RTT::scripting::ScriptingService Class Reference

This interface allows to load program scripts and state machines and allows execution of code. More...

#include <rtt/scripting/ScriptingService.hpp>

Inheritance diagram for RTT::scripting::ScriptingService:

Public Types
typedef boost::shared_ptr< ScriptingService >	shared_ptr
typedef ProgramInterface::Status	ProgramStatus
typedef scripting::StateMachine::Status	StateMachineStatus
typedef std::vector< ProgramInterfacePtr >	Functions
	List of executed functions. More...
typedef OperationInterface	Factory
typedef boost::shared_ptr< const Service >	shared_constptr
typedef std::vector< std::string >	ProviderNames
typedef std::vector< base::DataSourceBase::shared_ptr >	Arguments
	The arguments for an operation. More...
typedef std::vector< ArgumentDescription >	Descriptions
	The descriptions of an argumentlist. More...
typedef std::vector< std::string >	AttributeNames
	A vector containing the names of all attribute objects in this repository. More...
typedef std::vector< base::AttributeBase * >	AttributeObjects
	A vector containing pointers to all attribute objects stored in this repository. More...
typedef std::vector< base::PortInterface * >	Ports
	A sequence of pointers to ports. More...
typedef std::vector< std::string >	PortNames
	A sequence of names of ports. More...
typedef boost::function< void(base::PortInterface *)>	SlotFunction

Public Member Functions
	ScriptingService (TaskContext *parent)
	Creates a ScriptingService object. More...
virtual	~ScriptingService ()
bool	loadProgram (ProgramInterfacePtr pi)
	Load a new Program. More...
bool	deleteProgram (const std::string &name)
	Completely discard a loaded Program. More...
bool	unloadProgram (const std::string &name)
	Unload a program from this processor. More...
void	clear ()
	Stop and unload all program scripts. More...
ProgramStatus::ProgramStatus	getProgramStatus (const std::string &name) const
	Return the status of a Program. More...
std::string	getProgramStatusStr (const std::string &name) const
	Return the status of a Program as a human readable string. More...
std::vector< std::string >	getProgramList () const
	Get a list of all loaded Programs. More...
const ProgramInterfacePtr	getProgram (const std::string &name) const
	Get a pointer to a loaded Program. More...
ProgramInterfacePtr	getProgram (const std::string &name)
bool	loadStateMachine (StateMachinePtr sc)
	Load a new State Machine and all its children. More...
bool	unloadStateMachine (const std::string &name)
	Unload a deactivated State Machine and all its children. More...
bool	deleteStateMachine (const std::string &name)
	Delete a deactivated State Machine and all its children. More...
StateMachineStatus::StateMachineStatus	getStateMachineStatus (const std::string &name) const
	Return the status of a StateMachine. More...
std::string	getStateMachineStatusStr (const std::string &name) const
	Return the status of a StateMachine as a human readable string. More...
std::vector< std::string >	getStateMachineList () const
	Get a list of all loaded StateMachines and their children. More...
const StateMachinePtr	getStateMachine (const std::string &name) const
	Get a pointer to a loaded StateMachine. More...
StateMachinePtr	getStateMachine (const std::string &name)
	Get a pointer to a loaded StateMachine. More...
int	execute (const std::string &code)
	Parse and execute a statement. More...
bool	eval (const std::string &code)
	Evaluate and run all statements in code. More...
bool	runScript (const std::string &filename)
	Run a script which is stored in a file. More...
virtual Functions	loadFunctions (const std::string &filename, bool do_throw)
	Load and execute a set of functions into the Program Processor for execution. More...
virtual Functions	loadFunctions (const std::string &code, const std::string &filename, bool do_throw)
	Load and execute a set of functions into the Program Processor for execution. More...
virtual bool	loadPrograms (const std::string &filename, bool do_throw)
	Load a set of programs into the Program Processor for execution. More...
virtual bool	loadPrograms (const std::string &code, const std::string &filename, bool do_throw)
	Load a set of programs into the Program Processor for execution. More...
virtual bool	unloadProgram (const std::string &name, bool do_throw)
	Unload a program from the Program Processor. More...
virtual int	getProgramLine (const std::string &name) const
	Get the current line of execution of a loaded program script. More...
virtual std::string	getProgramText (const std::string &name) const
	Get the original script description of a loaded program. More...
virtual bool	loadStateMachines (const std::string &filename, bool do_throw)
	Load a set of state machines into the StateMachineProcessor for execution. More...
virtual bool	loadStateMachines (const std::string &code, const std::string &filename, bool do_throw)
	Load a set of state machines into the StateMachineProcessor for execution. More...
virtual bool	unloadStateMachine (const std::string &name, bool do_throw)
	Unload a state machine from the StateMachineProcessor. More...
virtual std::string	getStateMachineText (const std::string &name) const
	Get the original script description of a loaded state machine. More...
virtual int	getStateMachineLine (const std::string &name) const
	Get the current line of execution of a loaded state machine script. More...
const std::string &	getName () const
	Returns the name of this service instance. More...
const std::string &	doc () const
	Returns a descriptive text for this service. More...
void	doc (const std::string &description)
	Sets the descriptive text for this service. More...
void	setName (const std::string &name)
	Changes the name of this service. More...
void	setOwner (TaskContext *new_owner)
	Sets the owning TaskContext that will execute the operations in this service. More...
void	setParent (shared_ptr new_parent)
	Sets the parent service in case this service is a sub-service. More...
shared_ptr	getParent () const
	The parent is the direct parent of this service. More...
virtual ProviderNames	getProviderNames () const
	Return a standard container which contains all the sub-service names of this Service. More...
TaskContext *	getOwner () const
	The owner is the top-level TaskContext owning this service (indirectly). More...
ExecutionEngine *	getOwnerExecutionEngine () const
	Return the execution engine of this service owner. More...
virtual bool	addService (shared_ptr obj)
	Add a new sub-service to this Service. More...
virtual void	removeService (std::string const &service_name)
	Remove a previously added sub-service, potentially freeing it (and this) from memory. More...
Service::shared_ptr	provides ()
	Returns this Service, unless no shared_ptr yet exists. More...
Service::shared_ptr	provides (const std::string &service_name)
	Returns a sub-Service which resorts under this Service, creating a new one if it does not yet exists. More...
shared_ptr	getService (const std::string &service_name)
	Returns a shared pointer to strictly a sub-service of a null pointer if !hasService(service_name). More...
Service *	getService () const
	Returns the service this interface belongs to. More...
bool	hasService (const std::string &service_name)
	Check if this service has the sub-service service_name. More...
std::vector< std::string >	getOperationNames () const
	Returns the names of all operations added to this interface. More...
bool	hasOperation (const std::string &name) const
	Query for the existence of a Operation in this interface. More...
bool	addLocalOperation (base::OperationBase &op)
	Add an Operation object to the operation interface. More...
boost::shared_ptr< base::DisposableInterface >	getLocalOperation (std::string name)
	Get a locally added operation from this interface. More...
OperationInterfacePart *	getOperation (std::string name)
	Get a previously added operation for use in a C++ OperationCaller object. More...
base::DataSourceBase::shared_ptr	getOperation (std::string name, const std::vector< base::DataSourceBase::shared_ptr > &args, ExecutionEngine *caller) const
	For internal use only. More...
void	removeOperation (const std::string &name)
	Removes a previously added operation. More...
bool	setOperationThread (std::string const &name, ExecutionThread et)
	Sets the thread of execution of a previously added operation. More...
template<class Signature >
Operation< Signature > &	addOperation (Operation< Signature > &op)
	Add an operation object to the interface. More...
template<class Func , class Class >
Operation< typename internal::GetSignature< Func >::Signature > &	addOperation (const std::string name, Func func, Class *obj, ExecutionThread et=ClientThread)
	Add an operation to the interface by means of a C++ Class member function. More...
template<class Func >
Operation< Func > &	addOperation (const std::string name, Func *func, ExecutionThread et=ClientThread)
	Add an operation to the interface by means of a free C/C++ function. More...
template<class Signature >
Operation< Signature > &	addSynchronousOperation (Operation< Signature > &op)
	Add an operation object to the interface. More...
template<class Func , class Class >
Operation< typename internal::GetSignature< Func >::Signature > &	addSynchronousOperation (const std::string name, Func func, Class *obj, ExecutionThread et=ClientThread)
	Add an operation to the synchronous interface by means of a function. More...
template<class Func , class ObjT >
Operation< typename internal::GetSignatureDS< Func >::Signature > &	addOperationDS (const std::string &name, Func func, internal::DataSource< boost::shared_ptr< ObjT > > *sp, ExecutionThread et=ClientThread)
	For internal use only. More...
template<class Signature , class ObjT >
Operation< Signature > &	addOperationDS (internal::DataSource< boost::shared_ptr< ObjT > > *sp, Operation< Signature > &op)
	For internal use only. More...
internal::OperationCallerC	create (std::string name, ExecutionEngine *caller)
	Create a OperationCallerC object, a template-less operation invocation object. More...
bool	resetOperation (std::string name, base::OperationBase *impl)
	Reset the implementation of a operation. More...
std::vector< std::string >	getNames () const
	Get a list of all the names of the added operations. More...
bool	hasMember (const std::string &name) const
	Query if an operation is present. More...
int	getArity (const std::string &name) const
	Query the number of arguments of an operation. More...
int	getCollectArity (const std::string &name) const
	Query the collectable number of arguments of an operation. More...
bool	isSynchronous (const std::string &name) const
	Query if a given operation is limited to sychronous invocation (own component thread) only. More...
base::DataSourceBase::shared_ptr	produce (const std::string &name, const Arguments &args, ExecutionEngine *caller) const
	Produce a DataSource that call()s an operation. More...
base::DataSourceBase::shared_ptr	produceSend (const std::string &name, const Arguments &args, ExecutionEngine *caller) const
	Produce a DataSource that send()s an operation. More...
base::DataSourceBase::shared_ptr	produceHandle (const std::string &name) const
	Produce an AssignableDataSource that contains a SendHandle, fit for the operation. More...
base::DataSourceBase::shared_ptr	produceCollect (const std::string &name, const Arguments &args, internal::DataSource< bool >::shared_ptr blocking) const
	Produce a DataSource that collects a sent operation, The DataSource will return the SendStatus and store the results in the presented arguments. More...
Descriptions	getArgumentList (const std::string &name) const
	Get the names and descriptions of all arguments of an operation. More...
std::string	getResultType (const std::string &name) const
	Get the type name of the result type of an operation. More...
std::string	getDescription (const std::string &name) const
	Get the description of an operation. More...
void	add (const std::string &name, OperationInterfacePart *part)
	Add a new operation to the interface or replace an existing one. More...
void	remove (const std::string &name)
	Remove an added operation from the interface. More...
OperationInterfacePart *	getPart (const std::string &name)
	Get a previously added part of this factory. More...
bool	hasAttribute (const std::string &name) const
	Check if an attribute is present in this interface. More...
template<class T >
bool	addAttribute (const std::string &name, T &attr)
	Adds a variable of any type as read/write attribute to the configuration interface. More...
template<class T >
Attribute< T > &	addAttribute (const std::string &name, Attribute< T > &attr)
	Adds an existing attribute object to the configuration interface. More...
bool	addAttribute (base::AttributeBase &a)
	Add an base::AttributeBase which remains owned by the user. More...
template<class T >
bool	addConstant (const std::string &name, const T &cnst)
	Adds a variable of any type as read-only attribute to the configuration interface. More...
template<class T >
Constant< T > &	addConstant (const std::string &name, Constant< T > &cnst)
	Adds an existing constant object to the configuration interface. More...
bool	addConstant (base::AttributeBase &c)
	Add a Constant with a given value. More...
template<class T >
Property< T > &	addProperty (const std::string &name, T &prop)
	Adds a variable of any type as a property to the configuration interface. More...
template<class T >
Property< T > &	addProperty (const std::string &name, Property< T > &prop)
	Adds an existing property object to the configuration interface. More...
bool	addProperty (base::PropertyBase &pb)
	Add an base::PropertyBase as a property. More...
base::AttributeBase *	getAttribute (const std::string &name) const
void	removeAttribute (const std::string &name)
	Remove an attribute from the repository. More...
base::AttributeBase *	getConstant (const std::string &name) const
bool	hasProperty (const std::string &name) const
	Check if a property is present. More...
bool	removeProperty (base::PropertyBase &p)
	Remove a previously added Property and associated attribute. More...
base::PropertyBase *	getProperty (const std::string &name) const
	Get a Property with name name. More...
bool	setValue (base::AttributeBase *ab)
	Transfer the ownership of an attribute to the repository. More...
base::AttributeBase *	getValue (const std::string &name) const
bool	removeValue (const std::string &name)
	Delete a value added with setValue from the repository. More...
ConfigurationInterface *	copy (std::map< const base::DataSourceBase *, base::DataSourceBase * > &repl, bool instantiate) const
	Return a new copy of this repository with the copy operation semantics. More...
void	loadValues (AttributeObjects const &new_values)
	Adds these attributes to this repository. More...
AttributeObjects const &	getValues () const
	Returns all attributes in this repository. More...
AttributeNames	getAttributeNames () const
	Return the names of all attributes in this repository. More...
PropertyBag *	properties ()
	Return a bag of all properties. More...
base::PortInterface &	addPort (const std::string &name, base::PortInterface &port)
	Name and add a Port to the interface of this task and add a Service with the same name of the port. More...
base::PortInterface &	addPort (base::PortInterface &port)
	Add a Port to the interface of this task and add a Service with the same name of the port. More...
base::InputPortInterface &	addEventPort (const std::string &name, base::InputPortInterface &port, SlotFunction callback=SlotFunction())
	Name and add an Event triggering Port to the interface of this task and add a Service with the same name of the port. More...
base::InputPortInterface &	addEventPort (base::InputPortInterface &port, SlotFunction callback=SlotFunction())
	Add an Event triggering Port to the interface of this task and add a Service with the same name of the port. More...
void	removePort (const std::string &name)
	Remove a Port from this interface. More...
Ports	getPorts () const
	Get all ports of this interface. More...
PortNames	getPortNames () const
	Get all port names of this interface. More...
base::PortInterface *	getPort (const std::string &name) const
	Get an added port. More...
std::string	getPortDescription (const std::string &name) const
	Get the description of an added Port. More...
bool	setPortDescription (const std::string &name, const std::string description)
	Sets the description for the service of an added port. More...
base::PortInterface &	addLocalPort (base::PortInterface &port)
	Add a Port to this task without registering a service for it. More...
base::InputPortInterface &	addLocalEventPort (base::InputPortInterface &port, SlotFunction callback=SlotFunction())
	Add an Event triggering Port to this task without registering a service for it. More...
void	removeLocalPort (const std::string &name)
	Remove a locally added Port from this interface. More...
template<class Type >
Type *	getPortType (const std::string &name)
	Get a port of a specific type. More...
void	dataOnPort (base::PortInterface *port)
	Used by the input ports to notify this class of new data. More...
Script Program Commands
bool	startProgram (const std::string &name)
	Start a Program. More...
bool	stopProgram (const std::string &name)
	Stops the execution of a program. More...
bool	pauseProgram (const std::string &name)
	Pauses the execution of a running program. More...
bool	stepProgram (const std::string &name)
	Steps a single instruction of a paused program. More...
Script Program OperationCallers
virtual bool	hasProgram (const std::string &name) const
	Check if a program is loaded. More...
bool	isProgramRunning (const std::string &name) const
	Inspect if a loaded program is in the running state. More...
bool	isProgramPaused (const std::string &name) const
	Inspect if a loaded program is in the paused state. More...
bool	inProgramError (const std::string &name) const
	Inspect if a loaded program is in the error state. More...
Script State Machine Commands
bool	activateStateMachine (const std::string &name)
	Activate a previously loaded StateMachine. More...
bool	deactivateStateMachine (const std::string &name)
	Deactivate a stopped StateMachine. More...
bool	startStateMachine (const std::string &name)
	Start a previously activated StateMachine. More...
bool	pauseStateMachine (const std::string &name)
	Pause a previously activated StateMachine. More...
bool	stopStateMachine (const std::string &name)
	Stops the execution of a scripting::StateMachine and enters the Final_State. More...
bool	resetStateMachine (const std::string &name)
	Resets the execution of a scripting::StateMachine and enters the Initial_State. More...
bool	requestStateMachineState (const std::string &name, const std::string &state)
	Request a state change in a state machine. More...
Script State Machine OperationCallers
virtual bool	hasStateMachine (const std::string &name) const
	Check if a state machine is loaded. More...
bool	isStateMachineActive (const std::string &name) const
	Returns true if the state machine has been activated. More...
bool	isStateMachineRunning (const std::string &name) const
	Returns true if the state machine was successfully started. More...
bool	inStateMachineError (const std::string &name) const
	Returns true if the state machine is in error. More...
bool	isStateMachinePaused (const std::string &name) const
	Returns true if the state machine is paused. More...
std::string	getStateMachineState (const std::string &name) const
	Get the current state of a state machine. More...
bool	inStateMachineState (const std::string &name, const std::string &state) const
	Check if a state machine is in a given state. More...

Static Public Member Functions
static shared_ptr	Create (TaskContext *parent)
	Creates a ScriptingService object and registers the service to parent. More...
static Service::shared_ptr	Create (const std::string &name, TaskContext *owner=0)
	Creates a Service with a name and an owner. More...

Protected Types
typedef std::map< std::string, StateMachinePtr >	StateMap
typedef StateMap::const_iterator	StateMapIt
typedef std::map< std::string, ProgramInterfacePtr >	ProgMap
typedef ProgMap::const_iterator	ProgMapIt
typedef std::map< std::string, shared_ptr >	Services
typedef std::map< std::string, base::OperationBase * >	SimpleOperations
typedef std::vector< base::OperationBase * >	OperationList
typedef std::map< std::string, OperationInterfacePart * >	map_t
typedef std::vector< base::AttributeBase * >	map_t

Protected Member Functions
bool	doExecute (const std::string &code)
bool	evalInternal (const std::string &filename, const std::string &code)
bool	doLoadPrograms (const std::string &filename)
bool	doLoadProgramText (const std::string &code)
bool	doUnloadProgram (const std::string &name)
bool	doLoadStateMachines (const std::string &filename)
bool	doLoadStateMachineText (const std::string &code)
bool	doUnloadStateMachine (const std::string &name)
void	createInterface (void)
void	recursiveLoadStateMachine (StateMachinePtr sc)
bool	recursiveCheckLoadStateMachine (StateMachinePtr sc)
void	recursiveUnloadStateMachine (StateMachinePtr sc)
bool	recursiveCheckUnloadStateMachine (StateMachinePtr si)
bool	testOperation (base::OperationBase &op)
bool	chkPtr (const std::string &where, const std::string &name, const void *ptr)
bool	chkPtr (const std::string &where, const std::string &name, const void *ptr)
Service *	createPortObject (const std::string &name)
	Create a Service through which one can access a Port. More...

Protected Attributes
StatementProcessor *	sproc
StateMap	states
ProgMap	programs
bool	ZeroPeriodWarning
	This is a property of the Scripting service It is true by default If this is set to false, the warning log when loading a program or a state machine into a Component with a null period will not be printed. More...
Services	services
	the services we implement. More...
SimpleOperations	simpleoperations
OperationList	ownedoperations
std::string	mname
std::string	mdescription
TaskContext *	mowner
shared_ptr	parent
map_t	data
map_t	values
PropertyBag	bag
Ports	mports
	All our ports. More...
Service *	mservice
	The parent Service. More...

Detailed Description

This interface allows to load program scripts and state machines and allows execution of code.

It keeps track of all loaded scripts of the parent component. It can be found as the scripting object of a TaskContext.

Definition at line 60 of file ScriptingService.hpp.

Member Typedef Documentation

typedef std::vector<base::DataSourceBase::shared_ptr> RTT::OperationInterface::Arguments

inherited

The arguments for an operation.

Definition at line 71 of file OperationInterface.hpp.

typedef std::vector<std::string> RTT::ConfigurationInterface::AttributeNames

inherited

A vector containing the names of all attribute objects in this repository.

Definition at line 74 of file ConfigurationInterface.hpp.

typedef std::vector<base::AttributeBase*> RTT::ConfigurationInterface::AttributeObjects

inherited

A vector containing pointers to all attribute objects stored in this repository.

Definition at line 80 of file ConfigurationInterface.hpp.

typedef std::vector<ArgumentDescription> RTT::OperationInterface::Descriptions

inherited

The descriptions of an argumentlist.

Definition at line 204 of file OperationInterface.hpp.

typedef OperationInterface RTT::Service::Factory

inherited

Definition at line 100 of file Service.hpp.

typedef std::vector< ProgramInterfacePtr > RTT::scripting::ScriptingService::Functions

List of executed functions.

Definition at line 224 of file ScriptingService.hpp.

typedef std::map<std::string, OperationInterfacePart*> RTT::OperationInterface::map_t

protectedinherited

Definition at line 65 of file OperationInterface.hpp.

typedef std::vector<base::AttributeBase*> RTT::ConfigurationInterface::map_t

protectedinherited

Definition at line 336 of file ConfigurationInterface.hpp.

typedef std::vector<base::OperationBase*> RTT::Service::OperationList

protectedinherited

Definition at line 567 of file Service.hpp.

typedef std::vector<std::string> RTT::DataFlowInterface::PortNames

inherited

A sequence of names of ports.

Definition at line 70 of file DataFlowInterface.hpp.

typedef std::vector<base::PortInterface*> RTT::DataFlowInterface::Ports

inherited

A sequence of pointers to ports.

Definition at line 65 of file DataFlowInterface.hpp.

typedef std::map<std::string,ProgramInterfacePtr> RTT::scripting::ScriptingService::ProgMap

protected

Definition at line 571 of file ScriptingService.hpp.

typedef ProgMap::const_iterator RTT::scripting::ScriptingService::ProgMapIt

protected

Definition at line 573 of file ScriptingService.hpp.

typedef ProgramInterface::Status RTT::scripting::ScriptingService::ProgramStatus

Definition at line 80 of file ScriptingService.hpp.

typedef std::vector<std::string> RTT::Service::ProviderNames

inherited

Definition at line 103 of file Service.hpp.

typedef std::map< std::string, shared_ptr > RTT::Service::Services

protectedinherited

Definition at line 561 of file Service.hpp.

typedef boost::shared_ptr<const Service> RTT::Service::shared_constptr

inherited

Definition at line 102 of file Service.hpp.

typedef boost::shared_ptr<ScriptingService> RTT::scripting::ScriptingService::shared_ptr

Definition at line 64 of file ScriptingService.hpp.

typedef std::map<std::string,base::OperationBase* > RTT::Service::SimpleOperations

protectedinherited

Definition at line 566 of file Service.hpp.

typedef boost::function<void(base::PortInterface*)> RTT::DataFlowInterface::SlotFunction

inherited

Definition at line 72 of file DataFlowInterface.hpp.

typedef scripting::StateMachine::Status RTT::scripting::ScriptingService::StateMachineStatus

Definition at line 81 of file ScriptingService.hpp.

typedef std::map<std::string,StateMachinePtr> RTT::scripting::ScriptingService::StateMap

protected

Definition at line 567 of file ScriptingService.hpp.

typedef StateMap::const_iterator RTT::scripting::ScriptingService::StateMapIt

protected

Definition at line 569 of file ScriptingService.hpp.

Constructor & Destructor Documentation

RTT::ScriptingService::ScriptingService

(

TaskContext *

parent

)

Creates a ScriptingService object.

You need to add the service to parent yourself, or use Create().

Definition at line 71 of file ScriptingService.cpp.

References RTT::ConfigurationInterface::addProperty(), createInterface(), RTT::Service::doc(), and ZeroPeriodWarning.

RTT::ScriptingService::~ScriptingService ( )

virtual

Definition at line 84 of file ScriptingService.cpp.

References clear(), and sproc.

Member Function Documentation

bool RTT::ScriptingService::activateStateMachine

(

const std::string &

name

)

Activate a previously loaded StateMachine.

Parameters

name	The name of the StateMachine.

Definition at line 869 of file ScriptingService.cpp.

References getStateMachine().

Referenced by createInterface().

void OperationInterface::add ( const std::string &  name, OperationInterfacePart *  part  )

inherited

Add a new operation to the interface or replace an existing one.

Parameters

name	The name of the operation
part	A part which creates the operation.

Definition at line 170 of file OperationInterface.cpp.

template<class T >

bool RTT::ConfigurationInterface::addAttribute ( const std::string &  name, T &  attr  )

inlineinherited

Adds a variable of any type as read/write attribute to the configuration interface.

An Alias is created which causes contents of the attr variable always to be in sync with the contents of the attribute object in the interface.

Parameters

name	The name of this attribute
attr	The variable that will be aliased.

Definition at line 101 of file ConfigurationInterface.hpp.

template<class T >

Attribute<T>& RTT::ConfigurationInterface::addAttribute ( const std::string &  name, Attribute< T > &  attr  )

inlineinherited

Adds an existing attribute object to the configuration interface.

Parameters

name	The name of this attribute. attr will be initialized with this name.
attr	The attribute to add

Returns

the Attribute object by reference, which you can further query or use.

Postcondition

attr.ready() == true

Definition at line 115 of file ConfigurationInterface.hpp.

References RTT::base::AttributeBase::ready(), and RTT::base::AttributeBase::setName().

bool RTT::ConfigurationInterface::addAttribute ( base::AttributeBase &  a )

inlineinherited

Add an base::AttributeBase which remains owned by the user.

This is a low-level function that can be used if you already created an Attribute object that does not belong yet to a service.

Parameters

a	remains owned by the user, and becomes served by the repository.

Definition at line 204 of file ConfigurationInterface.hpp.

References RTT::base::AttributeBase::clone(), and RTT::base::AttributeBase::getDataSource().

template<class T >

bool RTT::ConfigurationInterface::addConstant ( const std::string &  name, const T &  cnst  )

inlineinherited

Adds a variable of any type as read-only attribute to the configuration interface.

An Alias is created which causes contents of the attribute always to be in sync with the contents of cnst, but it can only be read through the interface.

Parameters

name	The name of this attribute
cnst	The variable that will be aliased.

Definition at line 135 of file ConfigurationInterface.hpp.

template<class T >

Constant<T>& RTT::ConfigurationInterface::addConstant ( const std::string &  name, Constant< T > &  cnst  )

inlineinherited

Adds an existing constant object to the configuration interface.

Parameters

name	The name of this constant. cnst will be initialized with this name.
cnst	The constant to add. If cnst has not been initialized, it will be initialized to T(). You can change it later-on using the Constant's API.

Returns

the Constant object by reference, which you can further query or use.

Postcondition

cnst.ready() == true

Definition at line 150 of file ConfigurationInterface.hpp.

References RTT::base::AttributeBase::ready(), and RTT::base::AttributeBase::setName().

bool RTT::ConfigurationInterface::addConstant ( base::AttributeBase &  c )

inlineinherited

Add a Constant with a given value.

See also

getConstant

Definition at line 232 of file ConfigurationInterface.hpp.

References RTT::base::AttributeBase::clone(), and RTT::base::AttributeBase::getDataSource().

base::InputPortInterface& RTT::DataFlowInterface::addEventPort ( const std::string &  name, base::InputPortInterface &  port, SlotFunction  callback = SlotFunction()  )

inlineinherited

Name and add an Event triggering Port to the interface of this task and add a Service with the same name of the port.

Parameters

name	The name to give to the port.
port	The port to add.
callback	(Optional) provide a function which will be called when new data arrives on this port. The callback function will be called instead of updateHook(). Use this->trigger() in your callback function in order to schedule an updateHook() nevertheless in the same cycle. If callback is not provided, updateHook() will be executed by default.

Definition at line 117 of file DataFlowInterface.hpp.

References RTT::base::PortInterface::setName().

InputPortInterface & RTT::DataFlowInterface::addEventPort ( base::InputPortInterface &  port, SlotFunction  callback = SlotFunction()  )

inherited

Add an Event triggering Port to the interface of this task and add a Service with the same name of the port.

When data arrives on this port your TaskContext will be woken up and updateHook() will be executed by default.

Parameters

port	The port to add.
callback	(Optional) provide a function which will be called when new data arrives on this port. The callback function will be called instead of updateHook(). Use this->trigger() in your callback function in order to schedule an updateHook() nevertheless in the same cycle. If callback is not provided, updateHook() will be executed by default.

Returns

port

Definition at line 97 of file DataFlowInterface.cpp.

References RTT::DataFlowInterface::addLocalEventPort(), RTT::Service::addService(), RTT::DataFlowInterface::chkPtr(), RTT::Handle::connect(), RTT::DataFlowInterface::createPortObject(), RTT::Handle::disconnect(), RTT::base::PortInterface::getName(), RTT::Service::hasService(), RTT::DataFlowInterface::mservice, RTT::Service::provides(), RTT::Service::removeService(), and RTT::Warning.

InputPortInterface & RTT::DataFlowInterface::addLocalEventPort ( base::InputPortInterface &  port, SlotFunction  callback = SlotFunction()  )

inherited

Add an Event triggering Port to this task without registering a service for it.

When data arrives on this port your TaskContext will be woken up and updateHook will be executed.

Parameters

port	The port to add.
callback	(Optional) provide a function which will be called when new data arrives on this port. The callback function will be called in sequence with updateHook(), so asynchronously with regard to the arrival of data on the port.

Returns

port

Definition at line 135 of file DataFlowInterface.cpp.

References RTT::DataFlowInterface::addLocalPort(), RTT::Error, RTT::base::PortInterface::getName(), RTT::Service::getName(), RTT::Service::getOwner(), RTT::Info, RTT::DataFlowInterface::mservice, RTT::base::InputPortInterface::signalInterface(), and RTT::base::TaskCore::trigger().

Referenced by RTT::DataFlowInterface::addEventPort().

bool RTT::Service::addLocalOperation ( base::OperationBase &  op )

inherited

Add an Operation object to the operation interface.

This version of addOperation does not add the Operation object to the remote interface and only to the local, in-process C++ interface.

Note

Do not use this function unless you know what you're doing.

See also

addOperation() for adding normal, remotely available operations.

Parameters

op	The Operation object to add

Returns

true if it could be added, false otherwise.

Definition at line 178 of file Service.cpp.

References RTT::base::TaskCore::engine(), RTT::Error, RTT::base::OperationBase::getImplementation(), RTT::base::OperationBase::getName(), RTT::Service::mowner, RTT::Service::removeOperation(), RTT::base::OperationBase::setOwner(), RTT::Service::simpleoperations, and RTT::Warning.

PortInterface & RTT::DataFlowInterface::addLocalPort ( base::PortInterface &  port )

inherited

Add a Port to this task without registering a service for it.

If a port with the same name already exists, addPort will replace it with port and log a warning.

Returns

port

Definition at line 82 of file DataFlowInterface.cpp.

References RTT::base::PortInterface::getName(), RTT::DataFlowInterface::mports, RTT::DataFlowInterface::removeLocalPort(), RTT::base::PortInterface::setInterface(), and RTT::Warning.

Referenced by RTT::DataFlowInterface::addLocalEventPort(), and RTT::DataFlowInterface::addPort().

template<class Signature >

Operation<Signature>& RTT::Service::addOperation ( Operation< Signature > &  op )

inlineinherited

Add an operation object to the interface.

This version of addOperation exports an existing Operation object to the public interface of this component.

Parameters

op	The operation object to add.

Returns

The given parameter op

Definition at line 341 of file Service.hpp.

References RTT::base::OperationBase::getName().

Referenced by createInterface(), and RTT::marsh::MarshallingService::MarshallingService().

template<class Func , class Class >

Operation< typename internal::GetSignature<Func>::Signature >& RTT::Service::addOperation ( const std::string  name, Func  func, Class *  obj, ExecutionThread  et = ClientThread  )

inlineinherited

Add an operation to the interface by means of a C++ Class member function.

The function func must be a C++ member function and obj is the object having that function.

Parameters

name	The name of the new operation
func	A pointer to a function, for example, &Bar::foo (C++ class function).
obj	A pointer to the object that will execute the function.
et	The ExecutionThread choice: will the owning TaskContext of this service execute the function func in its own thread, or will the client's thread (the caller) execute func ?

Returns

A newly created operation object, which you may further document or query.

Definition at line 402 of file Service.hpp.

template<class Func >

Operation< Func >& RTT::Service::addOperation ( const std::string  name, Func *  func, ExecutionThread  et = ClientThread  )

inlineinherited

Add an operation to the interface by means of a free C/C++ function.

The function func must be a free C/C++ function.

Parameters

name	The name of the new operation
func	A pointer to a C function, for example, &foo (or a static C++ class function).
et	The ExecutionThread choice: will the owning TaskContext of this service execute the function func in its own thread, or will the client's thread (the caller) execute func ?

Returns

A newly created operation object, which you may further document or query.

Definition at line 423 of file Service.hpp.

References RTT::ClientThread.

template<class Func , class ObjT >

Operation< typename internal::GetSignatureDS<Func>::Signature>& RTT::Service::addOperationDS ( const std::string &  name, Func  func, internal::DataSource< boost::shared_ptr< ObjT > > *  sp, ExecutionThread  et = ClientThread  )

inlineinherited

For internal use only.

The pointer of the object of which a member function must be invoked is stored in a internal::DataSource such that the pointer can change during program execution. Required in scripting for state machines.

Definition at line 506 of file Service.hpp.

Referenced by RTT::scripting::ProgramService::ProgramService().

template<class Signature , class ObjT >

Operation<Signature>& RTT::Service::addOperationDS ( internal::DataSource< boost::shared_ptr< ObjT > > *  sp, Operation< Signature > &  op  )

inlineinherited

For internal use only.

The pointer of the object of which a member function must be invoked is stored in a internal::DataSource such that the pointer can change during program execution. Required in scripting for state machines.

Definition at line 521 of file Service.hpp.

References RTT::base::OperationBase::getName().

base::PortInterface& RTT::DataFlowInterface::addPort ( const std::string &  name, base::PortInterface &  port  )

inlineinherited

Name and add a Port to the interface of this task and add a Service with the same name of the port.

Parameters

name	The name to give to the port.
port	The port to add.

Definition at line 89 of file DataFlowInterface.hpp.

References RTT::base::PortInterface::setName().

PortInterface & RTT::DataFlowInterface::addPort ( base::PortInterface &  port )

inherited

Add a Port to the interface of this task and add a Service with the same name of the port.

If a port or service with the name already exists, addPort will replace them with port and log a warning.

Parameters

port	The port to add.

Returns

port

Definition at line 59 of file DataFlowInterface.cpp.

References RTT::DataFlowInterface::addLocalPort(), RTT::Service::addService(), RTT::DataFlowInterface::chkPtr(), RTT::DataFlowInterface::createPortObject(), RTT::base::PortInterface::getName(), RTT::Service::hasService(), RTT::DataFlowInterface::mservice, RTT::Service::provides(), RTT::Service::removeService(), and RTT::Warning.

template<class T >

Property<T>& RTT::ConfigurationInterface::addProperty ( const std::string &  name, T &  prop  )

inlineinherited

Adds a variable of any type as a property to the configuration interface.

A Property is created which causes contents of the property always to be in sync with the contents of prop.

Parameters

name	The name of this property
prop	The variable that will be aliased.

Returns

the Property object by reference, which you can further query or document.

Definition at line 171 of file ConfigurationInterface.hpp.

Referenced by ScriptingService().

template<class T >

Property<T>& RTT::ConfigurationInterface::addProperty ( const std::string &  name, Property< T > &  prop  )

inlineinherited

Adds an existing property object to the configuration interface.

Parameters

name	The name of this property. prop will be initialized with this name.
prop	The property to add

Returns

the Property object by reference, which you can further query or document.

Postcondition

prop.ready() == true

Definition at line 184 of file ConfigurationInterface.hpp.

References RTT::base::PropertyBase::ready(), and RTT::base::PropertyBase::setName().

bool RTT::ConfigurationInterface::addProperty ( base::PropertyBase &  pb )

inherited

Add an base::PropertyBase as a property.

Returns

false if a property with the same name already exists.

See also

removeProperty

Definition at line 90 of file ConfigurationInterface.cpp.

References RTT::base::PropertyBase::getName().

bool RTT::Service::addService ( Service::shared_ptr  obj )

virtualinherited

Add a new sub-service to this Service.

Parameters

obj	This object becomes owned by this Service.

Note

obj will take a Service::shared_ptr to this and vice versa. In case this Service is not yet reference counted, obj will hold the only reference count to this.

Returns

true if it could be added, false if such service already exists.

Definition at line 81 of file Service.cpp.

References RTT::Error, RTT::Service::mowner, and RTT::Service::services.

Referenced by RTT::DataFlowInterface::addEventPort(), RTT::DataFlowInterface::addPort(), and RTT::Service::provides().

template<class Signature >

Operation<Signature>& RTT::Service::addSynchronousOperation ( Operation< Signature > &  op )

inlineinherited

Add an operation object to the interface.

This version exports an existing Operation object to the synchronous interface of the component

Parameters

op	The operation object to add.

Returns

The given parameter op

Definition at line 379 of file Service.hpp.

References RTT::base::OperationBase::getName().

Referenced by RTT::base::PortInterface::createPortObject().

template<class Func , class Class >

Operation< typename internal::GetSignature<Func>::Signature >& RTT::Service::addSynchronousOperation ( const std::string  name, Func  func, Class *  obj, ExecutionThread  et = ClientThread  )

inlineinherited

Add an operation to the synchronous interface by means of a function.

The function func must be a C++ Class member function.

Parameters

name	The name of the new operation
func	A pointer to a function, for example &Bar::foo (C++ class function).
obj	A pointer to the object that will execute the function in case of a C++ class function,
et	The ExecutionThread choice: will the owning TaskContext of this service execute the function func in its own thread, or will the client's thread (the caller) execute func ?

Returns

A newly created operation object, which you may further document or query.

Definition at line 492 of file Service.hpp.

bool RTT::DataFlowInterface::chkPtr ( const std::string &  where, const std::string &  name, const void *  ptr  )

protectedinherited

Definition at line 265 of file DataFlowInterface.cpp.

References RTT::Error.

Referenced by RTT::DataFlowInterface::addEventPort(), and RTT::DataFlowInterface::addPort().

bool RTT::ConfigurationInterface::chkPtr ( const std::string &  where, const std::string &  name, const void *  ptr  )

protectedinherited

Definition at line 156 of file ConfigurationInterface.cpp.

References RTT::Error.

void RTT::ScriptingService::clear

(

)

Stop and unload all program scripts.

Definition at line 92 of file ScriptingService.cpp.

References RTT::Service::clear(), RTT::Logger::endl(), RTT::Logger::Error, RTT::Error, RTT::Logger::Info, RTT::Logger::log(), programs, states, unloadProgram(), unloadStateMachine(), and RTT::scripting::program_load_exception::what().

Referenced by ~ScriptingService().

ConfigurationInterface * RTT::ConfigurationInterface::copy ( std::map< const base::DataSourceBase *, base::DataSourceBase * > &  repl, bool  instantiate  ) const

inherited

Return a new copy of this repository with the copy operation semantics.

Parameters

instantiate

set to true if you want a copy which will upon any future copy return the same DataSources, thus 'fixating' or 'instantiating' the DataSources.

See also

base::ActionInterface

Note

this does not copy the properties() within this repository.

Definition at line 60 of file ConfigurationInterface.cpp.

References RTT::ConfigurationInterface::setValue(), and RTT::internal::values().

Referenced by RTT::scripting::StateMachineService::copy().

ScriptingService::shared_ptr RTT::ScriptingService::Create ( TaskContext *  parent )

static

Creates a ScriptingService object and registers the service to parent.

Definition at line 65 of file ScriptingService.cpp.

References RTT::TaskContext::provides().

Service::shared_ptr RTT::Service::Create ( const std::string &  name, TaskContext *  owner = 0  )

staticinherited

Creates a Service with a name and an owner.

Each service must be owned by a TaskContext and the owner can be set afterwards with setOwner.

Parameters

name	The name of this service.
owner	The TaskContext that will execute the operations of this service.

Warning

When using boost < 1.40, the owner is not stored in the Service, until the Service object is effectively added to the TaskContext.

See also

getOwner()

Definition at line 50 of file Service.cpp.

References RTT::TaskContext::provides().

internal::OperationCallerC RTT::Service::create ( std::string  name, ExecutionEngine *  caller  )

inherited

Create a OperationCallerC object, a template-less operation invocation object.

This function is inferior to getOperation(std::string name).

Parameters

name	The name of the operation

Returns

An object which can invoke a operation.

Definition at line 268 of file Service.cpp.

References RTT::OperationInterface::getPart().

void RTT::ScriptingService::createInterface ( void  )

protected

Definition at line 448 of file ScriptingService.cpp.

References activateStateMachine(), RTT::Service::addOperation(), deactivateStateMachine(), doLoadPrograms(), doLoadProgramText(), doLoadStateMachines(), doLoadStateMachineText(), doUnloadProgram(), doUnloadStateMachine(), eval(), execute(), getProgramLine(), getProgramList(), getProgramStatus(), getProgramStatusStr(), getProgramText(), getStateMachineLine(), getStateMachineList(), getStateMachineState(), getStateMachineStatus(), getStateMachineStatusStr(), getStateMachineText(), hasProgram(), hasStateMachine(), inProgramError(), inStateMachineError(), inStateMachineState(), isProgramPaused(), isProgramRunning(), isStateMachineActive(), isStateMachinePaused(), isStateMachineRunning(), pauseProgram(), pauseStateMachine(), requestStateMachineState(), resetStateMachine(), runScript(), startProgram(), startStateMachine(), stepProgram(), stopProgram(), and stopStateMachine().

Referenced by ScriptingService().

Service * RTT::DataFlowInterface::createPortObject ( const std::string &  name )

protectedinherited

Create a Service through which one can access a Port.

Parameters

name	The port name

Definition at line 238 of file DataFlowInterface.cpp.

References RTT::base::PortInterface::createPortObject(), RTT::Service::doc(), RTT::DataFlowInterface::getPort(), and RTT::DataFlowInterface::getPortDescription().

Referenced by RTT::DataFlowInterface::addEventPort(), and RTT::DataFlowInterface::addPort().

void RTT::DataFlowInterface::dataOnPort ( base::PortInterface *  port )

inherited

Used by the input ports to notify this class of new data.

Definition at line 128 of file DataFlowInterface.cpp.

References RTT::Service::getOwner(), and RTT::DataFlowInterface::mservice.

bool RTT::ScriptingService::deactivateStateMachine

(

const std::string &

name

)

Deactivate a stopped StateMachine.

Parameters

name	The name of the StateMachine.

Definition at line 877 of file ScriptingService.cpp.

References getStateMachine().

Referenced by createInterface().

bool RTT::scripting::ScriptingService::deleteProgram

(

const std::string &

name

)

Completely discard a loaded Program.

Exceptions

program_unload_exception

if the program is not stopped or does not exist.

Deprecated:

by unloadProgram

bool RTT::ScriptingService::deleteStateMachine

(

const std::string &

name

)

Delete a deactivated State Machine and all its children.

Exceptions

program_unload_exception

if the state machine or one of its children is still active.

Deprecated:

by unloadStateMachine

Definition at line 306 of file ScriptingService.cpp.

References unloadStateMachine().

const std::string& RTT::Service::doc ( ) const

inlineinherited

Returns a descriptive text for this service.

Definition at line 144 of file Service.hpp.

Referenced by RTT::DataFlowInterface::createPortObject(), RTT::marsh::MarshallingService::MarshallingService(), RTT::scripting::ProgramService::ProgramService(), and ScriptingService().

void RTT::Service::doc ( const std::string &  description )

inlineinherited

Sets the descriptive text for this service.

Definition at line 149 of file Service.hpp.

bool RTT::ScriptingService::doExecute ( const std::string &  code )

protected

Definition at line 416 of file ScriptingService.cpp.

References execute().

bool RTT::ScriptingService::doLoadPrograms ( const std::string &  filename )

protected

Definition at line 421 of file ScriptingService.cpp.

References loadPrograms().

Referenced by createInterface().

bool RTT::ScriptingService::doLoadProgramText ( const std::string &  code )

protected

Definition at line 426 of file ScriptingService.cpp.

References loadPrograms().

Referenced by createInterface().

bool RTT::ScriptingService::doLoadStateMachines ( const std::string &  filename )

protected

Definition at line 435 of file ScriptingService.cpp.

References loadStateMachines().

Referenced by createInterface().

bool RTT::ScriptingService::doLoadStateMachineText ( const std::string &  code )

protected

Definition at line 439 of file ScriptingService.cpp.

References loadStateMachines().

Referenced by createInterface().

bool RTT::ScriptingService::doUnloadProgram ( const std::string &  name )

protected

Definition at line 430 of file ScriptingService.cpp.

References unloadProgram().

Referenced by createInterface().

bool RTT::ScriptingService::doUnloadStateMachine ( const std::string &  name )

protected

Definition at line 443 of file ScriptingService.cpp.

References unloadStateMachine().

Referenced by createInterface().

bool RTT::ScriptingService::eval

(

const std::string &

code

)

Evaluate and run all statements in code.

This function is in functionality equivalent to runScript, except that runScript takes a filename as an argument, while this function takes the contents of the script itself as an argument. All possible syntax may be used.

Parameters

code	A list of statements, program/function definitions etc. which get evaluated in the context of this component

Returns

true if the parsing and execution succeeded (= no syntax errors and no exceptions thrown when executing code ), false otherwise.

Exceptions

parse_exception

and its derivatives for parse errors in code.

Definition at line 596 of file ScriptingService.cpp.

References evalInternal().

Referenced by createInterface().

bool RTT::ScriptingService::evalInternal ( const std::string &  filename, const std::string &  code  )

protected

Definition at line 600 of file ScriptingService.cpp.

References RTT::Error, RTT::internal::GlobalEngine::Instance(), RTT::Service::mowner, RTT::scripting::Parser::runScript(), and RTT::file_parse_exception::what().

Referenced by eval(), and runScript().

int RTT::ScriptingService::execute

(

const std::string &

code

)

Parse and execute a statement.

Parameters

code	A single statement to execute.

Returns

A ticket number.

Return values

-1	if the code could not be parsed.
0	if the code was an expression and could be executed.
>0	if the code was a command and is being executed.

See also

getCommand

Deprecated:

by eval()

Definition at line 516 of file ScriptingService.cpp.

References RTT::scripting::StatementProcessor::execute(), RTT::Service::mowner, and sproc.

Referenced by createInterface(), and doExecute().

OperationInterface::Descriptions OperationInterface::getArgumentList ( const std::string &  name ) const

inherited

Get the names and descriptions of all arguments of an operation.

Parameters

name	The name of the operation

Returns

A list of descriptions.

Exceptions

name_not_found_exception

Definition at line 146 of file OperationInterface.cpp.

References ORO_THROW_OR_RETURN.

int OperationInterface::getArity ( const std::string &  name ) const

inherited

Query the number of arguments of an operation.

These are the number of function arguments, not counting the return value.

Parameters

name	The name of the operation

Returns

The arity, or -1 if name is not found.

Definition at line 77 of file OperationInterface.cpp.

base::AttributeBase* RTT::ConfigurationInterface::getAttribute ( const std::string &  name ) const

inlineinherited

Definition at line 218 of file ConfigurationInterface.hpp.

Referenced by RTT_corba_CConfigurationInterface_i::getAttributeDataSource().

std::vector< std::string > RTT::ConfigurationInterface::getAttributeNames ( ) const

inherited

Return the names of all attributes in this repository.

Definition at line 138 of file ConfigurationInterface.cpp.

References RTT::base::AttributeBase::getName(), and RTT::internal::values().

Referenced by RTT_corba_CConfigurationInterface_i::getAttributeList().

int OperationInterface::getCollectArity ( const std::string &  name ) const

inherited

Query the collectable number of arguments of an operation.

These are the return value (if non void) and each non-const reference argument of the operation.

Parameters

name	The name of the operation

Returns

The arity, or -1 if name is not found.

Definition at line 85 of file OperationInterface.cpp.

base::AttributeBase* RTT::ConfigurationInterface::getConstant ( const std::string &  name ) const

inlineinherited

Definition at line 245 of file ConfigurationInterface.hpp.

References RTT::removeProperty().

std::string OperationInterface::getDescription ( const std::string &  name ) const

inherited

Get the description of an operation.

Parameters

name	The name of the operation

Returns

A user readable description.

Exceptions

name_not_found_exception

Definition at line 162 of file OperationInterface.cpp.

References ORO_THROW_OR_RETURN.

boost::shared_ptr< base::DisposableInterface > RTT::Service::getLocalOperation ( std::string  name )

inherited

Get a locally added operation from this interface.

Note

Do not use this function unless you know what you're doing.

See also

getOperation() for getting normal, remotely available operations.

Definition at line 203 of file Service.cpp.

References RTT::Service::hasOperation(), and RTT::Service::simpleoperations.

const std::string& RTT::Service::getName ( ) const

inlineinherited

Returns the name of this service instance.

Definition at line 139 of file Service.hpp.

Referenced by RTT::DataFlowInterface::addLocalEventPort(), RTT::Service::getOperation(), RTT::marsh::PropertyLoader::load(), RTT::marsh::MarshallingService::loadServiceProperties(), RTT::marsh::MarshallingService::readServiceProperties(), RTT::marsh::MarshallingService::readServiceProperty(), RTT::marsh::PropertyLoader::store(), RTT::marsh::MarshallingService::storeServiceProperties(), RTT::marsh::MarshallingService::updateServiceFile(), RTT::marsh::MarshallingService::updateServiceProperties(), RTT::marsh::MarshallingService::writeServiceProperties(), and RTT::marsh::MarshallingService::writeServiceProperty().

std::vector< std::string > OperationInterface::getNames ( ) const

inherited

Get a list of all the names of the added operations.

Definition at line 65 of file OperationInterface.cpp.

Referenced by RTT_corba_COperationInterface_i::getOperations().

OperationInterfacePart * RTT::Service::getOperation ( std::string  name )

inherited

Get a previously added operation for use in a C++ OperationCaller object.

Store the result of this function in a OperationCaller<Signature> object.

Parameters

name	The name of the operation to retrieve.

Returns

A pointer to an operation interface part or a null pointer if name was not found.

Definition at line 142 of file Service.cpp.

References RTT::Service::getName(), RTT::OperationInterface::getPart(), RTT::OperationInterface::hasMember(), and RTT::Warning.

Referenced by RTT::Service::setOperationThread().

base::DataSourceBase::shared_ptr RTT::Service::getOperation ( std::string  name, const std::vector< base::DataSourceBase::shared_ptr > &  args, ExecutionEngine *  caller  ) const

inlineinherited

For internal use only.

Get a previously added operation as a DataSource. This function is inferior to getOperation(std::string name)

Parameters

name	The name of the operation
args	The arguments of the operation as Data Sources.

Returns

A internal::DataSource which, when evaluated, invokes the operation.

Definition at line 540 of file Service.hpp.

std::vector< std::string > RTT::Service::getOperationNames ( ) const

inherited

Returns the names of all operations added to this interface.

See also

getNames() to get a list of all operations available to scripting.

Definition at line 230 of file Service.cpp.

References RTT::internal::keys(), and RTT::Service::simpleoperations.

TaskContext* RTT::Service::getOwner ( ) const

inlineinherited

The owner is the top-level TaskContext owning this service (indirectly).

A Service can only belong to one TaskContext.

Note

This function will only return the owner after the Service has been added to the TaskContext.

Definition at line 185 of file Service.hpp.

Referenced by RTT::DataFlowInterface::addLocalEventPort(), RTT::DataFlowInterface::dataOnPort(), RTT::DataFlowInterface::getOwner(), RTT::Service::getOwnerExecutionEngine(), loadProgram(), loadStateMachine(), RTT::DataFlowInterface::removePort(), and RTT::Service::setOperationThread().

ExecutionEngine * RTT::Service::getOwnerExecutionEngine ( ) const

inherited

Return the execution engine of this service owner.

See also

getOwner

Definition at line 75 of file Service.cpp.

References RTT::base::TaskCore::engine(), and RTT::Service::getOwner().

shared_ptr RTT::Service::getParent ( ) const

inlineinherited

The parent is the direct parent of this service.

Definition at line 171 of file Service.hpp.

Referenced by RTT::marsh::MarshallingService::loadProperties(), RTT::marsh::MarshallingService::loadServiceProperties(), RTT::marsh::MarshallingService::readProperties(), RTT::marsh::MarshallingService::readProperty(), RTT::marsh::MarshallingService::readServiceProperties(), RTT::marsh::MarshallingService::readServiceProperty(), RTT::marsh::MarshallingService::storeProperties(), RTT::marsh::MarshallingService::storeServiceProperties(), RTT::marsh::MarshallingService::updateFile(), RTT::marsh::MarshallingService::updateProperties(), RTT::marsh::MarshallingService::updateServiceFile(), RTT::marsh::MarshallingService::updateServiceProperties(), RTT::marsh::MarshallingService::writeProperties(), RTT::marsh::MarshallingService::writeProperty(), RTT::marsh::MarshallingService::writeServiceProperties(), and RTT::marsh::MarshallingService::writeServiceProperty().

OperationInterfacePart * OperationInterface::getPart ( const std::string &  name )

inherited

Get a previously added part of this factory.

Parameters

name

Returns

Definition at line 188 of file OperationInterface.cpp.

Referenced by RTT::Service::create(), RTT::Service::getOperation(), and RTT_corba_COperationInterface_i::sendOperationOneway().

PortInterface * RTT::DataFlowInterface::getPort ( const std::string &  name ) const

inherited

Get an added port.

Parameters

name	The port name

Returns

a pointer to a port or null if it does not exist.

Definition at line 211 of file DataFlowInterface.cpp.

References RTT::DataFlowInterface::mports.

Referenced by RTT::corba::CDataFlowInterface_i::_default_POA(), RTT::TaskContext::connectPorts(), RTT::DataFlowInterface::createPortObject(), and RTT::corba::CDataFlowInterface_i::deregisterChannel().

std::string RTT::DataFlowInterface::getPortDescription ( const std::string &  name ) const

inherited

Get the description of an added Port.

Parameters

name	The port name

Returns

The description or "" if it does not exist.

Definition at line 220 of file DataFlowInterface.cpp.

References RTT::DataFlowInterface::mports.

Referenced by RTT::DataFlowInterface::createPortObject().

DataFlowInterface::PortNames RTT::DataFlowInterface::getPortNames ( ) const

inherited

Get all port names of this interface.

Returns

A sequence of strings containing the port names.

Deprecated:

by getNames()

Definition at line 202 of file DataFlowInterface.cpp.

References RTT::DataFlowInterface::mports.

Referenced by RTT::corba::CDataFlowInterface_i::_default_POA().

DataFlowInterface::Ports RTT::DataFlowInterface::getPorts ( ) const

inherited

Get all ports of this interface.

Returns

A sequence of pointers to ports.

Definition at line 198 of file DataFlowInterface.cpp.

References RTT::DataFlowInterface::mports.

Referenced by RTT::TaskContext::connectPorts(), and RTT::TaskContext::disconnect().

template<class Type >

Type* RTT::DataFlowInterface::getPortType ( const std::string &  name )

inlineinherited

Get a port of a specific type.

Definition at line 244 of file DataFlowInterface.hpp.

const ProgramInterfacePtr RTT::ScriptingService::getProgram

(

const std::string &

name

)

const

Get a pointer to a loaded Program.

Definition at line 403 of file ScriptingService.cpp.

References programs.

Referenced by getProgramLine(), getProgramText(), inProgramError(), isProgramPaused(), isProgramRunning(), pauseProgram(), startProgram(), stepProgram(), and stopProgram().

ProgramInterfacePtr RTT::ScriptingService::getProgram

(

const std::string &

name

)

Definition at line 409 of file ScriptingService.cpp.

References programs.

int RTT::ScriptingService::getProgramLine ( const std::string &  name ) const

virtual

Get the current line of execution of a loaded program script.

Parameters

name	The name of the program.

Returns

The line number.

Return values

-1	if the program does not exist.
0	if the program is not running.
n	the line number if the program is executing.

Definition at line 789 of file ScriptingService.cpp.

References getProgram().

Referenced by createInterface().

vector< string > RTT::ScriptingService::getProgramList

(

)

const

Get a list of all loaded Programs.

Definition at line 398 of file ScriptingService.cpp.

References RTT::internal::keys(), and programs.

Referenced by createInterface().

ProgramInterface::Status::ProgramStatus RTT::ScriptingService::getProgramStatus

(

const std::string &

name

)

const

Return the status of a Program.

Definition at line 328 of file ScriptingService.cpp.

References programs, and RTT::scripting::ProgramInterface::Status::unknown.

Referenced by createInterface(), and getProgramStatusStr().

string RTT::ScriptingService::getProgramStatusStr

(

const std::string &

name

)

const

Return the status of a Program as a human readable string.

Definition at line 337 of file ScriptingService.cpp.

References RTT::scripting::ProgramInterface::Status::error, getProgramStatus(), RTT::scripting::ProgramInterface::Status::paused, RTT::scripting::ProgramInterface::Status::running, RTT::scripting::ProgramInterface::Status::stopped, and RTT::scripting::ProgramInterface::Status::unknown.

Referenced by createInterface().

string RTT::ScriptingService::getProgramText ( const std::string &  name ) const

virtual

Get the original script description of a loaded program.

Parameters

name	The name of the program.

Returns

A string containing only that program.

Definition at line 794 of file ScriptingService.cpp.

References getProgram().

Referenced by createInterface().

base::PropertyBase* RTT::ConfigurationInterface::getProperty ( const std::string &  name ) const

inlineinherited

Get a Property with name name.

Parameters

name	The name of the property to search for.

Returns

The PropertyBase with this name, zero if it does not exist.

Definition at line 275 of file ConfigurationInterface.hpp.

vector< string > RTT::Service::getProviderNames ( ) const

virtualinherited

Return a standard container which contains all the sub-service names of this Service.

Definition at line 71 of file Service.cpp.

References RTT::internal::keys(), and RTT::Service::services.

std::string OperationInterface::getResultType ( const std::string &  name ) const

inherited

Get the type name of the result type of an operation.

Parameters

name	The name of the operation

Returns

A name of a data type.

Exceptions

name_not_found_exception

Definition at line 154 of file OperationInterface.cpp.

References ORO_THROW_OR_RETURN.

Service* RTT::DataFlowInterface::getService ( ) const

inlineinherited

Returns the service this interface belongs to.

The returned service is a service living in the component returned by getOwner() or in one of its sub-services.

Definition at line 203 of file DataFlowInterface.hpp.

Referenced by RTT::Service::provides().

Service::shared_ptr RTT::Service::getService ( const std::string &  service_name )

inherited

Returns a shared pointer to strictly a sub-service of a null pointer if !hasService(service_name).

This method will not return the this pointer when service_name equals "this" or create new service objects.

Parameters

service_name

The name of the sub-service to be returned. or created, or the result of provides() in case of "this".

Definition at line 133 of file Service.cpp.

References RTT::Service::provides(), and RTT::Service::services.

Referenced by RTT::DataFlowInterface::setPortDescription().

const StateMachinePtr RTT::ScriptingService::getStateMachine

(

const std::string &

name

)

const

Get a pointer to a loaded StateMachine.

Definition at line 311 of file ScriptingService.cpp.

References states.

Referenced by activateStateMachine(), deactivateStateMachine(), getStateMachineLine(), getStateMachineState(), getStateMachineText(), inStateMachineError(), inStateMachineState(), isStateMachineActive(), isStateMachinePaused(), isStateMachineRunning(), pauseStateMachine(), requestStateMachineState(), resetStateMachine(), startStateMachine(), and stopStateMachine().

StateMachinePtr RTT::ScriptingService::getStateMachine

(

const std::string &

name

)

Get a pointer to a loaded StateMachine.

Definition at line 317 of file ScriptingService.cpp.

References states.

int RTT::ScriptingService::getStateMachineLine ( const std::string &  name ) const

virtual

Get the current line of execution of a loaded state machine script.

Parameters

name	The name of the state machine.

Returns

The line number.

Return values

-1	if the state machine does not exist.
0	if the state machine is not running.
n	the line number if the state machine is executing.

Definition at line 808 of file ScriptingService.cpp.

References getStateMachine().

Referenced by createInterface().

vector< string > RTT::ScriptingService::getStateMachineList

(

)

const

Get a list of all loaded StateMachines and their children.

Definition at line 323 of file ScriptingService.cpp.

References RTT::internal::keys(), and states.

Referenced by createInterface().

string RTT::ScriptingService::getStateMachineState

(

const std::string &

name

)

const

Get the current state of a state machine.

Parameters

name	The name of the StateMachine.

Definition at line 941 of file ScriptingService.cpp.

References getStateMachine().

Referenced by createInterface().

StateMachine::Status::StateMachineStatus RTT::ScriptingService::getStateMachineStatus

(

const std::string &

name

)

const

Return the status of a StateMachine.

Definition at line 132 of file ScriptingService.cpp.

References states, and RTT::scripting::StateMachine::Status::unloaded.

Referenced by createInterface(), and getStateMachineStatusStr().

string RTT::ScriptingService::getStateMachineStatusStr

(

const std::string &

name

)

const

Return the status of a StateMachine as a human readable string.

Definition at line 141 of file ScriptingService.cpp.

References RTT::scripting::StateMachine::Status::activating, RTT::scripting::StateMachine::Status::active, RTT::scripting::StateMachine::Status::deactivating, RTT::scripting::StateMachine::Status::error, getStateMachineStatus(), RTT::scripting::StateMachine::Status::inactive, RTT::scripting::StateMachine::Status::paused, RTT::scripting::StateMachine::Status::requesting, RTT::scripting::StateMachine::Status::resetting, RTT::scripting::StateMachine::Status::running, RTT::scripting::StateMachine::Status::stopped, RTT::scripting::StateMachine::Status::stopping, and RTT::scripting::StateMachine::Status::unloaded.

Referenced by createInterface().

string RTT::ScriptingService::getStateMachineText ( const std::string &  name ) const

virtual

Get the original script description of a loaded state machine.

Parameters

name	The name of the state machine.

Returns

A string containing only that state machine.

Definition at line 803 of file ScriptingService.cpp.

References getStateMachine().

Referenced by createInterface().

AttributeBase * RTT::ConfigurationInterface::getValue ( const std::string &  name ) const

inherited

Definition at line 111 of file ConfigurationInterface.cpp.

References RTT::base::AttributeBase::getName(), and RTT::internal::values().

Referenced by RTT_corba_CConfigurationInterface_i::getAttribute(), RTT_corba_CConfigurationInterface_i::isAttributeAssignable(), and RTT_corba_CConfigurationInterface_i::setAttribute().

AttributeObjects const& RTT::ConfigurationInterface::getValues ( ) const

inlineinherited

Returns all attributes in this repository.

Definition at line 320 of file ConfigurationInterface.hpp.

References RTT::internal::values().

Referenced by RTT::scripting::StateMachineService::copy(), and RTT::scripting::ExpressionParser::getHandle().

bool RTT::ConfigurationInterface::hasAttribute ( const std::string &  name ) const

inherited

Check if an attribute is present in this interface.

Definition at line 118 of file ConfigurationInterface.cpp.

References RTT::base::AttributeBase::getName(), and RTT::internal::values().

Referenced by RTT_corba_CConfigurationInterface_i::getAttribute(), RTT_corba_CConfigurationInterface_i::hasAttribute(), and RTT_corba_CConfigurationInterface_i::setAttribute().

bool OperationInterface::hasMember ( const std::string &  name ) const

inherited

Query if an operation is present.

Definition at line 72 of file OperationInterface.cpp.

Referenced by RTT::Service::getOperation().

bool RTT::Service::hasOperation ( const std::string &  name ) const

inherited

Query for the existence of a Operation in this interface.

See also

hasMember() to verify if a operation is available to scripting as well.

Definition at line 236 of file Service.cpp.

References RTT::Service::simpleoperations.

Referenced by RTT::Service::getLocalOperation(), RTT::Service::removeOperation(), RTT::Service::resetOperation(), and RTT::Service::setOperationThread().

bool RTT::ScriptingService::hasProgram ( const std::string &  name ) const

virtual

Check if a program is loaded.

Parameters

name	The name of the program.

Returns

True if so.

Definition at line 785 of file ScriptingService.cpp.

References programs.

Referenced by createInterface().

bool RTT::ConfigurationInterface::hasProperty ( const std::string &  name ) const

inherited

Check if a property is present.

Definition at line 124 of file ConfigurationInterface.cpp.

bool RTT::Service::hasService ( const std::string &  service_name )

inherited

Check if this service has the sub-service service_name.

Parameters

service_name

The name of the sub-service to be queried.

Definition at line 172 of file Service.cpp.

References RTT::Service::services.

Referenced by RTT::DataFlowInterface::addEventPort(), RTT::DataFlowInterface::addPort(), RTT::marsh::MarshallingService::loadServiceProperties(), RTT::marsh::MarshallingService::readServiceProperties(), RTT::marsh::MarshallingService::readServiceProperty(), RTT::DataFlowInterface::removePort(), RTT::marsh::MarshallingService::storeServiceProperties(), RTT::marsh::MarshallingService::updateServiceFile(), RTT::marsh::MarshallingService::updateServiceProperties(), RTT::marsh::MarshallingService::writeServiceProperties(), and RTT::marsh::MarshallingService::writeServiceProperty().

bool RTT::ScriptingService::hasStateMachine ( const std::string &  name ) const

virtual

Check if a state machine is loaded.

Parameters

name	The name of the state machine.

Returns

True if so.

Definition at line 799 of file ScriptingService.cpp.

References states.

Referenced by createInterface().

bool RTT::ScriptingService::inProgramError

(

const std::string &

name

)

const

Inspect if a loaded program is in the error state.

Parameters

name	The name of the Program.

Returns

true if so.

Definition at line 837 of file ScriptingService.cpp.

References getProgram().

Referenced by createInterface().

bool RTT::ScriptingService::inStateMachineError

(

const std::string &

name

)

const

Returns true if the state machine is in error.

Parameters

name	The name of the StateMachine.

Definition at line 933 of file ScriptingService.cpp.

References getStateMachine().

Referenced by createInterface().

bool RTT::ScriptingService::inStateMachineState	(	const std::string &	name,
		const std::string &	state
	)		const

Check if a state machine is in a given state.

Parameters

name	The name of the StateMachine.
state	The state to enter.

Returns

true if so.

Definition at line 957 of file ScriptingService.cpp.

References getStateMachine().

Referenced by createInterface().

bool RTT::ScriptingService::isProgramPaused

(

const std::string &

name

)

const

Inspect if a loaded program is in the paused state.

Parameters

name	The name of the Program.

Returns

true if so.

Definition at line 829 of file ScriptingService.cpp.

References getProgram().

Referenced by createInterface().

bool RTT::ScriptingService::isProgramRunning

(

const std::string &

name

)

const

Inspect if a loaded program is in the running state.

Parameters

name	The name of the Program.

Returns

true if so.

Definition at line 821 of file ScriptingService.cpp.

References getProgram().

Referenced by createInterface().

bool RTT::ScriptingService::isStateMachineActive

(

const std::string &

name

)

const

Returns true if the state machine has been activated.

Parameters

name	The name of the StateMachine.

Definition at line 917 of file ScriptingService.cpp.

References getStateMachine().

Referenced by createInterface().

bool RTT::ScriptingService::isStateMachinePaused

(

const std::string &

name

)

const

Returns true if the state machine is paused.

Parameters

name	The name of the StateMachine.

Definition at line 909 of file ScriptingService.cpp.

References getStateMachine().

Referenced by createInterface().

bool RTT::ScriptingService::isStateMachineRunning

(

const std::string &

name

)

const

Returns true if the state machine was successfully started.

Parameters

name	The name of the StateMachine.

Definition at line 925 of file ScriptingService.cpp.

References getStateMachine().

Referenced by createInterface().

bool OperationInterface::isSynchronous ( const std::string &  name ) const

inherited

Query if a given operation is limited to sychronous invocation (own component thread) only.

Returns

false if name not found or a normal operation, true if name exists but is synchronous.

Definition at line 93 of file OperationInterface.cpp.

Referenced by RTT_corba_COperationInterface_i::getOperations(), and RTT_corba_COperationInterface_i::sendOperationOneway().

ScriptingService::Functions RTT::ScriptingService::loadFunctions ( const std::string &  filename, bool  do_throw  )

virtual

Load and execute a set of functions into the Program Processor for execution.

Parameters

filename	The file to load
do_throw	Set to yes to cause the parse errors to be thrown instead of being printed to the Logger interface.

Returns

A list of functions loaded in the ProgramProcessor.

Deprecated:

by runScript

Definition at line 522 of file ScriptingService.cpp.

References RTT::Logger::endl(), RTT::Logger::Error, and RTT::Logger::log().

ScriptingService::Functions RTT::ScriptingService::loadFunctions ( const std::string &  code, const std::string &  filename, bool  do_throw  )

virtual

Load and execute a set of functions into the Program Processor for execution.

Parameters

code	A string containing the function definitions.
filename	The file name to use in the error messages.
do_throw	Set to yes to cause the parse errors to be thrown instead of being printed to the Logger interface.

Returns

A list of functions loaded in the ProgramProcessor.

Deprecated:

by runScript

Definition at line 538 of file ScriptingService.cpp.

References RTT::Logger::Debug, RTT::Logger::endl(), RTT::base::TaskCore::engine(), RTT::Logger::Error, RTT::Logger::Info, RTT::Logger::log(), RTT::Service::mowner, RTT::Logger::nl(), RTT::ExecutionEngine::runFunction(), and RTT::file_parse_exception::what().

bool RTT::ScriptingService::loadProgram

(

ProgramInterfacePtr

pi

)

Load a new Program.

The Processor takes full ownership and will delete it upon destruction.

Exceptions

program_load_exception

if a program with the same name already exists.

Definition at line 360 of file ScriptingService.cpp.

References RTT::base::TaskCore::engine(), RTT::Error, RTT::Service::getOwner(), RTT::Service::mowner, programs, RTT::ExecutionEngine::runFunction(), RTT::Warning, and ZeroPeriodWarning.

Referenced by loadPrograms().

bool RTT::ScriptingService::loadPrograms ( const std::string &  filename, bool  do_throw  )

virtual

Load a set of programs into the Program Processor for execution.

The programs are just loaded, not started yet.

Parameters

filename	The file to load
do_throw	Set to yes to cause the parse errors to be thrown instead of being printed to the Logger interface.

Returns

true if all state machines could be loaded in the ProgramProcessor.

Deprecated:

by runScript

Definition at line 615 of file ScriptingService.cpp.

References RTT::Logger::endl(), RTT::Logger::Error, and RTT::Logger::log().

Referenced by doLoadPrograms(), and doLoadProgramText().

bool RTT::ScriptingService::loadPrograms ( const std::string &  code, const std::string &  filename, bool  do_throw  )

virtual

Load a set of programs into the Program Processor for execution.

The programs are just loaded, not started yet.

Parameters

code	A string containing the function definitions.
filename	The file name to use in the error messages.
do_throw	Set to yes to cause the parse errors to be thrown instead of being printed to the Logger interface.

Returns

true if all state machines could be loaded in the ProgramProcessor.

Deprecated:

by runScript

Definition at line 631 of file ScriptingService.cpp.

References RTT::Logger::endl(), RTT::base::TaskCore::engine(), RTT::Logger::Error, RTT::Logger::Info, loadProgram(), RTT::Logger::log(), RTT::Service::mowner, RTT::Logger::nl(), RTT::scripting::program_load_exception::what(), and RTT::file_parse_exception::what().

bool RTT::ScriptingService::loadStateMachine

(

StateMachinePtr

sc

)

Load a new State Machine and all its children.

Exceptions

program_load_exception

if a state machine with the same name already exists.

Definition at line 185 of file ScriptingService.cpp.

References RTT::Service::getOwner(), ORO_THROW_OR_RETURN, recursiveCheckLoadStateMachine(), recursiveLoadStateMachine(), RTT::Warning, and ZeroPeriodWarning.

Referenced by loadStateMachines().

bool RTT::ScriptingService::loadStateMachines ( const std::string &  filename, bool  do_throw  )

virtual

Load a set of state machines into the StateMachineProcessor for execution.

The state machines are just loaded, not started yet.

Parameters

filename	The file to load
do_throw	Set to yes to cause the parse errors to be thrown instead of being printed to the Logger interface.

Returns

true if all state machines could be loaded in the StateMachineProcessor.

Deprecated:

by runScript

Definition at line 700 of file ScriptingService.cpp.

References RTT::Logger::endl(), RTT::Logger::Error, and RTT::Logger::log().

Referenced by doLoadStateMachines(), and doLoadStateMachineText().

bool RTT::ScriptingService::loadStateMachines ( const std::string &  code, const std::string &  filename, bool  do_throw  )

virtual

Load a set of state machines into the StateMachineProcessor for execution.

The state machines are just loaded, not started yet.

Parameters

code	A string containing the function definitions.
filename	The file name to use in the error messages.
do_throw	Set to yes to cause the parse errors to be thrown instead of being printed to the Logger interface.

Returns

true if all state machines could be loaded in the StateMachineProcessor.

Deprecated:

by runScript

Definition at line 716 of file ScriptingService.cpp.

References RTT::Logger::endl(), RTT::base::TaskCore::engine(), RTT::Logger::Error, RTT::Logger::Info, loadStateMachine(), RTT::Logger::log(), RTT::Service::mowner, RTT::Logger::nl(), RTT::scripting::program_load_exception::what(), and RTT::file_parse_exception::what().

void RTT::ConfigurationInterface::loadValues ( AttributeObjects const &  new_values )

inherited

Adds these attributes to this repository.

Definition at line 145 of file ConfigurationInterface.cpp.

References RTT::internal::values().

bool RTT::ScriptingService::pauseProgram

(

const std::string &

name

)

Pauses the execution of a running program.

Parameters

name	The name of the Program.

Definition at line 853 of file ScriptingService.cpp.

References getProgram().

Referenced by createInterface().

bool RTT::ScriptingService::pauseStateMachine

(

const std::string &

name

)

Pause a previously activated StateMachine.

Parameters

name	The name of the StateMachine.

Definition at line 893 of file ScriptingService.cpp.

References getStateMachine().

Referenced by createInterface().

base::DataSourceBase::shared_ptr OperationInterface::produce ( const std::string &  name, const Arguments &  args, ExecutionEngine *  caller  ) const

inherited

Produce a DataSource that call()s an operation.

The DataSource will return the result of call().

Parameters

name	The name of the operation
args	The arguments filled in as data sources.

Returns

a new object

Exceptions

wrong_number_of_args_exception
wrong_types_of_args_exception
name_not_found_exception

Definition at line 105 of file OperationInterface.cpp.

References ORO_THROW_OR_RETURN.

base::DataSourceBase::shared_ptr OperationInterface::produceCollect ( const std::string &  name, const Arguments &  args, internal::DataSource< bool >::shared_ptr  blocking  ) const

inherited

Produce a DataSource that collects a sent operation, The DataSource will return the SendStatus and store the results in the presented arguments.

Note that this function takes most of the time less arguments than its companions.

Parameters

name	The name of the operation
args	The arguments filled in as data sources.
blocking	Set to true to block on the result.

Returns

a new object

Exceptions

wrong_number_of_args_exception
wrong_types_of_args_exception
name_not_found_exception
no_asynchronous_operation_exception

Definition at line 129 of file OperationInterface.cpp.

References ORO_THROW_OR_RETURN.

base::DataSourceBase::shared_ptr OperationInterface::produceHandle ( const std::string &  name ) const

inherited

Produce an AssignableDataSource that contains a SendHandle, fit for the operation.

The DataSource will return the SendHandle.

Parameters

name	The name of the operation
args	The arguments filled in as data sources.

Returns

a new object

Exceptions

wrong_number_of_args_exception
wrong_types_of_args_exception
name_not_found_exception
no_asynchronous_operation_exception

Definition at line 121 of file OperationInterface.cpp.

References ORO_THROW_OR_RETURN.

base::DataSourceBase::shared_ptr OperationInterface::produceSend ( const std::string &  name, const Arguments &  args, ExecutionEngine *  caller  ) const

inherited

Produce a DataSource that send()s an operation.

The DataSource will return the SendHandle of that operation.

Parameters

name	The name of the operation
args	The arguments filled in as data sources.

Returns

a new object

Exceptions

wrong_number_of_args_exception
wrong_types_of_args_exception
name_not_found_exception
no_asynchronous_operation_exception

Definition at line 113 of file OperationInterface.cpp.

References ORO_THROW_OR_RETURN.

PropertyBag * RTT::ConfigurationInterface::properties ( )

inherited

Return a bag of all properties.

Definition at line 150 of file ConfigurationInterface.cpp.

Referenced by RTT_corba_CConfigurationInterface_i::getProperty(), RTT_corba_CConfigurationInterface_i::getPropertyDataSource(), RTT_corba_CConfigurationInterface_i::getPropertyList(), RTT::marsh::PropertyLoader::load(), RTT_corba_CConfigurationInterface_i::setProperty(), and RTT::marsh::PropertyLoader::store().

Service::shared_ptr RTT::Service::provides ( )

inherited

Returns this Service, unless no shared_ptr yet exists.

Returns

a shared pointer from this.

Exceptions

std::runtime_exception

when no Service::shared_ptr to this exists yet.

Definition at line 113 of file Service.cpp.

References RTT::Error.

Referenced by RTT::DataFlowInterface::addEventPort(), RTT::DataFlowInterface::addPort(), RTT::Service::getService(), RTT::marsh::MarshallingService::loadServiceProperties(), RTT::marsh::MarshallingService::readServiceProperties(), RTT::marsh::MarshallingService::readServiceProperty(), RTT::DataFlowInterface::removePort(), RTT::marsh::MarshallingService::storeServiceProperties(), RTT::marsh::MarshallingService::updateServiceFile(), RTT::marsh::MarshallingService::updateServiceProperties(), RTT::marsh::MarshallingService::writeServiceProperties(), and RTT::marsh::MarshallingService::writeServiceProperty().

Service::shared_ptr RTT::Service::provides ( const std::string &  service_name )

inherited

Returns a sub-Service which resorts under this Service, creating a new one if it does not yet exists.

Use getService() if no Service object creation should be done.

Parameters

service_name

The name of the sub-service to be returned or created, or the result of provides() in case of "this".

See also

provides() for querying for "this".

Definition at line 123 of file Service.cpp.

References RTT::Service::addService(), RTT::DataFlowInterface::getService(), and RTT::Service::mowner.

bool RTT::ScriptingService::recursiveCheckLoadStateMachine ( StateMachinePtr  sc )

protected

Definition at line 210 of file ScriptingService.cpp.

References ORO_THROW_OR_RETURN, and states.

Referenced by loadStateMachine().

bool RTT::ScriptingService::recursiveCheckUnloadStateMachine ( StateMachinePtr  si )

protected

Definition at line 266 of file ScriptingService.cpp.

References ORO_THROW_OR_RETURN, and states.

Referenced by unloadStateMachine().

void RTT::ScriptingService::recursiveLoadStateMachine ( StateMachinePtr  sc )

protected

Definition at line 230 of file ScriptingService.cpp.

References RTT::base::TaskCore::engine(), RTT::Service::mowner, RTT::ExecutionEngine::runFunction(), and states.

Referenced by loadStateMachine().

void RTT::ScriptingService::recursiveUnloadStateMachine ( StateMachinePtr  sc )

protected

Definition at line 288 of file ScriptingService.cpp.

References RTT::base::TaskCore::engine(), RTT::Service::mowner, RTT::ExecutionEngine::removeFunction(), and states.

Referenced by unloadStateMachine().

void OperationInterface::remove ( const std::string &  name )

inherited

Remove an added operation from the interface.

Parameters

name	The name of the operation

Definition at line 178 of file OperationInterface.cpp.

Referenced by RTT::Service::removeOperation().

void RTT::ConfigurationInterface::removeAttribute ( const std::string &  name )

inherited

Remove an attribute from the repository.

Definition at line 96 of file ConfigurationInterface.cpp.

Referenced by RTT::scripting::ExpressionParser::getHandle().

void RTT::DataFlowInterface::removeLocalPort ( const std::string &  name )

inherited

Remove a locally added Port from this interface.

This will remove all connections and callbacks assosiated with this port.

Parameters

port	The port to remove.

Note

this function will not check if a service with the same name as name exists, and will not remove it. So use removePort() in case you want to get rid of the service as well.

Definition at line 186 of file DataFlowInterface.cpp.

References RTT::DataFlowInterface::mports.

Referenced by RTT::DataFlowInterface::addLocalPort().

void RTT::Service::removeOperation ( const std::string &  name )

inherited

Removes a previously added operation.

Definition at line 242 of file Service.cpp.

References RTT::Service::hasOperation(), RTT::Service::ownedoperations, RTT::OperationInterface::remove(), and RTT::Service::simpleoperations.

Referenced by RTT::Service::addLocalOperation().

void RTT::DataFlowInterface::removePort ( const std::string &  name )

inherited

Remove a Port from this interface.

This will remove all services, connections and callbacks assosiated with this port.

Parameters

port	The port to remove.

Note

Since services are refcounted, removePort may effectively delete the this object in case no Service::shared_ptr exists to this DataFlowInterface. In order to prevent such cleanup, create a Service::shared_ptr to this object before calling removePort().

Definition at line 165 of file DataFlowInterface.cpp.

References RTT::Service::getOwner(), RTT::Service::hasService(), RTT::DataFlowInterface::mports, RTT::DataFlowInterface::mservice, RTT::Service::provides(), and RTT::Service::removeService().

bool RTT::ConfigurationInterface::removeProperty ( base::PropertyBase &  p )

inherited

Remove a previously added Property and associated attribute.

Returns

false if no such property exists.

Definition at line 129 of file ConfigurationInterface.cpp.

References RTT::base::PropertyBase::getName().

void RTT::Service::removeService ( std::string const &  service_name )

virtualinherited

Remove a previously added sub-service, potentially freeing it (and this) from memory.

Parameters

service_name

the name of the service to remove.

Note

Since service_name holds a reference to this Service, removeService may also delete this Service. In order to protect against such deletion, take a Service::shared_ptr to this before calling removeService.

Definition at line 103 of file Service.cpp.

References RTT::Service::services.

Referenced by RTT::DataFlowInterface::addEventPort(), RTT::DataFlowInterface::addPort(), RTT::DataFlowInterface::clear(), RTT::Service::clear(), and RTT::DataFlowInterface::removePort().

bool RTT::ConfigurationInterface::removeValue ( const std::string &  name )

inherited

Delete a value added with setValue from the repository.

Definition at line 100 of file ConfigurationInterface.cpp.

References RTT::base::AttributeBase::getName(), and RTT::internal::values().

bool RTT::ScriptingService::requestStateMachineState	(	const std::string &	name,
		const std::string &	state
	)

Request a state change in a state machine.

Parameters

name	The name of the StateMachine.
state	The state to enter.

Returns

true if the state change request was accepted.

Definition at line 949 of file ScriptingService.cpp.

References getStateMachine().

Referenced by createInterface().

bool RTT::Service::resetOperation ( std::string  name, base::OperationBase *  impl  )

inherited

Reset the implementation of a operation.

Definition at line 152 of file Service.cpp.

References RTT::Service::hasOperation(), and RTT::Service::simpleoperations.

bool RTT::ScriptingService::resetStateMachine

(

const std::string &

name

)

Resets the execution of a scripting::StateMachine and enters the Initial_State.

Parameters

name	The name of the StateMachine.

Definition at line 965 of file ScriptingService.cpp.

References getStateMachine().

Referenced by createInterface().

bool RTT::ScriptingService::runScript

(

const std::string &

filename

)

Run a script which is stored in a file.

Parameters

filename

The local file to load and execute

Returns

true if the parsing and execution succeeded (= no syntax errors and no exceptions thrown when executing code ), false otherwise.

Exceptions

parse_exception

and its derivatives for parse errors in code.

Definition at line 578 of file ScriptingService.cpp.

References RTT::Logger::endl(), RTT::Logger::Error, evalInternal(), RTT::Info, and RTT::Logger::log().

Referenced by createInterface().

void RTT::Service::setName ( const std::string &  name )

inlineinherited

Changes the name of this service.

Definition at line 154 of file Service.hpp.

bool RTT::Service::setOperationThread ( std::string const &  name, ExecutionThread  et  )

inherited

Sets the thread of execution of a previously added operation.

Only the component itself should modify this property. Don't call this function from outside the component, it has unspecified behaviour when not called from within one of the member functions or a service of the current component.

This function is typically used to change the ExecutionThread of the standard component hooks such as startHook(), configureHook() etc. which all have the ClientThread policy by default.

Parameters

name	The name of the operation to modify. For example, "start".
et	The ExecutionThread type in which the function of the operation will be executed, being OwnThread or ClientThread.

Returns

true if name was a local, present operation, false otherwise.

Definition at line 160 of file Service.cpp.

References RTT::OperationInterfacePart::getLocalOperation(), RTT::Service::getOperation(), RTT::Service::getOwner(), RTT::Service::hasOperation(), and RTT::base::OperationCallerInterface::setThread().

void RTT::Service::setOwner ( TaskContext *  new_owner )

inherited

Sets the owning TaskContext that will execute the operations in this service.

Definition at line 254 of file Service.cpp.

References RTT::base::TaskCore::engine(), RTT::Service::mowner, RTT::Service::services, and RTT::Service::simpleoperations.

Referenced by RTT::scripting::StateMachineService::StateMachineService().

void RTT::Service::setParent ( Service::shared_ptr  p )

inherited

Sets the parent service in case this service is a sub-service.

Definition at line 264 of file Service.cpp.

References RTT::Service::parent.

bool RTT::DataFlowInterface::setPortDescription ( const std::string &  name, const std::string  description  )

inherited

Sets the description for the service of an added port.

It's prefered to use getPort(name)->doc(description) instead of this method, since this function only updates the documentation of the service representing this port, and not the documentation stored in the port.

Parameters

name	The port name
description	The new description for this port's service

Returns

true if the port was found and the description was set, false otherwise.

Definition at line 229 of file DataFlowInterface.cpp.

References RTT::Service::getService(), and RTT::DataFlowInterface::mservice.

Referenced by RTT::base::PortInterface::doc().

bool RTT::ConfigurationInterface::setValue ( base::AttributeBase *  ab )

inherited

Transfer the ownership of an attribute to the repository.

Parameters

ab	The attribute which becomes owned by this repository.

Returns

false if an Attribute with the same name already present.

Definition at line 78 of file ConfigurationInterface.cpp.

References RTT::base::AttributeBase::getDataSource(), RTT::base::AttributeBase::getName(), and RTT::internal::values().

Referenced by RTT::ConfigurationInterface::copy(), and RTT::scripting::ExpressionParser::getHandle().

bool RTT::ScriptingService::startProgram

(

const std::string &

name

)

Start a Program.

Parameters

name	The name of the Program.

Definition at line 813 of file ScriptingService.cpp.

References getProgram().

Referenced by createInterface().

bool RTT::ScriptingService::startStateMachine

(

const std::string &

name

)

Start a previously activated StateMachine.

Parameters

name	The name of the StateMachine.

Definition at line 885 of file ScriptingService.cpp.

References getStateMachine().

Referenced by createInterface().

bool RTT::ScriptingService::stepProgram

(

const std::string &

name

)

Steps a single instruction of a paused program.

Parameters

name	The name of the Program.

Definition at line 861 of file ScriptingService.cpp.

References getProgram().

Referenced by createInterface().

bool RTT::ScriptingService::stopProgram

(

const std::string &

name

)

Stops the execution of a program.

Parameters

name	The name of the Program.

Definition at line 845 of file ScriptingService.cpp.

References getProgram().

Referenced by createInterface().

bool RTT::ScriptingService::stopStateMachine

(

const std::string &

name

)

Stops the execution of a scripting::StateMachine and enters the Final_State.

Parameters

name	The name of the StateMachine.

Definition at line 901 of file ScriptingService.cpp.

References getStateMachine().

Referenced by createInterface().

bool RTT::Service::testOperation ( base::OperationBase &  op )

protectedinherited

bool RTT::ScriptingService::unloadProgram

(

const std::string &

name

)

Unload a program from this processor.

Exceptions

program_unload_exception

if the program is not stopped or does not exist.

Definition at line 383 of file ScriptingService.cpp.

References RTT::base::TaskCore::engine(), RTT::Service::mowner, ORO_THROW_OR_RETURN, programs, and RTT::ExecutionEngine::removeFunction().

Referenced by clear(), doUnloadProgram(), and unloadProgram().

bool RTT::ScriptingService::unloadProgram ( const std::string &  name, bool  do_throw  )

virtual

Unload a program from the Program Processor.

Parameters

name	The name of the loaded program.
do_throw	Set to yes to cause the unloading errors to be thrown instead of being printed to the Logger interface.

Returns

true if it could be unloaded

Definition at line 681 of file ScriptingService.cpp.

References RTT::Logger::endl(), RTT::Logger::Error, RTT::Logger::Info, RTT::Logger::log(), RTT::Logger::nl(), unloadProgram(), and RTT::scripting::program_unload_exception::what().

bool RTT::ScriptingService::unloadStateMachine

(

const std::string &

name

)

Unload a deactivated State Machine and all its children.

Exceptions

program_unload_exception

if the state machine or one of its children is still active.

Definition at line 246 of file ScriptingService.cpp.

References ORO_THROW_OR_RETURN, recursiveCheckUnloadStateMachine(), recursiveUnloadStateMachine(), and states.

Referenced by clear(), deleteStateMachine(), doUnloadStateMachine(), and unloadStateMachine().

bool RTT::ScriptingService::unloadStateMachine ( const std::string &  name, bool  do_throw  )

virtual

Unload a state machine from the StateMachineProcessor.

Parameters

name	The name of the loaded program.
do_throw	Set to yes to cause the unloading errors to be thrown instead of being printed to the Logger interface.

Returns

true if it could be unloaded

Definition at line 767 of file ScriptingService.cpp.

References RTT::Logger::endl(), RTT::Logger::Error, RTT::Logger::Info, RTT::Logger::log(), RTT::Logger::nl(), unloadStateMachine(), and RTT::scripting::program_unload_exception::what().

Member Data Documentation

PropertyBag RTT::ConfigurationInterface::bag

protectedinherited

Definition at line 338 of file ConfigurationInterface.hpp.

map_t RTT::OperationInterface::data

protectedinherited

Definition at line 66 of file OperationInterface.hpp.

std::string RTT::Service::mdescription

protectedinherited

Definition at line 571 of file Service.hpp.

std::string RTT::Service::mname

protectedinherited

Definition at line 570 of file Service.hpp.

TaskContext* RTT::Service::mowner

protectedinherited

Definition at line 572 of file Service.hpp.

Referenced by RTT::Service::addLocalOperation(), RTT::Service::addService(), evalInternal(), execute(), loadFunctions(), loadProgram(), loadPrograms(), loadStateMachines(), RTT::Service::provides(), recursiveLoadStateMachine(), recursiveUnloadStateMachine(), RTT::Service::setOwner(), and unloadProgram().

Ports RTT::DataFlowInterface::mports

protectedinherited

All our ports.

Definition at line 280 of file DataFlowInterface.hpp.

Referenced by RTT::DataFlowInterface::addLocalPort(), RTT::DataFlowInterface::clear(), RTT::DataFlowInterface::getPort(), RTT::DataFlowInterface::getPortDescription(), RTT::DataFlowInterface::getPortNames(), RTT::DataFlowInterface::getPorts(), RTT::DataFlowInterface::removeLocalPort(), and RTT::DataFlowInterface::removePort().

Service* RTT::DataFlowInterface::mservice

protectedinherited

The parent Service.

May be null in exceptional cases.

Definition at line 284 of file DataFlowInterface.hpp.

Referenced by RTT::DataFlowInterface::addEventPort(), RTT::DataFlowInterface::addLocalEventPort(), RTT::DataFlowInterface::addPort(), RTT::DataFlowInterface::clear(), RTT::DataFlowInterface::dataOnPort(), RTT::DataFlowInterface::getOwner(), RTT::DataFlowInterface::removePort(), RTT::Service::Service(), and RTT::DataFlowInterface::setPortDescription().

OperationList RTT::Service::ownedoperations

protectedinherited

Definition at line 569 of file Service.hpp.

Referenced by RTT::Service::clear(), and RTT::Service::removeOperation().

shared_ptr RTT::Service::parent

protectedinherited

Definition at line 573 of file Service.hpp.

Referenced by RTT::Service::setParent().

ProgMap RTT::scripting::ScriptingService::programs

protected

Definition at line 572 of file ScriptingService.hpp.

Referenced by clear(), getProgram(), getProgramList(), getProgramStatus(), hasProgram(), loadProgram(), and unloadProgram().

Services RTT::Service::services

protectedinherited

the services we implement.

Definition at line 563 of file Service.hpp.

Referenced by RTT::Service::addService(), RTT::Service::clear(), RTT::Service::getProviderNames(), RTT::Service::getService(), RTT::Service::hasService(), RTT::Service::removeService(), and RTT::Service::setOwner().

SimpleOperations RTT::Service::simpleoperations

protectedinherited

Definition at line 568 of file Service.hpp.

Referenced by RTT::Service::addLocalOperation(), RTT::Service::clear(), RTT::Service::getLocalOperation(), RTT::Service::getOperationNames(), RTT::Service::hasOperation(), RTT::Service::removeOperation(), RTT::Service::resetOperation(), and RTT::Service::setOwner().

StatementProcessor* RTT::scripting::ScriptingService::sproc

protected

Definition at line 548 of file ScriptingService.hpp.

Referenced by execute(), and ~ScriptingService().

StateMap RTT::scripting::ScriptingService::states

protected

Definition at line 568 of file ScriptingService.hpp.

Referenced by clear(), getStateMachine(), getStateMachineList(), getStateMachineStatus(), hasStateMachine(), recursiveCheckLoadStateMachine(), recursiveCheckUnloadStateMachine(), recursiveLoadStateMachine(), recursiveUnloadStateMachine(), and unloadStateMachine().

map_t RTT::ConfigurationInterface::values

protectedinherited

Definition at line 337 of file ConfigurationInterface.hpp.

Referenced by RTT::scripting::StateMachineService::copy().

bool RTT::scripting::ScriptingService::ZeroPeriodWarning

protected

This is a property of the Scripting service It is true by default If this is set to false, the warning log when loading a program or a state machine into a Component with a null period will not be printed.

Be sure you have something else triggering periodically your Component activity unless your script may not work.

Definition at line 583 of file ScriptingService.hpp.

Referenced by loadProgram(), loadStateMachine(), and ScriptingService().

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The documentation for this class was generated from the following files:

• rtt/scripting/ScriptingService.hpp
• rtt/scripting/ScriptingService.cpp