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RTM::RtcBase Class Reference

RT component base class. More...

#include <RtcBase.h>

Inheritance diagram for RTM::RtcBase:

RTM::RtcCompositeBase RTM::RtcSyncComposite List of all members.

Public Member Functions

 RtcBase ()
 A constructor of RtcBase class.

 RtcBase (CORBA::ORB_ptr orb, PortableServer::POA_ptr poa)
 A constructor of RtcBase class.

 RtcBase (RtcManager *manager)
 A constructor.

virtual ~RtcBase ()
 A destructor of RtcBase class.

virtual RtmRes rtc_start () throw (CORBA::SystemException, RTM::RTComponent::IllegalTransition)
 [CORBA interface] Activate this components' activity

virtual RtmRes rtc_stop () throw (CORBA::SystemException, RTM::RTComponent::IllegalTransition)
 [CORBA interface] Stop this component's activity

virtual RtmRes rtc_reset () throw (CORBA::SystemException, RTM::RTComponent::IllegalTransition)
 [CORBA interface] Go to init() state from error() state

virtual RtmRes rtc_exit () throw (CORBA::SystemException, RTM::RTComponent::IllegalTransition)
 [CORBA interface] Go to term() state from anywhere

virtual RtmRes rtc_kill ()
 [CORBA interface] Go to exiting() state from active() state

virtual RtmRes rtc_worker ()
 [CORBA interface] Main activity function.

virtual RtmRes rtc_ready_entry ()
 [CORBA interface] entry: ready() method.

virtual RtmRes rtc_ready_do ()
 [CORBA interface] do: ready() method.

virtual RtmRes rtc_ready_exit ()
 [CORBA interface] exit: ready() method.

virtual RtmRes rtc_active_entry ()
 [CORBA interface] entry: active() method.

virtual RtmRes rtc_active_do ()
 [CORBA interface] do: active() method.

virtual RtmRes rtc_active_exit ()
 [CORBA interface] exit: active() method.

virtual RtmRes rtc_error_entry ()
 [CORBA interface] entry: error() method.

virtual RtmRes rtc_error_do ()
 [CORBA interface] do: ready() method.

virtual RtmRes rtc_error_exit ()
 [CORBA interface] exit: error() method.

virtual RtmRes rtc_fatal_entry ()
 [CORBA interface] entry: fatal() method.

virtual RtmRes rtc_fatal_do ()
 [CORBA interface] do: fatal() method.

virtual RtmRes rtc_fatal_exit ()
 [CORBA interface] exit: fatal() method.

virtual RtmRes rtc_init_entry ()
 [CORBA interface] entry: ready() method.

virtual RtmRes rtc_starting_entry ()
 [CORBA interface] entry: starting() method.

virtual RtmRes rtc_stopping_entry ()
 [CORBA interface] entry: stopping() method.

virtual RtmRes rtc_aborting_entry ()
 [CORBA interface] entry: aborting() method.

virtual RtmRes rtc_exiting_entry ()
 [CORBA interface] entry: exiting() method.

virtual OutPort_ptr rtc_state ()
 [CORBA interface] Get activity status OutPort

virtual InPortList * inports ()
 [CORBA interface] Return input port object reference list

virtual InPort_ptr get_inport (const char *name) throw (CORBA::SystemException, RTM::RTComponent::NoSuchName)
 [CORBA interface] Return input port object reference

virtual OutPortList * outports ()
 [CORBA interface] Return output port object reference list

virtual OutPort_ptr get_outport (const char *name) throw (CORBA::SystemException, RTM::RTComponent::NoSuchName)
 [CORBA interface] Return output port object reference

virtual char * instance_id ()
 [CORBA interface] get instance_id

virtual char * implementation_id ()
 [CORBA interface] get implementation_id

virtual char * description ()
 [CORBA interface] get description

virtual char * version ()
 [CORBA interface] get version

virtual char * maker ()
 [CORBA interface] get maker

virtual char * category ()
 [CORBA interface] get category

virtual RTCProfile * profile ()
 [CORBA interface] get profile

virtual RtmRes rtc_start_thread ()
 [CORBA interface] Start activity internal thread

virtual RtmRes rtc_stop_thread ()
 [CORBA interface] Stop activity internal thread

virtual RtmRes rtc_set_parent (RTCBase_ptr comp)
 [CORBA interface] Set parent component

virtual RtmRes rtc_add_component (RTCBase_ptr comp)
 [CORBA interface] Set child component

virtual RtmRes rtc_delete_component (RTCBase_ptr comp)
 [CORBA interface] Delete child component

virtual RtmRes rtc_replace_component (RTCBase_ptr comp1, RTCBase_ptr comp2)
 [CORBA interface] Replace two child components

virtual RtmRes rtc_replace_component_by_name (const char *name1, const char *name2)
 [CORBA interface] Replace two child components

virtual RTCBaseList * rtc_components ()
 [CORBA interface] Get child components list

virtual RTCBase_ptr rtc_get_component (const char *name)
 [CORBA interface] Get child components list

virtual RtmRes rtc_attach_inport (InPort_ptr in_port)
 [CORBA interface] Get child components list

virtual RtmRes rtc_attach_inport_by_name (RTCBase_ptr comp, const char *name)
 [CORBA interface] Get child components list

virtual RtmRes rtc_detatch_inport (InPort_ptr in_port)
 [CORBA interface] Get child components list

virtual RtmRes rtc_detatch_inport_by_name (const char *name)
 [CORBA interface] Get child components list

virtual RtmRes rtc_attach_outport (OutPort_ptr out_port)
 [CORBA interface] Get child components list

virtual RtmRes rtc_attach_outport_by_name (RTCBase_ptr comp, const char *name)
 [CORBA interface] Get child components list

virtual RtmRes rtc_detatch_outport (OutPort_ptr out_port)
 [CORBA interface] Get child components list

virtual RtmRes rtc_detatch_outport_by_name (const char *name)
 [CORBA interface] Get child components list

virtual void init_orb (CORBA::ORB_ptr orb, PortableServer::POA_ptr poa)
 Initialize this component with ORB and POA pointer.

virtual int open (void *args)
 Create internal activity thread.

virtual int svc (void)
 Create internal activity thread.

virtual void initModuleProfile (RtcModuleProfile prof)
 Initialize RtcModuleProfile.

virtual RtcModuleProfilegetModuleProfile ()
 Get RtcModuleProfile.

virtual string setComponentName (int num)
 Set component name.

bool registerInPort (InPortBase &in_ch)
 Registration of input channel.

bool registerPort (InPortBase &in_ch)
 Registration of input channel.

bool deleteInPort (InPortBase &in_ch)
 Deletion of InPort.

bool deletePort (InPortBase &in_ch)
 Deletion of InPort.

bool deleteInPortByName (const char *ch_name)
 Deletion of input channel by channel name.

bool registerOutPort (OutPortBase &out_ch)
 Registration of output channel.

bool registerPort (OutPortBase &out_ch)
bool deleteOutPort (OutPortBase &out_ch)
 Deletion of output channel.

bool deletePort (OutPortBase &out_ch)
 Deletion of output channel.

bool deleteOutPortByName (const char *ch_name)
 Deletion of output channel by channel name.

void appendAlias (const char *alias)
 Register alias of component name.

void appendAlias (const std::string alias)
 Register alias of component name.

std::list< string > getAliases ()
 Get registered aliases of component name.

void setNamingPolicy (NamingPolicy policy)
NamingPolicy getNamingPolicy ()
bool isLongNameEnable ()
bool isAliasEnable ()

Protected Types

typedef RTM::RTComponent::ComponentState ComponentState
 RTComponent state re-declaration.

typedef RtmRes(RtcBase::* StateFunc )()
 activity function pointer definition

typedef list< InPortBase
* >::iterator 
InPorts_it
 InPort list iterator.

typedef list< OutPortBase
* >::iterator 
OutPorts_it
 OutPort list iterator.


Protected Member Functions

RtmRes _check_error (RtmRes result)
 activity error check function

RtmRes _nop ()
 dummy function for activity

RtmRes _rtc_initializing ()
 rtc_init_entry execution function for activity

RtmRes _rtc_ready_entry ()
 rtc_ready_entry execution function for activity

RtmRes _rtc_starting ()
 rtc_starting_entry execution function for activity

RtmRes _rtc_active_entry ()
 rtc_active_entry execution function for activity

RtmRes _rtc_stopping ()
 rtc_stopping_entry execution function for activity

RtmRes _rtc_aborting ()
 rtc_aborting_entry execution function for activity

RtmRes _rtc_error_entry ()
 rtc_error_entry execution function for activity

RtmRes _rtc_fatal_entry ()
 rtc_fatal_entry execution function for activity

RtmRes _rtc_exiting ()
 rtc_exiting_entry execution function for activity

RtmRes _rtc_ready ()
 rtc_ready_do execution function for activity

RtmRes _rtc_active ()
 rtc_active_do execution function for activity

RtmRes _rtc_error ()
 rtc_error_do execution function for activity

RtmRes _rtc_fatal ()
 rtc_fatal_do execution function for activity

RtmRes _rtc_ready_exit ()
 rtc_ready_exit execution function for activity

RtmRes _rtc_active_exit ()
 rtc_active_exit execution function for activity

RtmRes _rtc_error_exit ()
 rtc_error_exit execution function for activity

RtmRes _rtc_fatal_exit ()
 rtc_fatal_exit execution function for activity

void init_state_func_table ()
 initialize activity function table


Protected Attributes

CORBA::ORB_ptr m_pORB
 pointer to ORB

PortableServer::POA_ptr m_pPOA
 pointer to POA

RTCBase_var m_Parent
 object reference to parent component

ThreadState m_ThreadState
 activity thread state variable

ComponentStateMtx m_CurrentState
 activity current state varible

ComponentStateMtx m_NextState
 activity next state varible

StateFunc _exit_func [11]
 exit function table of activity

StateFunc _entry_func [11]
 entry function table of activity

StateFunc _do_func [11]
 do function table of activity

InPorts m_InPorts
 InPort list with mutex.

OutPorts m_OutPorts
 OutPort list with mutex.

TimedState m_TimedState
 Input port flag list activity state variable.

OutPortAny< TimedState > m_StatePort
 activity state OutPort

RtcModuleProfile m_Profile
 component profile

std::list< string > m_Alias
 Aliases of component name.

NamingPolicy m_NamingPolicy

Detailed Description

RT component base class.

RT-component developer should derive this base class to create own RT component class. Procedure is as follows.

In your RT-conponent class, you have to define input variable and output variable. Input channel and output channel also should be defined as InPort<T> objects or OutPort<T> objects. These variables and channel objects should be bound each other in the constructor.

In the constructor of your component class, input channel objects and output channel objects have to make registration as CORBA objects using registerInPort , registerOutPort method.


Member Typedef Documentation

typedef RTM::RTComponent::ComponentState RTM::RtcBase::ComponentState [protected]
 

RTComponent state re-declaration.

typedef list<InPortBase*>::iterator RTM::RtcBase::InPorts_it [protected]
 

InPort list iterator.

Reimplemented in RTM::RtcCompositeBase.

typedef list<OutPortBase*>::iterator RTM::RtcBase::OutPorts_it [protected]
 

OutPort list iterator.

Reimplemented in RTM::RtcCompositeBase.

typedef RtmRes(RtcBase::* RTM::RtcBase::StateFunc)() [protected]
 

activity function pointer definition


Constructor & Destructor Documentation

RTM::RtcBase::RtcBase  ) 
 

A constructor of RtcBase class.

Constructor of RtcBase which is RTComponent servant implementation base classes without arguments. If use this constructor, user have to set the ORB pointer and a POA pointer or a pointer to RtcManager.

RTM::RtcBase::RtcBase CORBA::ORB_ptr  orb,
PortableServer::POA_ptr  poa
 

A constructor of RtcBase class.

If the ORB pointer and a POA pointer are already available, user can use this constructor.

Parameters:
orb pointer to ORB
poa pointer to POA

RTM::RtcBase::RtcBase RtcManager manager  ) 
 

A constructor.

Parameters:
manager pointer to component manager: RtcManager

virtual RTM::RtcBase::~RtcBase  )  [virtual]
 

A destructor of RtcBase class.


Member Function Documentation

RtmRes RTM::RtcBase::_check_error RtmRes  result  )  [protected]
 

activity error check function

RtmRes RTM::RtcBase::_nop  )  [inline, protected]
 

dummy function for activity

RtmRes RTM::RtcBase::_rtc_aborting  )  [protected]
 

rtc_aborting_entry execution function for activity

RtmRes RTM::RtcBase::_rtc_active  )  [protected]
 

rtc_active_do execution function for activity

RtmRes RTM::RtcBase::_rtc_active_entry  )  [protected]
 

rtc_active_entry execution function for activity

RtmRes RTM::RtcBase::_rtc_active_exit  )  [protected]
 

rtc_active_exit execution function for activity

RtmRes RTM::RtcBase::_rtc_error  )  [protected]
 

rtc_error_do execution function for activity

RtmRes RTM::RtcBase::_rtc_error_entry  )  [protected]
 

rtc_error_entry execution function for activity

RtmRes RTM::RtcBase::_rtc_error_exit  )  [protected]
 

rtc_error_exit execution function for activity

RtmRes RTM::RtcBase::_rtc_exiting  )  [protected]
 

rtc_exiting_entry execution function for activity

RtmRes RTM::RtcBase::_rtc_fatal  )  [protected]
 

rtc_fatal_do execution function for activity

RtmRes RTM::RtcBase::_rtc_fatal_entry  )  [protected]
 

rtc_fatal_entry execution function for activity

RtmRes RTM::RtcBase::_rtc_fatal_exit  )  [protected]
 

rtc_fatal_exit execution function for activity

RtmRes RTM::RtcBase::_rtc_initializing  )  [protected]
 

rtc_init_entry execution function for activity

RtmRes RTM::RtcBase::_rtc_ready  )  [protected]
 

rtc_ready_do execution function for activity

RtmRes RTM::RtcBase::_rtc_ready_entry  )  [protected]
 

rtc_ready_entry execution function for activity

RtmRes RTM::RtcBase::_rtc_ready_exit  )  [protected]
 

rtc_ready_exit execution function for activity

RtmRes RTM::RtcBase::_rtc_starting  )  [protected]
 

rtc_starting_entry execution function for activity

RtmRes RTM::RtcBase::_rtc_stopping  )  [protected]
 

rtc_stopping_entry execution function for activity

void RTM::RtcBase::appendAlias const std::string  alias  ) 
 

Register alias of component name.

This method register alias of component name. Registered alias will bind to naming server. Context delimiter is "/", id/kind delimiter is "|". If you want to bind your component "MyManipulator0" under a context "Manipulator", you should give an char* argument like "/Manipulator/MyManipulator|rtc". This component will be bound to naming server on this alias.

Parameters:
alias An alias of this component name

void RTM::RtcBase::appendAlias const char *  alias  ) 
 

Register alias of component name.

This method register alias of component name. Registered alias will bind to naming server. Context delimiter is "/", id/kind delimiter is "|". If you want to bind your component "MyManipulator0" under a context "Manipulator", you should give an char* argument like "/Manipulator/MyManipulator|rtc". This component will be bound to naming server on this alias.

Parameters:
alias An alias of this component name

virtual char* RTM::RtcBase::category  )  [virtual]
 

[CORBA interface] get category

bool RTM::RtcBase::deleteInPort InPortBase in_ch  ) 
 

Deletion of InPort.

"false" is returned when the object of the argument is not registered.

Parameters:
in_ch Input channel object of InPort<T>
Returns:
true/false: "false" will be returned if deletion goes wrong.

bool RTM::RtcBase::deleteInPortByName const char *  ch_name  ) 
 

Deletion of input channel by channel name.

"false" is returned when the object of the argument is not registered.

Parameters:
ch_name Input channel name
Returns:
true/false: "false" will be returned if deletion goes wrong.

bool RTM::RtcBase::deleteOutPort OutPortBase out_ch  ) 
 

Deletion of output channel.

"false" is returned when the object of the argument is not registered.

Parameters:
out_ch Output channel object of OutPort<T>
Returns:
true/false: "false" will be returned if deletion goes wrong.

bool RTM::RtcBase::deleteOutPortByName const char *  ch_name  ) 
 

Deletion of output channel by channel name.

"false" is returned when the object of the argument is not registered.

Parameters:
ch_name Output channel name
Returns:
true/false: "false" will be returned if deletion goes wrong.

bool RTM::RtcBase::deletePort OutPortBase out_ch  )  [inline]
 

Deletion of output channel.

"false" is returned when the object of the argument is not registered.

Parameters:
out_ch Output channel object of OutPort<T>
Returns:
true/false: "false" will be returned if deletion goes wrong.

Reimplemented in RTM::RtcCompositeBase.

bool RTM::RtcBase::deletePort InPortBase in_ch  )  [inline]
 

Deletion of InPort.

"false" is returned when the object of the argument is not registered.

Parameters:
in_ch Input channel object of InPort<T>
Returns:
true/false: "false" will be returned if deletion goes wrong.

Reimplemented in RTM::RtcCompositeBase.

virtual char* RTM::RtcBase::description  )  [virtual]
 

[CORBA interface] get description

virtual InPort_ptr RTM::RtcBase::get_inport const char *  name  )  throw (CORBA::SystemException, RTM::RTComponent::NoSuchName) [virtual]
 

[CORBA interface] Return input port object reference

Parameters:
name InPort name

virtual OutPort_ptr RTM::RtcBase::get_outport const char *  name  )  throw (CORBA::SystemException, RTM::RTComponent::NoSuchName) [virtual]
 

[CORBA interface] Return output port object reference

Parameters:
name OutPort name

std::list<string> RTM::RtcBase::getAliases  ) 
 

Get registered aliases of component name.

virtual RtcModuleProfile& RTM::RtcBase::getModuleProfile  )  [inline, virtual]
 

Get RtcModuleProfile.

Get RtcModuleProfile

NamingPolicy RTM::RtcBase::getNamingPolicy  ) 
 

virtual char* RTM::RtcBase::implementation_id  )  [virtual]
 

[CORBA interface] get implementation_id

virtual void RTM::RtcBase::init_orb CORBA::ORB_ptr  orb,
PortableServer::POA_ptr  poa
[virtual]
 

Initialize this component with ORB and POA pointer.

Parameters:
orb pointer to ORB
poa pointer to POA

void RTM::RtcBase::init_state_func_table  )  [protected]
 

initialize activity function table

virtual void RTM::RtcBase::initModuleProfile RtcModuleProfile  prof  )  [virtual]
 

Initialize RtcModuleProfile.

Parameters:
RtcModuleProfile module profile

virtual InPortList* RTM::RtcBase::inports  )  [virtual]
 

[CORBA interface] Return input port object reference list

virtual char* RTM::RtcBase::instance_id  )  [virtual]
 

[CORBA interface] get instance_id

bool RTM::RtcBase::isAliasEnable  ) 
 

bool RTM::RtcBase::isLongNameEnable  ) 
 

virtual char* RTM::RtcBase::maker  )  [virtual]
 

[CORBA interface] get maker

virtual int RTM::RtcBase::open void *  args  )  [virtual]
 

Create internal activity thread.

Create internal activity thread. This is ACE_Task class method over ride.

Parameters:
args usually give 0

Reimplemented in RTM::RtcCompositeBase.

virtual OutPortList* RTM::RtcBase::outports  )  [virtual]
 

[CORBA interface] Return output port object reference list

virtual RTCProfile* RTM::RtcBase::profile  )  [virtual]
 

[CORBA interface] get profile

Reimplemented in RTM::RtcCompositeBase.

bool RTM::RtcBase::registerInPort InPortBase in_ch  ) 
 

Registration of input channel.

Duplication of a name of input channel is not allowed. "false" will be returned when there is duplication of a name.

Parameters:
in_ch Input channel object of InPort<T>
Returns:
true/false: "false" will be returned if registration goes wrong.

bool RTM::RtcBase::registerOutPort OutPortBase out_ch  ) 
 

Registration of output channel.

Duplication of a name of output channel is not allowed. "false" will be returned when there is duplication of a name.

Parameters:
out_ch Output channel object of OutPort<T>
Returns:
true/false: "false" will be returned if registration goes wrong.

bool RTM::RtcBase::registerPort OutPortBase out_ch  )  [inline]
 

Reimplemented in RTM::RtcCompositeBase.

bool RTM::RtcBase::registerPort InPortBase in_ch  )  [inline]
 

Registration of input channel.

Duplication of a name of input channel is not allowed. "false" will be returned when there is duplication of a name.

Parameters:
in_ch Input channel object of InPort<T>
Returns:
true/false: "false" will be returned if registration goes wrong.

Reimplemented in RTM::RtcCompositeBase.

virtual RtmRes RTM::RtcBase::rtc_aborting_entry  )  [inline, virtual]
 

[CORBA interface] entry: aborting() method.

This method will be called and move to Error state immediately.

Reimplemented in RTM::RtcCompositeBase, and RTM::RtcSyncComposite.

virtual RtmRes RTM::RtcBase::rtc_active_do  )  [inline, virtual]
 

[CORBA interface] do: active() method.

This method will be called repeatedly when component state is Active.

Reimplemented in RTM::RtcCompositeBase, and RTM::RtcSyncComposite.

virtual RtmRes RTM::RtcBase::rtc_active_entry  )  [inline, virtual]
 

[CORBA interface] entry: active() method.

This method will be called once when component enter to Active state.

Reimplemented in RTM::RtcCompositeBase, and RTM::RtcSyncComposite.

virtual RtmRes RTM::RtcBase::rtc_active_exit  )  [inline, virtual]
 

[CORBA interface] exit: active() method.

This method will be called once when component exit from Active state.

Reimplemented in RTM::RtcCompositeBase, and RTM::RtcSyncComposite.

virtual RtmRes RTM::RtcBase::rtc_add_component RTCBase_ptr  comp  )  [inline, virtual]
 

[CORBA interface] Set child component

Reimplemented in RTM::RtcCompositeBase.

virtual RtmRes RTM::RtcBase::rtc_attach_inport InPort_ptr  in_port  )  [inline, virtual]
 

[CORBA interface] Get child components list

Reimplemented in RTM::RtcCompositeBase.

virtual RtmRes RTM::RtcBase::rtc_attach_inport_by_name RTCBase_ptr  comp,
const char *  name
[inline, virtual]
 

[CORBA interface] Get child components list

Reimplemented in RTM::RtcCompositeBase.

virtual RtmRes RTM::RtcBase::rtc_attach_outport OutPort_ptr  out_port  )  [inline, virtual]
 

[CORBA interface] Get child components list

Reimplemented in RTM::RtcCompositeBase.

virtual RtmRes RTM::RtcBase::rtc_attach_outport_by_name RTCBase_ptr  comp,
const char *  name
[inline, virtual]
 

[CORBA interface] Get child components list

Reimplemented in RTM::RtcCompositeBase.

virtual RTCBaseList* RTM::RtcBase::rtc_components  )  [inline, virtual]
 

[CORBA interface] Get child components list

Reimplemented in RTM::RtcCompositeBase.

virtual RtmRes RTM::RtcBase::rtc_delete_component RTCBase_ptr  comp  )  [inline, virtual]
 

[CORBA interface] Delete child component

Reimplemented in RTM::RtcCompositeBase.

virtual RtmRes RTM::RtcBase::rtc_detatch_inport InPort_ptr  in_port  )  [inline, virtual]
 

[CORBA interface] Get child components list

Reimplemented in RTM::RtcCompositeBase.

virtual RtmRes RTM::RtcBase::rtc_detatch_inport_by_name const char *  name  )  [inline, virtual]
 

[CORBA interface] Get child components list

Reimplemented in RTM::RtcCompositeBase.

virtual RtmRes RTM::RtcBase::rtc_detatch_outport OutPort_ptr  out_port  )  [inline, virtual]
 

[CORBA interface] Get child components list

Reimplemented in RTM::RtcCompositeBase.

virtual RtmRes RTM::RtcBase::rtc_detatch_outport_by_name const char *  name  )  [inline, virtual]
 

[CORBA interface] Get child components list

Reimplemented in RTM::RtcCompositeBase.

virtual RtmRes RTM::RtcBase::rtc_error_do  )  [inline, virtual]
 

[CORBA interface] do: ready() method.

This method will be called repeatedly when component state is Error.

Reimplemented in RTM::RtcCompositeBase, and RTM::RtcSyncComposite.

virtual RtmRes RTM::RtcBase::rtc_error_entry  )  [inline, virtual]
 

[CORBA interface] entry: error() method.

This method will be called once when component enter to Error state.

Reimplemented in RTM::RtcCompositeBase, and RTM::RtcSyncComposite.

virtual RtmRes RTM::RtcBase::rtc_error_exit  )  [inline, virtual]
 

[CORBA interface] exit: error() method.

This method will be called once when component exit from Error state.

Reimplemented in RTM::RtcCompositeBase, and RTM::RtcSyncComposite.

virtual RtmRes RTM::RtcBase::rtc_exit  )  throw (CORBA::SystemException, RTM::RTComponent::IllegalTransition) [virtual]
 

[CORBA interface] Go to term() state from anywhere

virtual RtmRes RTM::RtcBase::rtc_exiting_entry  )  [inline, virtual]
 

[CORBA interface] entry: exiting() method.

This method will be called and terminate component.

Reimplemented in RTM::RtcCompositeBase, and RTM::RtcSyncComposite.

virtual RtmRes RTM::RtcBase::rtc_fatal_do  )  [inline, virtual]
 

[CORBA interface] do: fatal() method.

This method will be called repeatedly when component state is FATAL_ERROR state.

Reimplemented in RTM::RtcCompositeBase, and RTM::RtcSyncComposite.

virtual RtmRes RTM::RtcBase::rtc_fatal_entry  )  [inline, virtual]
 

[CORBA interface] entry: fatal() method.

This method will be called once when component enter to FATAL_ERROR state.

Reimplemented in RTM::RtcCompositeBase, and RTM::RtcSyncComposite.

virtual RtmRes RTM::RtcBase::rtc_fatal_exit  )  [inline, virtual]
 

[CORBA interface] exit: fatal() method.

This method will be called once when component exit from FATAL_ERROR state.

Reimplemented in RTM::RtcCompositeBase, and RTM::RtcSyncComposite.

virtual RTCBase_ptr RTM::RtcBase::rtc_get_component const char *  name  )  [inline, virtual]
 

[CORBA interface] Get child components list

Reimplemented in RTM::RtcCompositeBase.

virtual RtmRes RTM::RtcBase::rtc_init_entry  )  [inline, virtual]
 

[CORBA interface] entry: ready() method.

This method will be called and move to Ready/Error state immediately.

Reimplemented in RTM::RtcCompositeBase, and RTM::RtcSyncComposite.

virtual RtmRes RTM::RtcBase::rtc_kill  )  [virtual]
 

[CORBA interface] Go to exiting() state from active() state

virtual RtmRes RTM::RtcBase::rtc_ready_do  )  [inline, virtual]
 

[CORBA interface] do: ready() method.

This method will be called repeatedly when component state is Ready.

Reimplemented in RTM::RtcCompositeBase, and RTM::RtcSyncComposite.

virtual RtmRes RTM::RtcBase::rtc_ready_entry  )  [inline, virtual]
 

[CORBA interface] entry: ready() method.

This method will be called once when component enter to Ready state.

Reimplemented in RTM::RtcCompositeBase, and RTM::RtcSyncComposite.

virtual RtmRes RTM::RtcBase::rtc_ready_exit  )  [inline, virtual]
 

[CORBA interface] exit: ready() method.

This method will be called once when component exit from Ready state.

Reimplemented in RTM::RtcCompositeBase, and RTM::RtcSyncComposite.

virtual RtmRes RTM::RtcBase::rtc_replace_component RTCBase_ptr  comp1,
RTCBase_ptr  comp2
[inline, virtual]
 

[CORBA interface] Replace two child components

Reimplemented in RTM::RtcCompositeBase.

virtual RtmRes RTM::RtcBase::rtc_replace_component_by_name const char *  name1,
const char *  name2
[inline, virtual]
 

[CORBA interface] Replace two child components

Reimplemented in RTM::RtcCompositeBase.

virtual RtmRes RTM::RtcBase::rtc_reset  )  throw (CORBA::SystemException, RTM::RTComponent::IllegalTransition) [virtual]
 

[CORBA interface] Go to init() state from error() state

virtual RtmRes RTM::RtcBase::rtc_set_parent RTCBase_ptr  comp  )  [virtual]
 

[CORBA interface] Set parent component

virtual RtmRes RTM::RtcBase::rtc_start  )  throw (CORBA::SystemException, RTM::RTComponent::IllegalTransition) [virtual]
 

[CORBA interface] Activate this components' activity

virtual RtmRes RTM::RtcBase::rtc_start_thread  )  [virtual]
 

[CORBA interface] Start activity internal thread

virtual RtmRes RTM::RtcBase::rtc_starting_entry  )  [inline, virtual]
 

[CORBA interface] entry: starting() method.

This method will be called and move to Active state immediately.

Reimplemented in RTM::RtcCompositeBase, and RTM::RtcSyncComposite.

virtual OutPort_ptr RTM::RtcBase::rtc_state  )  [virtual]
 

[CORBA interface] Get activity status OutPort

virtual RtmRes RTM::RtcBase::rtc_stop  )  throw (CORBA::SystemException, RTM::RTComponent::IllegalTransition) [virtual]
 

[CORBA interface] Stop this component's activity

virtual RtmRes RTM::RtcBase::rtc_stop_thread  )  [virtual]
 

[CORBA interface] Stop activity internal thread

virtual RtmRes RTM::RtcBase::rtc_stopping_entry  )  [inline, virtual]
 

[CORBA interface] entry: stopping() method.

This method will be called and move to Ready state immediately.

Reimplemented in RTM::RtcCompositeBase, and RTM::RtcSyncComposite.

virtual RtmRes RTM::RtcBase::rtc_worker  )  [virtual]
 

[CORBA interface] Main activity function.

Called from activity thread periodically.

virtual string RTM::RtcBase::setComponentName int  num  )  [virtual]
 

Set component name.

Parameters:
num instance number of this component

void RTM::RtcBase::setNamingPolicy NamingPolicy  policy  ) 
 

virtual int RTM::RtcBase::svc void   )  [virtual]
 

Create internal activity thread.

Run by a daemon thread to handle deferred processing. ACE_Task class method over ride.

Reimplemented in RTM::RtcCompositeBase, and RTM::RtcSyncComposite.

virtual char* RTM::RtcBase::version  )  [virtual]
 

[CORBA interface] get version


Member Data Documentation

StateFunc RTM::RtcBase::_do_func[11] [protected]
 

do function table of activity

StateFunc RTM::RtcBase::_entry_func[11] [protected]
 

entry function table of activity

StateFunc RTM::RtcBase::_exit_func[11] [protected]
 

exit function table of activity

std::list<string> RTM::RtcBase::m_Alias [protected]
 

Aliases of component name.

ComponentStateMtx RTM::RtcBase::m_CurrentState [protected]
 

activity current state varible

InPorts RTM::RtcBase::m_InPorts [protected]
 

InPort list with mutex.

Reimplemented in RTM::RtcCompositeBase.

NamingPolicy RTM::RtcBase::m_NamingPolicy [protected]
 

ComponentStateMtx RTM::RtcBase::m_NextState [protected]
 

activity next state varible

OutPorts RTM::RtcBase::m_OutPorts [protected]
 

OutPort list with mutex.

Reimplemented in RTM::RtcCompositeBase.

RTCBase_var RTM::RtcBase::m_Parent [protected]
 

object reference to parent component

CORBA::ORB_ptr RTM::RtcBase::m_pORB [protected]
 

pointer to ORB

PortableServer::POA_ptr RTM::RtcBase::m_pPOA [protected]
 

pointer to POA

RtcModuleProfile RTM::RtcBase::m_Profile [protected]
 

component profile

Reimplemented in RTM::RtcCompositeBase.

OutPortAny<TimedState> RTM::RtcBase::m_StatePort [protected]
 

activity state OutPort

ThreadState RTM::RtcBase::m_ThreadState [protected]
 

activity thread state variable

TimedState RTM::RtcBase::m_TimedState [protected]
 

Input port flag list activity state variable.


The documentation for this class was generated from the following file:
Generated on Thu Dec 16 15:29:18 2004 for OpenRTM by doxygen 1.3.6