ()
 
virtual ExecutionContextListget_participating_contexts ()
 
virtual PortServiceListget_ports ()
 
virtual char * get_sdo_id ()
 
virtual SDOPackage::SDOService_ptr get_sdo_service (const char *id)
 
virtual char * get_sdo_type ()
 
virtual SDOPackage::ServiceProfile * get_service_profile (const char *id)
 
virtual SDOPackage::ServiceProfileList * get_service_profiles ()
 
virtual CORBA::Any * get_status (const char *name)
 
virtual SDOPackage::NVListget_status_list ()
 
const char * getCategory ()
 
const char * getDescription ()
 
ExecutionContext_ptr getExecutionContext (RTC::UniqueId ec_id)
 
double getExecutionRate (RTC::UniqueId ec_id)
 
const char * getInstanceName ()
 
std::vector< std::string > getNamingNames ()
 
RTObject_ptr getObjRef () const
 
coil::PropertiesgetProperties ()
 
const char * getTypeName ()
 
const char * getVendor ()
 
const char * getVersion ()
 
virtual ReturnCode_t initialize ()
 
virtual CORBA::Boolean is_alive (ExecutionContext_ptr exec_context)
 
bool isOwnExecutionContext (RTC::UniqueId ec_id)
 
virtual ReturnCode_t on_aborting (UniqueId exec_handle)
 
virtual ReturnCode_t on_activated (UniqueId exec_handle)
 
virtual ReturnCode_t on_deactivated (UniqueId exec_handle)
 
virtual ReturnCode_t on_error (UniqueId exec_handle)
 
virtual ReturnCode_t on_execute (UniqueId exec_handle)
 
virtual ReturnCode_t on_finalize ()
 
virtual ReturnCode_t on_initialize ()
 
virtual ReturnCode_t on_rate_changed (UniqueId exec_handle)
 
virtual ReturnCode_t on_reset (UniqueId exec_handle)
 
virtual ReturnCode_t on_shutdown (UniqueId exec_handle)
 
virtual ReturnCode_t on_startup (UniqueId exec_handle)
 
virtual ReturnCode_t on_state_update (UniqueId exec_handle)
 
bool readAll ()
 
void registerInPort (const char *name, InPortBase &inport)
 
void registerOutPort (const char *name, OutPortBase &outport)
 
void registerPort (PortBase &port)
 
void registerPort (PortService_ptr port)
 
void registerPort (CorbaPort &port)
 
void removeConfigurationParamListener (ConfigurationParamListenerType type, ConfigurationParamListener *listener)
 
void removeConfigurationSetListener (ConfigurationSetListenerType type, ConfigurationSetListener *listener)
 
void removeConfigurationSetNameListener (ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener)
 
void removeExecutionContextActionListener (ECActionListenerType listener_type, ECActionListener *listener)
 
bool removeInPort (InPortBase &port)
 
bool removeOutPort (OutPortBase &port)
 
bool removePort (PortService_ptr port)
 
bool removePort (CorbaPort &port)
 
bool removePort (PortBase &port)
 
void removePortActionListener (PortActionListenerType listener_type, PortActionListener *listener)
 
void removePortConnectListener (PortConnectListenerType listener_type, PortConnectListener *listener)
 
void removePortConnectRetListener (PortConnectRetListenerType listener_type, PortConnectRetListener *listener)
 
void removePostComponentActionListener (PostComponentActionListenerType listener_type, PostComponentActionListener *listener)
 
void removePreComponentActionListener (PreComponentActionListenerType listener_type, PreComponentActionListener *listener)
 
bool removeSdoServiceConsumer (const char *id)
 
bool removeSdoServiceProvider (const char *id)
 
ReturnCode_t reset (RTC::UniqueId ec_id)
 
 RTObject_impl (CORBA::ORB_ptr orb, PortableServer::POA_ptr poa)
 
 RTObject_impl (Manager *manager)
 
ReturnCode_t setExecutionRate (RTC::UniqueId ec_id, double rate)
 
void setInstanceName (const char *instance_name)
 
void setObjRef (const RTObject_ptr rtobj)
 
void setProperties (const coil::Properties &prop)
 
void setReadAll (bool read=true, bool completion=false)
 
void setWriteAll (bool write=true, bool completion=false)
 
void updateParameters (const char *config_set)
 
bool writeAll ()
 
virtual ~RTObject_impl (void)
 

Static Public Member Functions

static void registerFactory (RTC::Manager *manager, const char *componentTypeName)
 

Public Attributes

bool isOwnedByController
 

Private Types

typedef std::map< std::string, InPortHandlerPtrInPortHandlerMap
 
typedef std::map< std::string, OutPortHandlerPtrOutPortHandlerMap
 

Private Member Functions

void addConnectedRtcs (Port_Service_Ptr_Type portRef, RTC::RTCList &rtcList, std::set< std::string > &foundRtcNames)
 
bool createInPortHandler (PortInfo &portInfo)
 
bool createOutPortHandler (PortInfo &portInfo)
 
template<class TInPortHandler >
bool registerInPortHandler (TInPortHandler *handler)
 
template<class TOutPortHandler >
bool registerOutPortHandler (TOutPortHandler *handler)
 
void updatePortObjectRefs ()
 

Private Attributes

InPortHandlerMap inPortHandlers
 
OutPortHandlerMap outPortHandlers
 

Additional Inherited Members

- Public Types inherited from RTC::RTObject_impl
typedef ExecutionContextActionListener ECActionListener
 
typedef ExecutionContextActionListenerType ECActionListenerType
 
typedef PostComponentActionListener PostCompActionListener
 
typedef PostComponentActionListenerType PostCompActionListenerType
 
typedef PreComponentActionListener PreCompActionListener
 
typedef PreComponentActionListenerType PreCompActionListenerType
 
- Protected Member Functions inherited from RTC::RTObject_impl
virtual ReturnCode_t onAborting (RTC::UniqueId exec_handle)
 
virtual ReturnCode_t onActivated (RTC::UniqueId exec_handle)
 
void onAddPort (const PortProfile &pprof)
 
void onAttachExecutionContext (UniqueId ec_id)
 
virtual ReturnCode_t onDeactivated (RTC::UniqueId exec_handle)
 
void onDetachExecutionContext (UniqueId ec_id)
 
virtual ReturnCode_t onError (RTC::UniqueId exec_handle)
 
virtual ReturnCode_t onExecute (RTC::UniqueId exec_handle)
 
virtual ReturnCode_t onFinalize ()
 
virtual ReturnCode_t onRateChanged (RTC::UniqueId exec_handle)
 
void onRemovePort (const PortProfile &pprof)
 
virtual ReturnCode_t onReset (RTC::UniqueId exec_handle)
 
virtual ReturnCode_t onShutdown (RTC::UniqueId exec_handle)
 
virtual ReturnCode_t onStartup (RTC::UniqueId exec_handle)
 
virtual ReturnCode_t onStateUpdate (RTC::UniqueId exec_handle)
 
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 ()
 
- Protected Attributes inherited from RTC::RTObject_impl
ComponentActionListeners m_actionListeners
 
ConfigAdmin m_configsets
 
bool m_created
 
std::vector< ExecutionContextBase *> m_eclist
 
ExecutionContextServiceList m_ecMine
 
ExecutionContextServiceList m_ecOther
 
bool m_exiting
 
std::vector< InPortBase *> m_inports
 
RTObject_var m_objref
 
std::vector< OutPortBase *> m_outports
 
Managerm_pManager
 
CORBA::ORB_var m_pORB
 
PortAdmin m_portAdmin
 
PortConnectListeners m_portconnListeners
 
PortableServer::POA_var m_pPOA
 
ComponentProfile m_profile
 
coil::Properties m_properties
 
SDOPackage::Configuration_var m_pSdoConfig
 
SDOPackage::Configuration_implm_pSdoConfigImpl
 
bool m_readAll
 
bool m_readAllCompletion
 
SDOPackage::OrganizationList m_sdoOrganizations
 
SDOPackage::OrganizationList m_sdoOwnedOrganizations
 
SdoServiceAdmin m_sdoservice
 
SDOPackage::NVList m_sdoStatus
 
bool m_writeAll
 
bool m_writeAllCompletion
 
Logger rtclog
 

Detailed Description

Definition at line 28 of file VirtualRobotRTC.h.

Member Typedef Documentation

◆ InPortHandlerMap

typedef std::map<std::string, InPortHandlerPtr> VirtualRobotRTC::InPortHandlerMap
private

Definition at line 57 of file VirtualRobotRTC.h.

◆ OutPortHandlerMap

typedef std::map<std::string, OutPortHandlerPtr> VirtualRobotRTC::OutPortHandlerMap
private

Definition at line 54 of file VirtualRobotRTC.h.

Constructor & Destructor Documentation

◆ VirtualRobotRTC()

VirtualRobotRTC::VirtualRobotRTC ( RTC::Manager manager)

Definition at line 60 of file VirtualRobotRTC.cpp.

◆ ~VirtualRobotRTC()

VirtualRobotRTC::~VirtualRobotRTC ( )

Definition at line 101 of file VirtualRobotRTC.cpp.

Member Function Documentation

◆ addConnectedRtcs()

void VirtualRobotRTC::addConnectedRtcs ( Port_Service_Ptr_Type  portRef,
RTC::RTCList rtcList,
std::set< std::string > &  foundRtcNames 
)
private

Definition at line 391 of file VirtualRobotRTC.cpp.

◆ checkOutPortStepTime()

bool VirtualRobotRTC::checkOutPortStepTime ( double  controlTimeStep)

Definition at line 521 of file VirtualRobotRTC.cpp.

◆ createInPortHandler()

bool VirtualRobotRTC::createInPortHandler ( PortInfo portInfo)
private

Definition at line 285 of file VirtualRobotRTC.cpp.

◆ createOutPortHandler()

bool VirtualRobotRTC::createOutPortHandler ( PortInfo portInfo)
private

Definition at line 213 of file VirtualRobotRTC.cpp.

◆ getConnectedRtcs()

RTC::RTCList * VirtualRobotRTC::getConnectedRtcs ( )

Definition at line 372 of file VirtualRobotRTC.cpp.

◆ getPortHandler()

PortHandlerPtr VirtualRobotRTC::getPortHandler ( const std::string &  name)

Definition at line 325 of file VirtualRobotRTC.cpp.

◆ inputDataFromSimulator()

void VirtualRobotRTC::inputDataFromSimulator ( Controller_impl controller)

Definition at line 465 of file VirtualRobotRTC.cpp.

◆ onInitialize()

RTC::ReturnCode_t VirtualRobotRTC::onInitialize ( void  )
virtual

Reimplemented from RTC::RTObject_impl.

Definition at line 70 of file VirtualRobotRTC.cpp.

◆ outputDataToSimulator()

void VirtualRobotRTC::outputDataToSimulator ( Controller_impl controller)

Definition at line 483 of file VirtualRobotRTC.cpp.

◆ readDataFromInPorts()

void VirtualRobotRTC::readDataFromInPorts ( Controller_impl controller)

Definition at line 509 of file VirtualRobotRTC.cpp.

◆ registerFactory()

void VirtualRobotRTC::registerFactory ( RTC::Manager manager,
const char *  componentTypeName 
)
static

Definition at line 30 of file VirtualRobotRTC.cpp.

◆ registerInPortHandler()

template<class TInPortHandler >
bool VirtualRobotRTC::registerInPortHandler ( TInPortHandler *  handler)
inlineprivate

Definition at line 94 of file VirtualRobotRTC.h.

◆ registerOutPortHandler()

template<class TOutPortHandler >
bool VirtualRobotRTC::registerOutPortHandler ( TOutPortHandler *  handler)
inlineprivate

Definition at line 84 of file VirtualRobotRTC.h.

◆ stop()

void VirtualRobotRTC::stop ( void  )

Definition at line 516 of file VirtualRobotRTC.cpp.

◆ updatePortObjectRefs()

void VirtualRobotRTC::updatePortObjectRefs ( )
private

Definition at line 347 of file VirtualRobotRTC.cpp.

◆ writeDataToOutPorts()

void VirtualRobotRTC::writeDataToOutPorts ( Controller_impl controller)

Definition at line 491 of file VirtualRobotRTC.cpp.

Member Data Documentation

◆ inPortHandlers

InPortHandlerMap VirtualRobotRTC::inPortHandlers
private

Definition at line 58 of file VirtualRobotRTC.h.

◆ isOwnedByController

bool VirtualRobotRTC::isOwnedByController

Definition at line 50 of file VirtualRobotRTC.h.

◆ outPortHandlers

OutPortHandlerMap VirtualRobotRTC::outPortHandlers
private

Definition at line 55 of file VirtualRobotRTC.h.


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


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Sep 8 2022 02:24:07