jp.go.aist.rtm.RTC.executionContext
Interface ExecutionContextBase
- All Superinterfaces:
- ECNewDeleteFunc
- All Known Implementing Classes:
- ExtTrigExecutionContext, OpenHRPExecutionContext, PeriodicExecutionContext
public interface ExecutionContextBase
- extends ECNewDeleteFunc
Periodic Sampled Data Processing(周期実行用)ExecutionContextのベースとなる
抽象クラスです。
Method Summary |
ReturnCode_t |
bindComponent(RTObject_impl rtc)
bindComponent |
RTObject[] |
getComponentList()
Getting participant RTC list |
java.lang.String |
getKindString(ExecutionKind kind)
Converting ExecutionKind enum to string |
ExecutionContextService |
getObjRef()
Get the reference to the CORBA object |
RTObject |
getOwner()
Getting a reference of the owner component |
ExecutionContextProfile |
getProfile()
Getting Profile |
Properties |
getProperties()
Setting Properties |
double |
getRate()
Get execution rate(Hz) of ExecutionContext |
void |
init(Properties props)
Initialization function of ExecutionContext class |
void |
invokeWorker()
|
void |
invokeWorkerDo()
|
void |
invokeWorkerPostDo()
|
void |
invokeWorkerPreDo()
|
boolean |
isAllCurrentState(LifeCycleState state)
|
boolean |
isAllNextState(LifeCycleState state)
|
boolean |
isOneOfCurrentState(LifeCycleState state)
|
boolean |
isOneOfNextState(LifeCycleState state)
|
ReturnCode_t |
onActivated(RTObjectStateMachine comp,
long count)
|
ReturnCode_t |
onActivating(LightweightRTObject comp)
|
ReturnCode_t |
onAddedComponent(LightweightRTObject rtobj)
|
ReturnCode_t |
onAddingComponent(LightweightRTObject rtobj)
|
ReturnCode_t |
onDeactivated(RTObjectStateMachine comp,
long count)
|
ReturnCode_t |
onDeactivating(LightweightRTObject comp)
|
LifeCycleState |
onGetComponentState(LifeCycleState state)
|
ExecutionKind |
onGetKind(ExecutionKind kind)
|
ExecutionContextProfile |
onGetProfile(ExecutionContextProfile profile)
|
double |
onGetRate(double rate)
|
ReturnCode_t |
onRemovedComponent(LightweightRTObject rtobj)
|
ReturnCode_t |
onRemovingComponent(LightweightRTObject rtobj)
|
ReturnCode_t |
onReset(RTObjectStateMachine comp,
long count)
|
ReturnCode_t |
onResetting(LightweightRTObject comp)
|
ReturnCode_t |
onSetRate(double rate)
|
double |
onSettingRate(double rate)
|
ReturnCode_t |
onStarted()
|
ReturnCode_t |
onStopped()
|
ReturnCode_t |
onStopping()
|
ReturnCode_t |
onWaitingActivated(RTObjectStateMachine comp,
long count)
onWaitingActivated() template function |
ReturnCode_t |
onWaitingDeactivated(RTObjectStateMachine comp,
long count)
onWaitingDeactivated() template function |
ReturnCode_t |
onWaitingReset(RTObjectStateMachine comp,
long count)
onWaitingReset() template function |
boolean |
setExecutionRate(Properties props)
Setting execution rate from given properties. |
ReturnCode_t |
setKind(ExecutionKind kind)
Set the ExecutionKind |
void |
setObjRef(ExecutionContextService ref)
Sets the reference to the CORBA object |
ReturnCode_t |
setOwner(LightweightRTObject comp)
Setting owner component of the execution context |
void |
setProperties(Properties props)
Setting Properties |
ReturnCode_t |
setRate(double rate)
Set execution rate(Hz) of ExecutionContext |
boolean |
setTimeout(Properties props,
java.lang.String key,
TimeValue timevalue)
Setting state transition timeout from given properties. |
boolean |
setTransitionMode(Properties props,
java.lang.String key,
ExecutionContextBase.transitionModeHolder flag)
Setting state transition mode from given properties. |
init
void init(Properties props)
-
Initialization function of ExecutionContext class
setObjRef
void setObjRef(ExecutionContextService ref)
-
Sets the reference to the CORBA object
Sets the reference to the CORBA object as
ExecutioncontextService of this object.
- Parameters:
ref
-
The object reference
bindComponent
ReturnCode_t bindComponent(RTObject_impl rtc)
bindComponent
- Parameters:
rtc
- RTObject
- Returns:
- ReturnCode_t
getObjRef
ExecutionContextService getObjRef()
-
Get the reference to the CORBA object
Get the reference to the CORBA object as
ExecutioncontextService of this object.
- Returns:
-
The reference to CORBA object
setRate
ReturnCode_t setRate(double rate)
-
Set execution rate(Hz) of ExecutionContext
This operation shall set the rate (in hertz) at which this
context’s Active participating RTCs are being called. If the
execution kind of the context is PERIODIC, a rate change shall
result in the invocation of on_rate_changed on any RTCs
realizing DataFlowComponentAction that are registered with any
RTCs participating in the context.
- Parameters:
rate
-
Execution cycle(Unit:Hz)
- Returns:
-
The return code of ReturnCode_t type
RTC_OK: Succeed
BAD_PARAMETER: Invalid value. The value might be negative.
getRate
double getRate()
-
Get execution rate(Hz) of ExecutionContext
This operation shall return the rate (in hertz) at which its
Active participating RTCs are being invoked.
- Returns:
-
Execution cycle(Unit:Hz)
getKindString
java.lang.String getKindString(ExecutionKind kind)
-
Converting ExecutionKind enum to string
This function converts enumeration (PERIODIC, EVENT_DRIVEN,
OTHER) defined in RTC::ExecutionKind to string.
- Parameters:
kind
-
ExecutionKind
- Returns:
-
String of ExecutionKind
setKind
ReturnCode_t setKind(ExecutionKind kind)
-
Set the ExecutionKind
This operation sets the kind of the execution context.
- Parameters:
kind
-
ExecutionKind
setOwner
ReturnCode_t setOwner(LightweightRTObject comp)
-
Setting owner component of the execution context
This function sets an RT-Component to be owner of
the execution context.
- Parameters:
comp
-
an owner RT-Component of this execution context
- Returns:
-
The return code of ReturnCode_t type
getOwner
RTObject getOwner()
-
Getting a reference of the owner component
This function returns a reference of the owner RT-Component of
this execution context
- Returns:
-
a reference of the owner RT-Component
getComponentList
RTObject[] getComponentList()
-
Getting participant RTC list
This function returns a list of participant RTC of
the execution context.
- Returns:
-
Participants RTC list
setProperties
void setProperties(Properties props)
-
Setting Properties
This function sets ExecutionContextProfile::properties by
coil::Properties.
- Parameters:
props
-
Properties to be set to ExecutionContextProfile::properties.
getProperties
Properties getProperties()
-
Setting Properties
This function sets ExecutionContextProfile::properties by
coil::Properties.
- Returns:
-
Properties to be set to ExecutionContextProfile::properties.
getProfile
ExecutionContextProfile getProfile()
-
Getting Profile
This function gets RTC::ExecutionContextProfile.
- Returns:
-
ExecutionContextProfile
setExecutionRate
boolean setExecutionRate(Properties props)
-
Setting execution rate from given properties.
- Parameters:
props
-
Properties to be set to ExecutionContextProfile::properties.
setTransitionMode
boolean setTransitionMode(Properties props,
java.lang.String key,
ExecutionContextBase.transitionModeHolder flag)
-
Setting state transition mode from given properties.
- Parameters:
props
-
Properties to be set to ExecutionContextProfile::properties.key
- flag
-
setTimeout
boolean setTimeout(Properties props,
java.lang.String key,
TimeValue timevalue)
-
Setting state transition timeout from given properties.
- Parameters:
props
-
Properties to be set to ExecutionContextProfile::properties.key
- timevalue
-
onStarted
ReturnCode_t onStarted()
onStopping
ReturnCode_t onStopping()
onStopped
ReturnCode_t onStopped()
onGetRate
double onGetRate(double rate)
onSettingRate
double onSettingRate(double rate)
onSetRate
ReturnCode_t onSetRate(double rate)
onAddingComponent
ReturnCode_t onAddingComponent(LightweightRTObject rtobj)
onAddedComponent
ReturnCode_t onAddedComponent(LightweightRTObject rtobj)
onRemovingComponent
ReturnCode_t onRemovingComponent(LightweightRTObject rtobj)
onRemovedComponent
ReturnCode_t onRemovedComponent(LightweightRTObject rtobj)
onActivating
ReturnCode_t onActivating(LightweightRTObject comp)
onActivated
ReturnCode_t onActivated(RTObjectStateMachine comp,
long count)
onDeactivating
ReturnCode_t onDeactivating(LightweightRTObject comp)
onDeactivated
ReturnCode_t onDeactivated(RTObjectStateMachine comp,
long count)
onResetting
ReturnCode_t onResetting(LightweightRTObject comp)
onReset
ReturnCode_t onReset(RTObjectStateMachine comp,
long count)
onGetComponentState
LifeCycleState onGetComponentState(LifeCycleState state)
onGetKind
ExecutionKind onGetKind(ExecutionKind kind)
onGetProfile
ExecutionContextProfile onGetProfile(ExecutionContextProfile profile)
onWaitingActivated
ReturnCode_t onWaitingActivated(RTObjectStateMachine comp,
long count)
-
onWaitingActivated() template function
onWaitingDeactivated
ReturnCode_t onWaitingDeactivated(RTObjectStateMachine comp,
long count)
-
onWaitingDeactivated() template function
onWaitingReset
ReturnCode_t onWaitingReset(RTObjectStateMachine comp,
long count)
-
onWaitingReset() template function
isAllCurrentState
boolean isAllCurrentState(LifeCycleState state)
isAllNextState
boolean isAllNextState(LifeCycleState state)
isOneOfCurrentState
boolean isOneOfCurrentState(LifeCycleState state)
isOneOfNextState
boolean isOneOfNextState(LifeCycleState state)
invokeWorker
void invokeWorker()
invokeWorkerPreDo
void invokeWorkerPreDo()
invokeWorkerDo
void invokeWorkerDo()
invokeWorkerPostDo
void invokeWorkerPostDo()