RTT::corba::CService Interface Reference

An Orocos Service which hosts operations, attributes and properties. More...

import "rtt/transports/corba/Service.idl";

Inheritance diagram for RTT::corba::CService:

List of all members.

Public Types
typedef sequence< string >	CProviderNames
typedef sequence< string >	COperationList
typedef sequence< CProperty >	CPropertyNames
typedef sequence< string >	CAttributeNames
typedef sequence< string >	CPortNames
typedef sequence < CPortDescription >	CPortDescriptions
Public Member Functions
string	getName ()
	Return the name of this service.
string	getServiceDescription ()
	Return the description of this service.
CProviderNames	getProviderNames ()
	Get a list of all the child services this service offers.
CService	getService (in string name)
	Get a child service this service provides.
boolean	hasService (in string name)
	Has this service a child service with given name ?
COperationList	getOperations ()
	Get a list of all operations.
CDescriptions	getArguments (in string operation) raises (CNoSuchNameException)
	Get a list of all arguments of a given operation.
unsigned short	getArity (in string operation) raises (CNoSuchNameException)
	Returns the number of arguments required in callOperation() and sendOperation() for a given operation.
unsigned short	getCollectArity (in string operation) raises (CNoSuchNameException)
	Returns the number of arguments required in CSendHandle::collect() and CSendHandle::collectIfDone() for a given operation.
string	getResultType (in string operation) raises (CNoSuchNameException)
	Get a result type of a given operation.
string	getArgumentType (in string operation, in unsigned short nbr) raises (CNoSuchNameException, CWrongArgumentException)
	Returns the argument or return type name of call as known to the Orocos type system.
string	getCollectType (in string operation, in unsigned short nbr) raises (CNoSuchNameException, CWrongArgumentException)
	Returns the argument type of collect as known to the Orocos type system.
string	getDescription (in string operation) raises (CNoSuchNameException)
	Get a description of a given operation.
void	checkOperation (in string operation, in CAnyArguments args) raises ( CNoSuchNameException, CWrongNumbArgException, CWrongTypeArgException)
	Checks if a given operation accepts the list of arguments.
any	callOperation (in string operation, inout CAnyArguments args) raises ( CNoSuchNameException, CWrongNumbArgException, CWrongTypeArgException, CCallInterrupted, CCallError)
	Call an operation with a list of arguments.
CSendHandle	sendOperation (in string operation, in CAnyArguments args) raises ( CNoSuchNameException, CWrongNumbArgException, CWrongTypeArgException, CCallInterrupted)
	Send an operation with a list of arguments.
CAttributeNames	getAttributeList ()
CPropertyNames	getPropertyList ()
any	getAttribute (in string name)
boolean	setAttribute (in string name, in any value)
boolean	hasAttribute (in string name)
boolean	hasProperty (in string name)
any	getProperty (in string name)
	Get a property by name.
boolean	setProperty (in string name, in any value)
	Set a property by name.
string	getPropertyType (in string name)
	Return the type of the attribute or property.
string	getAttributeType (in string name)
string	getPropertyTypeName (in string name)
	Return the type name of the expression as it is known to the Orocos Type System.
string	getAttributeTypeName (in string name)
string	attributeToString (in string name)
	Return the result of an attribute or property as a text string.
string	propertyToString (in string name)
boolean	attributeFromString (in string name, in string value)
	Assign a given property or attribute a stringified value.
boolean	propertyFromString (in string name, in string value)
boolean	isAttributeAssignable (in string name)
	Returns true if the attribute can be changed.
CPortNames	getPorts ()
	Returns the names of the ports of this component.
CPortDescriptions	getPortDescriptions ()
	Returns the names of the ports of this component.
CPortType	getPortType (in string port_name) raises (CNoSuchPortException)
	Returns the type of the given port.
string	getDataType (in string port_name) raises (CNoSuchPortException)
	Returns the data type for the given port.
boolean	isConnected (in string port_name) raises (CNoSuchPortException)
	Check if the given port is already connected to something.
void	disconnectPort (in string port_name) raises (CNoSuchPortException)
	Disconnects this port from all connections it is part of.
CChannelElement	buildChannelOutput (in string input_port, inout CConnPolicy policy) raises (CNoCorbaTransport,CNoSuchPortException)
	Use this to write to an input port with the given policy.
CChannelElement	buildChannelInput (in string output_port, inout CConnPolicy policy) raises (CNoCorbaTransport,CNoSuchPortException)
	Use this to read from an output port with the given policy.
boolean	createConnection (in string local_port, in CDataFlowInterface remote_ports, in string remote_port, inout CConnPolicy policy) raises (CNoSuchPortException)
	Connect the given named port to the given remote port.
boolean	removeConnection (in string local_port, in CDataFlowInterface remote_ports, in string remote_port) raises (CNoSuchPortException)
	Removes the specified connection created with createConnection.
boolean	createStream (in string local_port, inout CConnPolicy policy) raises (CNoSuchPortException)
	Create an out-of-band data stream with a given policy.
void	removeStream (in string local_port, in string stream_name) raises (CNoSuchPortException)
	Removes a stream added with createStream.
boolean	channelReady (in string input_port, in CChannelElement channel) raises (CNoSuchPortException)
	Checks if the connection channel elements are ready for a given input port.

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Detailed Description

An Orocos Service which hosts operations, attributes and properties.

Definition at line 22 of file Service.idl.

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Member Function Documentation

boolean RTT::corba::CConfigurationInterface::attributeFromString	(	in string	name,
		in string	value
	)		[inherited]

Assign a given property or attribute a stringified value.

Returns:

true if the assignment could be done.

CChannelElement RTT::corba::CDataFlowInterface::buildChannelInput	(	in string	output_port,
		inout CConnPolicy	policy
	)		raises (CNoCorbaTransport,CNoSuchPortException) [inherited]

Use this to read from an output port with the given policy.

Some protocols may adjust the policy, or pass additional information into the policy, such as the name of the newly created connection.

CChannelElement RTT::corba::CDataFlowInterface::buildChannelOutput	(	in string	input_port,
		inout CConnPolicy	policy
	)		raises (CNoCorbaTransport,CNoSuchPortException) [inherited]

Use this to write to an input port with the given policy.

Some protocols may adjust the policy, or pass additional information into the policy, such as the name of the newly created connection.

The returned channel element will not be functional until channelReady() has been called for it

any RTT::corba::COperationInterface::callOperation	(	in string	operation,
		inout CAnyArguments	args
	)		raises ( CNoSuchNameException, CWrongNumbArgException, CWrongTypeArgException, CCallInterrupted, CCallError) [inherited]

Call an operation with a list of arguments.

This method will block until the operation completes and returns its result.

boolean RTT::corba::CDataFlowInterface::channelReady	(	in string	input_port,
		in CChannelElement	channel
	)		raises (CNoSuchPortException) [inherited]

Checks if the connection channel elements are ready for a given input port.

This is typically called by the createConnection setup logic to see if the input side agrees with the connection and can use it. For example, the input port can use this opportunity to check the

Exceptions:

CNoSuchPortException

if input_port is not an input port or not present in this interface.

Returns:

false if the connection could not be used.

void RTT::corba::COperationInterface::checkOperation	(	in string	operation,
		in CAnyArguments	args
	)		raises ( CNoSuchNameException, CWrongNumbArgException, CWrongTypeArgException) [inherited]

Checks if a given operation accepts the list of arguments.

If no exception is thrown, the arguments and operation name were valid.

boolean RTT::corba::CDataFlowInterface::createConnection	(	in string	local_port,
		in CDataFlowInterface	remote_ports,
		in string	remote_port,
		inout CConnPolicy	policy
	)		raises (CNoSuchPortException) [inherited]

Connect the given named port to the given remote port.

Use this method to connect two Orocos data flow ports.

The local port needs to be the output, while the remote port is the input. In case you only want to write a port without using this function, use buildChannelOutput. For only reading a port, use buildChannelInput.

This method combines both buildChannelOutput() and buildChannelInput() and is generally better in setting up and checking a data flow connection between two ports than the separate methods.

This method will call the remote_ports interface back to orchestrate the connection building.

See also:

removeConnection() to remove this connection again.

boolean RTT::corba::CDataFlowInterface::createStream	(	in string	local_port,
		inout CConnPolicy	policy
	)		raises (CNoSuchPortException) [inherited]

Create an out-of-band data stream with a given policy.

You may specify a name_id in the policy object, or if left empty, a name will be chosen for you.

void RTT::corba::CDataFlowInterface::disconnectPort

(

in string

port_name

)

raises (CNoSuchPortException) [inherited]

Disconnects this port from all connections it is part of.

See also:

CChannelElement::disconnect() to disconnect a single Channel.

any RTT::corba::CConfigurationInterface::getProperty

(

in string

name

)

[inherited]

Get a property by name.

You can scope the name for entering sub-properties. For example 'controlparameters.gains.k' to retrieve nested property with name 'k'.

void RTT::corba::CDataFlowInterface::removeStream	(	in string	local_port,
		in string	stream_name
	)		raises (CNoSuchPortException) [inherited]

Removes a stream added with createStream.

Parameters:

local_port	The port to remove the stream from.
stream_name	The name_id returned in the CConnPolicy object after the call to createStream.

CSendHandle RTT::corba::COperationInterface::sendOperation	(	in string	operation,
		in CAnyArguments	args
	)		raises ( CNoSuchNameException, CWrongNumbArgException, CWrongTypeArgException, CCallInterrupted) [inherited]

Send an operation with a list of arguments.

This method will return immediately and return a CSendHandle.

boolean RTT::corba::CConfigurationInterface::setProperty	(	in string	name,
		in any	value
	)		[inherited]

Set a property by name.

You can scope the name for entering sub-properties. For example 'controlparameters.gains.k' to write nested property with name 'k'.

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The documentation for this interface was generated from the following file:

• rtt/transports/corba/Service.idl