orocos-ocl: DeploymentComponent Class Reference

It allows to create connections between components, load the properties and scripts for components and setup component activities.


Public Member Functions
	DeploymentComponent (std::string name="Configurator")
bool	connectPeers (const std::string &one, const std::string &other)
	Establish a bidirectional connection between two tasks.
bool	connectPorts (const std::string &one, const std::string &other)
	Establish a data flow connection between two tasks.
bool	connectPorts (const std::string &one, const std::string &one_port, const std::string &other, const std::string &other_port)
	Connect two named ports of components.
bool	addPeer (const std::string &from, const std::string &to)
	Establish a uni directional connection form one task to another.
bool	import (const std::string &path)
	Import a library or all libraries in a given directory.
bool	loadLibrary (const std::string &name)
	Use this command to load a dynamic library into the memory of the current process.
bool	loadComponent (const std::string &name, const std::string &type)
	Load a new component in the current process.
bool	unloadComponent (const std::string &name)
	Unload a loaded component from the current process.
void	displayComponentTypes () const
	This function prints out the component types this DeploymentComponent can create.
bool	setPeriodicActivity (const std::string &comp_name, double period, int priority, int scheduler)
	(Re-)set the activity of a component which was loaded with loadComponent.
bool	setNonPeriodicActivity (const std::string &comp_name, int priority, int scheduler)
	(Re-)set the activity of a component which was loaded with loadComponent.
bool	setSlaveActivity (const std::string &comp_name, double period)
	(Re-)set the activity of a component which was loaded with loadComponent.
bool	setActivity (const std::string &comp_name, const std::string &act_type, double period, int priority, int scheduler)
	(Re-)set the activity of a component which was loaded with loadComponent.
bool	loadComponents (const std::string &config_file)
	Load a (partial) application XML configuration from disk.
bool	configureComponents ()
	Configure the components with loaded configuration(s).
bool	startComponents ()
	Start all components in the current configuration which have AutoStart set to true.
void	clearConfiguration ()
	Clear all loaded configuration options.
bool	stopComponents ()
	Stop all loaded and running components.
bool	cleanupComponents ()
	Cleanup all loaded and not running components.
bool	unloadComponents ()
	Unload all loaded and not running components.
bool	kickStart (const std::string &file_name)
	This function runs loadComponents, configureComponents and startComponents in a row, given no failures occur along the way.
bool	kickOut ()
	Stop, cleanup and unload all components which were loaded by this component.
bool	configure (const std::string &name)
	Configure a component by loading the property file 'name.cpf' for component with name name.
bool	configureFromFile (const std::string &name, const std::string &filename)
	Configure a component by loading a property file.
bool	loadConfiguration (const std::string &config_file)
	Load a (partial) application XML configuration from disk.
bool	loadConfigurationString (const std::string &config_text)
	Identical to loadConfiguration, but reads the XML from a string instead of a file.
Protected Types
typedef std::map < std::string, ConnectionData >	ConMap
	This maps connection names to associated ports.
typedef std::map < std::string, ComponentData >	CompList
	This vector holds the dynamically loaded components.
Protected Attributes
RTT::PropertyBag	root
	This bag stores the current configuration.
RTT::Property < std::string >	compPath
RTT::Property< bool >	autoUnload
RTT::Attribute< bool >	validConfig
RTT::Constant< int >	sched_RT
RTT::Constant< int >	sched_OTHER
RTT::Constant< int >	lowest_Priority
RTT::Constant< int >	highest_Priority
ConMap	conmap
CompList	comps
void *	handle
	Handle of last loaded library.
std::string	libname
	Name of last loaded libarary.
Static Protected Attributes
static std::vector < std::pair < std::string, void * > >	LoadedLibs
	Keep a list of all loaded libraries such that double loads are avoided during import/loadLibrary.
Classes
struct	ComponentData
	Each configured component is stored in a struct like this. More...
struct	ConnectionData
	Assembles all ports which share a connection. More...

Member Function Documentation

bool connectPeers	(	const std::string &	one,
		const std::string &	other
	)

Establish a bidirectional connection between two tasks.

Parameters:

	one	The first task to connect
	other	The second task to connect

Returns:: true if both tasks are peers of this component and could be connected.

bool connectPorts	(	const std::string &	one,
		const std::string &	other
	)

Establish a data flow connection between two tasks.

The direction of the connection is determined by the read/write port types.3B

Parameters:

	one	The first task to connect
	other	The second task to connect

Returns:: true if both tasks are peers of this component and data ports could be connected.

bool connectPorts	(	const std::string &	one,
		const std::string &	one_port,
		const std::string &	other,
		const std::string &	other_port
	)

Connect two named ports of components.

The direction of the connection is determined by the read/write port types.

Parameters:

	one	Name of the first component
	one_port	Name of the port of the first component to connect to other_port
	other	Name of the second component
	other_port	Name of the port of the second component to connect to one_port

Returns:: true if the ports are present and could be connected, false otherwise.

bool addPeer	(	const std::string &	from,
		const std::string &	to
	)

Establish a uni directional connection form one task to another.

Parameters:

	from	The component where the connection starts.
	to	The component where the connection ends.

Returns:: true if both tasks are peers of this component and a connection could be created.

bool import ( const std::string & path )

Import a library or all libraries in a given directory.

This function calls loadLibrary on each found shared library in path.

bool loadLibrary ( const std::string & name )

Use this command to load a dynamic library into the memory of the current process.

Parameters:

name

an absolute or relative path to a loadable library.

Returns:: True if it could be loaded, false otherwise.

bool loadComponent	(	const std::string &	name,
		const std::string &	type
	)

Load a new component in the current process.

It wil appear as a peer with name name of this component.

Parameters:

	name	Name the new component will receive.
	type	The type of the component. This is usually a library (.dll or .so) name.

Returns:: True if the component could be created, false if name is already in use or type was not an Orocos library.

bool unloadComponent ( const std::string & name )

Unload a loaded component from the current process.

It may not be running.

Parameters:

name

The name of a component loaded with loadComponent().

Returns:: true if name was not running and could be unloaded.

void displayComponentTypes ( ) const

This function prints out the component types this DeploymentComponent can create.

See also:: loadComponent()

bool setPeriodicActivity	(	const std::string &	comp_name,
		double	period,
		int	priority,
		int	scheduler
	)

(Re-)set the activity of a component which was loaded with loadComponent.

Parameters:

	comp_name	The name of the component to change.
	period	The period of the activity.
	priority	The scheduler priority (OS dependent).
	scheduler	The scheduler type ORO_SCHED_RT or ORO_SCHED_OTHER.

Returns:: false if one of the parameters does not match or if the component is running.

bool setNonPeriodicActivity	(	const std::string &	comp_name,
		int	priority,
		int	scheduler
	)

(Re-)set the activity of a component which was loaded with loadComponent.

Parameters:

	comp_name	The name of the component to change.
	priority	The scheduler priority (OS dependent).
	scheduler	The scheduler type ORO_SCHED_RT or ORO_SCHED_OTHER.

Returns:: false if one of the parameters does not match or if the component is running.

bool setSlaveActivity	(	const std::string &	comp_name,
		double	period
	)

(Re-)set the activity of a component which was loaded with loadComponent.

Parameters:

	comp_name	The name of the component to change.
	period	The period of the activity.

Returns:: false if one of the parameters does not match or if the component is running.

bool setActivity	(	const std::string &	comp_name,
		const std::string &	act_type,
		double	period,
		int	priority,
		int	scheduler
	)

(Re-)set the activity of a component which was loaded with loadComponent.

Parameters:

	comp_name	The name of the component to change.
	act_type	The Activity type: 'PeriodicActivity', 'NonPeriodicActivity' or 'SlaveActivity'.
	priority	The scheduler priority (OS dependent).
	period	The period of the activity.
	scheduler	The scheduler type ORO_SCHED_RT or ORO_SCHED_OTHER.

Returns:: false if one of the parameters does not match or if the component is running.

bool loadComponents ( const std::string & config_file )

Load a (partial) application XML configuration from disk.

The necessary components are located or loaded, but no component configuration is yet applied. One can load multiple configurations and call configureComponents() once to apply all settings. In case of duplicate information is the latest loaded configuration option used.

See also:: configureComponents to configure the components with the loaded configuration and startComponents to start them.

Parameters:

config_file

A file on local disk containing the XML configuration.

Returns:: true if the configuration could be read and was valid.

bool configureComponents ( )

Configure the components with loaded configuration(s).

Configure the components with a loaded configuration.

This function connects components and data ports, reads properties for the components, attaches activities and loads program and state machine scripts. If a component XML entry has the AutoConf element, configure() will be called upon this component as well. If the configuration fails halfway, the system is configured as complete as possible. You can try to reconfigure by loading a new configuration (using loadConfiguration ) and call configureComponents again to resolve remaining issues.

This function tries to apply the configuration with a best effort. For example, if a program must be loaded in the component, and a program with that same name is already present, the present one is unloaded and the new one is attempted to be loaded. If that fails, the configuration process leaves the scripts as-is and proceeds with further configuration steps of the same component and other components.

The order of configuration depends on the order of components during loadConfiguration. The first encountered component is configured first. If additional loadConfiguration operations refer to the same component, the configuration order is not changed.

Returns:: true if all components could be succesfully configured.
true if all components could be succesfully configured.

bool startComponents ( )

Start all components in the current configuration which have AutoStart set to true.

Returns:: true if all components could be succesfully started.

void clearConfiguration ( )

Clear all loaded configuration options.

This does not alter any component.

bool configure ( const std::string & name )

Configure a component by loading the property file 'name.cpf' for component with name name.

Parameters:

name

The name of the component to configure. The file used will be 'name.cpf'.

Returns:: true if the component is a peer of this component and the file could be read.

bool configureFromFile	(	const std::string &	name,
		const std::string &	filename
	)

Configure a component by loading a property file.

Parameters:

	name	The name of the component to configure
	filename	The filename where the configuration is in.

Returns:: true if the component is a peer of this component and the file could be read.

bool loadConfiguration ( const std::string & config_file )

Load a (partial) application XML configuration from disk.

Deprecated:: by loadComponents.

See also:: configureComponents to configure the components with the loaded configuration.

Parameters:

config_file

A file on local disk containing the XML configuration.

Returns:: true if the configuration could be read and was valid.

bool loadConfigurationString ( const std::string & config_text )

Identical to loadConfiguration, but reads the XML from a string instead of a file.

Parameters:

config_text

A string containing the XML configuration.

Returns:: true if the configuration string could be read and was valid.

DeploymentComponent Class Reference

Detailed Description

Public Member Functions

Protected Types

Protected Attributes

Static Protected Attributes

Classes

Member Function Documentation

Member Data Documentation