#include <RtcManager.h>
Public Types | |
typedef bool(* | RtcComponentInit )(RtcManager *manager) |
Component module initialization function. | |
Public Member Functions | |
RtcManager (int argc, char **argv) | |
A constructor of Rtcmanager class. | |
virtual | ~RtcManager () |
A destructor of Rtcmanager class. | |
int | svc (void) |
A destructor of Rtcmanager class. | |
virtual RtmRes | load (const char *pathname, const char *initfunc) |
[CORBA interface] Load module | |
virtual RtmRes | unload (const char *pathname) |
[CORBA interface] Unload module | |
virtual RTCBase_ptr | create_component (const char *comp_name, CORBA::String_out instance_name) |
[CORBA interface] Create component instance | |
virtual RtmRes | delete_component (const char *instance_name) |
[CORBA interface] Delete component instance | |
virtual ComponentFactoryList * | component_factory_list () |
[CORBA interface] Get component factory list | |
virtual RTCBaseList * | component_list () |
[CORBA interface] Get component list | |
virtual RtmRes | command (const char *cmd, CORBA::String_out ret) |
[CORBA interface] Simple interpreter | |
void | initManager () |
Initialize manager. | |
void | runManager () |
Run manager. | |
void | runManagerNoBlocking () |
Run manager (No blocking mode). | |
bool | activateManager () |
Activate manager servant. | |
void | initModuleProc (RtcModuleInitProc proc) |
Invoke module initialize routine. | |
bool | createCommand (string cmd, boost::function2< bool, vector< string > &, vector< string > & > func) |
Register simple interpreter command function. | |
bool | registerComponent (RtcModuleProfile &profile, RtcNewFunc new_func, RtcDeleteFunc delete_func) |
Register component factory. | |
bool | registerComponent (RtcFactoryBase *factory) |
Register component factory. | |
RtcBase * | createComponent (const string &module_name, string &comp_name) |
Create component. | |
RtcBase * | createComponent (const string &module_name) |
Create component. | |
std::vector< RTCBase_ptr > | findComponents (const string &comp_name) |
find component | |
std::string | bindInOut (RTCBase_ptr comp_in, const std::string &inp_name, RTCBase_ptr comp_out, const std::string &outp_name, RTM::SubscriptionType sub_type=RTM::OPS_NEW) |
Bind InPort with OutPort. | |
std::string | bindInOutByName (const std::string &comp_name_in, const std::string &inp_name, const std::string &comp_name_out, const std::string &outp_name, RTM::SubscriptionType sub_type=RTM::OPS_NEW) |
Bind InPort with OutPort by name. | |
CORBA::ORB_var | getORB () |
Get pointer to ORB. | |
PortableServer::POA_var | getPOA () |
Get pointer to POA. | |
bool | loadCmd (const vector< string > &cmd, vector< string > &retval) |
bool | unloadCmd (const vector< string > &cmd, vector< string > &retval) |
bool | createComponentCmd (const vector< string > &cmd, vector< string > &retval) |
bool | listComponent (const vector< string > &cmd, vector< string > &retval) |
bool | listModule (const vector< string > &cmd, vector< string > &retval) |
bool | commandListCmd (const vector< string > &cmd, vector< string > &retval) |
bool | writeLog (int loglevel, std::string msg) |
Write to log file. Data and time is inserted before message, and message will be written to log file. | |
bool | writeErrLog (int loglevel, std::string msg) |
Write to error log file. Data and time is inserted before message, and message will be written to log file. | |
Public Attributes | |
map< string, RtcBase * > | m_Components |
Component instance database map. | |
string | m_ManagerName |
Manager name. |
RtcManager manages life cycle of RTComponent for example, loading component library, creating component, deleting component etc. This manager also provide some services for RTComponents.
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Component module initialization function.
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A constructor of Rtcmanager class. Usually constructor is given command line arguments. |
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A destructor of Rtcmanager class.
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Activate manager servant.
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Bind InPort with OutPort.
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Bind InPort with OutPort by name.
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[CORBA interface] Simple interpreter Execute simple interpreter. |
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[CORBA interface] Get component factory list Get component factory list. |
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[CORBA interface] Get component list Get component list. |
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[CORBA interface] Create component instance Create component instance with component module name.
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Register simple interpreter command function.
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Create component.
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Create component.
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[CORBA interface] Delete component instance Delete component instance with instance name
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find component
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Get pointer to ORB.
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Get pointer to POA.
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Initialize manager.
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Invoke module initialize routine.
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[CORBA interface] Load module Load shared library of a component by path name, and invoke initialize function.
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Register component factory.
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Register component factory.
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Run manager.
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Run manager (No blocking mode).
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A destructor of Rtcmanager class. Thread function of service.
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[CORBA interface] Unload module Unload shared library of a component module.
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Write to error log file. Data and time is inserted before message, and message will be written to log file.
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Write to log file. Data and time is inserted before message, and message will be written to log file.
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Component instance database map.
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Manager name.
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