DeploymentComponent Class Reference

A Component for deploying (configuring) other components in an application. More...

#include <DeploymentComponent.hpp>

Inherited by CorbaDeploymentComponent.

List of all members.

Classes

struct  ComponentData
 Each configured component is stored in a struct like this. More...
struct  ConnectionData
 Assembles all ports which share a connection. More...
class  LoadedLib
 Keep a list of all loaded libraries such that double loads are avoided during import/loadLibrary. More...

Public Member Functions

 DeploymentComponent (std::string name="Configurator")
TaskContext * myGetPeer (std::string name)
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 with a periodic activity.
bool setNonPeriodicActivity (const std::string &comp_name, int priority, int scheduler)
 (Re-)set the activity of a component with a non periodic activity.
bool setSlaveActivity (const std::string &comp_name, double period)
 (Re-)set the activity of a component with a (stand alone) slave activity.
bool setMasterSlaveActivity (const std::string &comp_name, const std::string &master_name)
 (Re-)set the activity of a component with a slave activity with master.
bool setActivity (const std::string &comp_name, const std::string &act_type, double period, int priority, int scheduler, const std::string &master_name="")
 (Re-)set the activity of a component.
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 kickOutComponent (const std::string &comp_name)
 Stop, cleanup and unload a single component which were loaded by this component.
void kickOut (const std::string &config_file)
 Identical to kickOutAll, but it reads the name of the Components to kickOut from an XML file.
bool kickOutAll ()
 Stop, cleanup and unload all components loaded by the DeploymentComponent.
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.
FactoryMap & getFactories ()
 Returns the factory singleton which creates all types of components for the DeploymentComponent.
bool stopComponent (RTT::TaskContext *instance)
 Stop a single loaded and running component.
bool stopComponent (const std::string &comp_name)
 Stop a single loaded and running components.
bool cleanupComponent (RTT::TaskContext *instance)
 Cleanup a single loaded and not running component.
bool cleanupComponent (const std::string &comp_name)
 Cleanup a single loaded and not running component.

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 Member Functions

bool configureHook ()
 Imports available plugins.
bool unloadComponentImpl (CompList::iterator cit)
 This method removes all references to the component hold in cit, on the condition that it is not running.
virtual bool componentLoaded (TaskContext *c)
 Hook function for subclasses.

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
RTT::Property< std::string > target
ConMap conmap
CompList comps
void * handle
 Handle of last loaded library.
std::string libname
 Name of last loaded library.

Static Protected Attributes

static std::vector< LoadedLib > loadedLibs

Detailed Description

A Component for deploying (configuring) other components in an application.

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

Definition at line 60 of file DeploymentComponent.hpp.

Member Function Documentation

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.

Definition at line 269 of file DeploymentComponent.cpp.

Referenced by DeploymentComponent::configureComponents(), and DeploymentComponent::loadComponent().

bool cleanupComponent ( const std::string &  comp_name  )  [inline]

Cleanup a single loaded and not running component.

Parameters:
comp_name name of the component.
Returns:
true if successfully cleaned up

Definition at line 535 of file DeploymentComponent.hpp.

bool cleanupComponent ( RTT::TaskContext *  instance  ) 

Cleanup a single loaded and not running component.

Parameters:
instance instance pointer of the component.
Returns:
true if successfully cleaned up

Definition at line 1802 of file DeploymentComponent.cpp.

Referenced by DeploymentComponent::kickOutComponent().

void clearConfiguration (  ) 

Clear all loaded configuration options.

This does not alter any component.

Definition at line 1148 of file DeploymentComponent.cpp.

References DeploymentComponent::root.

bool componentLoaded ( TaskContext *  c  )  [protected, virtual]

Hook function for subclasses.

Allows a subclass to abort or extend the loading of a component. By default, this function returns true.

Returns:
false if the component should be unloaded again, true if loading was succesful.

Definition at line 243 of file DeploymentComponent.cpp.

Referenced by DeploymentComponent::loadComponent().

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.

Definition at line 1743 of file DeploymentComponent.cpp.

References DeploymentComponent::configureFromFile().

bool configureComponents (  ) 

Configure the components with loaded configuration(s).

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.

Definition at line 779 of file DeploymentComponent.cpp.

References DeploymentComponent::addPeer(), DeploymentComponent::ComponentData::autoconf, DeploymentComponent::ComponentData::instance, DeploymentComponent::ComponentData::loaded, DeploymentComponent::ConnectionData::owners, DeploymentComponent::ConnectionData::ports, and DeploymentComponent::root.

Referenced by DeploymentComponent::kickStart().

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.

Definition at line 1748 of file DeploymentComponent.cpp.

Referenced by DeploymentComponent::configure().

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.

Definition at line 253 of file DeploymentComponent.cpp.

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.

Definition at line 303 of file DeploymentComponent.cpp.

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.

Definition at line 285 of file DeploymentComponent.cpp.

void displayComponentTypes (  )  const

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

See also:
loadComponent()

Definition at line 1608 of file DeploymentComponent.cpp.

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.

Definition at line 1171 of file DeploymentComponent.cpp.

References DeploymentComponent::loadLibrary().

void kickOut ( const std::string &  config_file  ) 

Identical to kickOutAll, but it reads the name of the Components to kickOut from an XML file.

Parameters:
config_file name of an XML file (probably the same used by loadComponents() or kickStart() ).

Definition at line 1770 of file DeploymentComponent.cpp.

References DeploymentComponent::kickOutComponent().

bool kickOutComponent ( const std::string &  comp_name  ) 

Stop, cleanup and unload a single component which were loaded by this component.

Parameters:
comp_name name of the component.
Returns:
true if successfully stopped, cleaned and unloaded

Definition at line 1838 of file DeploymentComponent.cpp.

References DeploymentComponent::cleanupComponent(), DeploymentComponent::root, DeploymentComponent::stopComponent(), and DeploymentComponent::unloadComponent().

Referenced by DeploymentComponent::kickOut().

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.

Definition at line 1458 of file DeploymentComponent.cpp.

References DeploymentComponent::addPeer(), DeploymentComponent::componentLoaded(), DeploymentComponent::handle, and DeploymentComponent::loadLibrary().

Referenced by DeploymentComponent::loadComponents().

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.

Definition at line 417 of file DeploymentComponent.cpp.

References DeploymentComponent::loadComponent(), DeploymentComponent::root, and DeploymentComponent::setActivity().

Referenced by DeploymentComponent::kickStart(), and DeploymentComponent::loadConfiguration().

bool loadConfiguration ( 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.

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.

Definition at line 412 of file DeploymentComponent.cpp.

References DeploymentComponent::loadComponents().

Referenced by DeploymentComponent::loadConfigurationString().

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.

Definition at line 363 of file DeploymentComponent.cpp.

References DeploymentComponent::loadConfiguration().

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.

Definition at line 1213 of file DeploymentComponent.cpp.

References DeploymentComponent::LoadedLib::components_type, DeploymentComponent::handle, DeploymentComponent::libname, and DeploymentComponent::LoadedLib::name.

Referenced by DeploymentComponent::import(), and DeploymentComponent::loadComponent().

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

(Re-)set the activity of a component.

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.
master_name The name of the master component in case of a SlaveActivity with a master.
Returns:
false if one of the parameters does not match or if the component is running.

Definition at line 1670 of file DeploymentComponent.cpp.

Referenced by DeploymentComponent::loadComponents(), DeploymentComponent::setMasterSlaveActivity(), DeploymentComponent::setNonPeriodicActivity(), DeploymentComponent::setPeriodicActivity(), and DeploymentComponent::setSlaveActivity().

bool setMasterSlaveActivity ( const std::string &  comp_name,
const std::string &  master_name 
)

(Re-)set the activity of a component with a slave activity with master.

Parameters:
comp_name The name of the component to change.
master_name The name of the master component.
Returns:
false if one of the components is not found or comp_name is running.

Definition at line 1657 of file DeploymentComponent.cpp.

References DeploymentComponent::setActivity().

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

(Re-)set the activity of a component with a non periodic activity.

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.

Definition at line 1632 of file DeploymentComponent.cpp.

References DeploymentComponent::setActivity().

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

(Re-)set the activity of a component with a periodic activity.

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.

Definition at line 1619 of file DeploymentComponent.cpp.

References DeploymentComponent::setActivity().

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

(Re-)set the activity of a component with a (stand alone) slave activity.

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.

Definition at line 1645 of file DeploymentComponent.cpp.

References DeploymentComponent::setActivity().

bool startComponents (  ) 

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

Returns:
true if all components could be succesfully started.

Definition at line 1051 of file DeploymentComponent.cpp.

References DeploymentComponent::ComponentData::autostart, DeploymentComponent::ComponentData::instance, and DeploymentComponent::root.

Referenced by DeploymentComponent::kickStart().

bool stopComponent ( const std::string &  comp_name  )  [inline]

Stop a single loaded and running components.

Parameters:
comp_name name of the component.
Returns:
true if successfully stopped

Definition at line 518 of file DeploymentComponent.hpp.

bool stopComponent ( RTT::TaskContext *  instance  ) 

Stop a single loaded and running component.

Parameters:
instance instance pointer of the component.
Returns:
true if successfully stopped.

Definition at line 1819 of file DeploymentComponent.cpp.

Referenced by DeploymentComponent::kickOutComponent().

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.

Definition at line 1589 of file DeploymentComponent.cpp.

References DeploymentComponent::unloadComponentImpl().

Referenced by DeploymentComponent::kickOutComponent().

Member Data Documentation

RTT::PropertyBag root [protected]

This bag stores the current configuration.

It is the cumulation of all loadConfiguration() calls.

Definition at line 68 of file DeploymentComponent.hpp.

Referenced by DeploymentComponent::clearConfiguration(), DeploymentComponent::configureComponents(), DeploymentComponent::kickOutComponent(), DeploymentComponent::loadComponents(), DeploymentComponent::startComponents(), and DeploymentComponent::unloadComponentImpl().

The documentation for this class was generated from the following files:
Generated on Tue Aug 25 14:09:54 2009 for OrocosComponentLibrary by  doxygen 1.5.8