RTC.idl

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// RTC.idl

#include "SDOPackage.idl"

#pragma prefix "omg.org"

#define EXECUTION_HANDLE_TYPE_NATIVE long

module RTC
{
  typedef EXECUTION_HANDLE_TYPE_NATIVE ExecutionContextHandle_t;

  typedef SDOPackage::UniqueIdentifier UniqueIdentifier;
  typedef SDOPackage::NVList NVList;
  
  enum ReturnCode_t
  {
    RTC_OK,
    RTC_ERROR,
    BAD_PARAMETER,
    UNSUPPORTED,
    OUT_OF_RESOURCES,
    PRECONDITION_NOT_MET
  };

  enum LifeCycleState
  {
    CREATED_STATE,

    INACTIVE_STATE,

    ACTIVE_STATE,

    ERROR_STATE
  };
  
  interface ExecutionContext;
  typedef sequence<ExecutionContext> ExecutionContextList;

  interface ComponentAction
  {
    ReturnCode_t on_initialize();

    ReturnCode_t on_finalize();

    ReturnCode_t on_startup(in ExecutionContextHandle_t exec_handle);

    ReturnCode_t on_shutdown(in ExecutionContextHandle_t exec_handle);

    ReturnCode_t on_activated(in ExecutionContextHandle_t exec_handle);

    ReturnCode_t on_deactivated(in ExecutionContextHandle_t exec_handle);

    ReturnCode_t on_aborting(in ExecutionContextHandle_t exec_handle);

    ReturnCode_t on_error(in ExecutionContextHandle_t exec_handle);

    ReturnCode_t on_reset(in ExecutionContextHandle_t exec_handle);
  };
  
  interface LightweightRTObject
    : ComponentAction
  {
    ReturnCode_t initialize();

    ReturnCode_t finalize();

    boolean is_alive(in ExecutionContext exec_context);

    ReturnCode_t exit();

    ExecutionContextHandle_t attach_context(in ExecutionContext exec_context);

    ReturnCode_t detach_context(in ExecutionContextHandle_t exec_handle);

    ExecutionContext get_context(in ExecutionContextHandle_t exec_handle);

    ExecutionContextList get_owned_contexts();

    ExecutionContextList get_participating_contexts();
    
    ExecutionContextHandle_t get_context_handle(in ExecutionContext cxt);
  };
  
  enum ExecutionKind
  {
    PERIODIC,
    EVENT_DRIVEN,
    OTHER
  };
  
  interface ExecutionContext
  {
    
    boolean is_running();
    
    ReturnCode_t start();
    
    ReturnCode_t stop();
    
    double get_rate();
    
    ReturnCode_t set_rate(in double rate);
    
    ReturnCode_t add_component(in LightweightRTObject comp);
    
    ReturnCode_t remove_component(in LightweightRTObject comp);
    
    ReturnCode_t activate_component(in LightweightRTObject comp);
    
    ReturnCode_t deactivate_component(in LightweightRTObject comp);
    
    ReturnCode_t reset_component(in LightweightRTObject comp);
    
    LifeCycleState get_component_state(in LightweightRTObject comp);
    
    ExecutionKind get_kind();
  };
  
  
  interface DataFlowComponentAction
  {
    ReturnCode_t on_execute(in ExecutionContextHandle_t exec_handle);
    ReturnCode_t on_state_update(in ExecutionContextHandle_t exec_handle);
    ReturnCode_t on_rate_changed(in ExecutionContextHandle_t exec_handle);
  };
  
  interface DataFlowComponent
    : LightweightRTObject, DataFlowComponentAction
  {
  };
  
  interface Fsm
    : LightweightRTObject
  {
  };
  
  interface FsmParticipantAction
  {
    
    ReturnCode_t on_action(in ExecutionContextHandle_t exec_handle);
  };
  
  interface FsmParticipant
    : LightweightRTObject, FsmParticipantAction
  {
  };
  
  interface Mode
  {
  };
  
  interface ModeCapable
  {
    Mode get_default_mode();
    Mode get_current_mode();
    Mode get_current_mode_in_context(in ExecutionContext exec_context);
    Mode get_pending_mode();
    Mode get_pending_mode_in_context(in ExecutionContext exec_context);
    ReturnCode_t set_mode(in Mode new_mode,
                          in boolean immediate);
  };
  
  interface MultiModeComponentAction
  {
    ReturnCode_t on_mode_changed(in ExecutionContextHandle_t exec_handle);
  };
  
  interface MultiModeObject
    : LightweightRTObject, ModeCapable, MultiModeComponentAction
  {
  };
  
  interface RTObject;
  
  enum PortInterfacePolarity
  {
    PROVIDED,
    REQUIRED
  };
  
  struct PortInterfaceProfile
  {
    string instance_name;
    string type_name;
    PortInterfacePolarity polarity;
  };
  
  typedef sequence<PortInterfaceProfile> PortInterfaceProfileList;
  
  interface PortService;
  typedef sequence<PortService> PortServiceList;
  typedef sequence<RTObject> RTCList;
  
  struct ConnectorProfile
  {
    string name;
    UniqueIdentifier connector_id;
    PortServiceList ports;
    NVList properties;
  };
  
  typedef sequence<ConnectorProfile> ConnectorProfileList;
  
  struct PortProfile
  {
    string name;
    PortInterfaceProfileList interfaces;
    PortService port_ref;
    ConnectorProfileList connector_profiles;
    RTObject owner;
    NVList properties;
  };
  
  typedef sequence<PortProfile> PortProfileList;
  
  struct ExecutionContextProfile
  {
    ExecutionKind kind;
    double rate;
    RTObject owner;
    RTCList participants;
    NVList properties;
  };
  
  typedef sequence<ExecutionContextProfile>
  ExecutionContextProfileList;
  
  interface FsmObject
  {
    ReturnCode_t send_stimulus(in string message,
                               in ExecutionContextHandle_t exec_handle);
  };
  
  struct FsmBehaviorProfile
  {
    FsmParticipantAction action_component;
    UniqueIdentifier id;
  };
  
  typedef sequence<FsmBehaviorProfile> FsmBehaviorProfileList;
  struct FsmProfile
  {
    FsmBehaviorProfileList behavior_profiles;
  };
  
  interface FsmService
    : SDOPackage::SDOService
  {
    FsmProfile get_fsm_profile();
    ReturnCode_t set_fsm_profile(in FsmProfile fsm_profile);
  };
  
  struct ComponentProfile
  {
    string instance_name;
    string type_name;
    string description;
    string version;
    string vendor;
    string category;
    PortProfileList port_profiles;
    RTObject parent;
    NVList properties;
  };
  
  typedef sequence<ComponentProfile> ComponentProfileList;
  
  interface PortService
    : SDOPackage::SDOService
  {
    PortProfile get_port_profile();
    ConnectorProfileList get_connector_profiles();
    ConnectorProfile get_connector_profile(in UniqueIdentifier connector_id);
    ReturnCode_t connect(inout ConnectorProfile connector_profile);
    ReturnCode_t disconnect(in UniqueIdentifier connector_id);
    ReturnCode_t disconnect_all();
    ReturnCode_t notify_connect(inout ConnectorProfile connector_profile);
    ReturnCode_t notify_disconnect(in UniqueIdentifier connector_id);
  };
  
  interface ExecutionContextService
    : ExecutionContext, SDOPackage::SDOService
  {
    ExecutionContextProfile get_profile();
  };
  
  typedef sequence<ExecutionContextService>
  ExecutionContextServiceList;
  
  interface RTObject
    : LightweightRTObject, SDOPackage::SDO
  {
    ComponentProfile get_component_profile();
    PortServiceList get_ports();
  };
};

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