Orocos Real-Time Toolkit  2.6.0
Namespaces | Classes | Typedefs | Enumerations | Functions | Variables
RTT Namespace Reference

Contains TaskContext, Activity, OperationCaller, Operation, Property, InputPort, OutputPort, Attribute. More...

Namespaces

namespace  base
 

Base classes of RTT classes.


namespace  corba
 

CORBA (OmniORB/TAO) code for network data transport.


namespace  detail
 

Convenient short notation for every sub-namespace of RTT.


namespace  extras
 

Extra classes not neccesary to build an Orocos application, but are handy in some cases, or serve as an example on how to extend the RTT.


namespace  internal
 

Classes which contain all implementation code for the RTT.


namespace  marsh
 

Classes for reading/writing properties to/from file or data stream.


namespace  os
 

OS Abstractions such as Mutexes, Semaphores and Threads.


namespace  plugin
 

Classes and functions for creating and loading plugins.


namespace  scripting
 

Parser code for the Orocos real-time scripting language.


namespace  types
 

Classes for typekits for describing and handling user data types.


Classes

class  Activity
 An Activity is an object that represents a thread. More...
struct  ArgumentDescription
 Description of one Argument of a Command. More...
class  Attribute
 An Attribute has a name and contains data which can be set and get. More...
class  Constant
 As opposed to a Attribute, a Constant can not be assigned to a new value after creation. More...
class  Alias
 This class is the most basic Attribute implementation (only suitable for reading a internal::DataSource), does not allow any assignment, just stores a internal::DataSourceBase, and returns it. More...
class  ComponentFactories
 A global variable storing all component factories added with ORO_LIST_COMPONENT_TYPE. More...
class  ComponentFactoryLoader
 A helper class storing a single component factory in case of static library deployments. More...
class  ConfigurationInterface
 A class for keeping track of Attribute, Constant and Property objects of a TaskContext. More...
class  ConnPolicy
 A connection policy object describes how a given connection should behave. More...
class  DataFlowInterface
 The Interface of a TaskContext which exposes its data-flow ports. More...
class  ExecutionEngine
 An execution engine serialises (executes one after the other) the execution of all commands, programs, state machines and incomming events for a task. More...
struct  name_not_found_exception
 Exception thrown when a factory is requested to create an object with an unknown name. More...
struct  invalid_handle_exception
 Exception thrown when a factory is requested to create an object with an invalid SendHandle. More...
struct  wrong_number_of_args_exception
 Exception thrown when a factory is requested to create an object but the wrong number of arguments was given. More...
struct  wrong_types_of_args_exception
 Exception thrown when a factory is requested to create an object, but a wrong argument type was given. More...
struct  no_asynchronous_operation_exception
 Exception thrown when a factory is requested to produce an asynchronous object while it is not available for that operation. More...
struct  non_lvalue_args_exception
 Exception thrown when a factory is requested to create an object, and one of the arguments needed to be an lvalue (AssignableDataSource) and an rvalue (plain DataSource) was given. More...
class  Handle
 The Handle holds the information, and allows manipulation, of a connection between a internal::Signal Handler function and the Signal itself. More...
class  ScopedHandle
 A scoped connection Handle of a (connected) slot which disconnects a slot from a signal in its destructor. More...
class  CleanupHandle
 A connection Handle of a (connected) slot which disconnects and cleans up (free all resources) the connection object in its destructor. More...
class  InputPort
 A component's data input port. More...
class  Logger
 A simple logging class to debug/ analyse what is going on in the Orocos system. More...
class  Marshalling
 Service requester to load and save properties of a TaskContext. More...
class  Operation
 The operation ties a C or C++ function into a component interface. More...
class  OperationCaller
 A OperationCaller serves as a placeholder (aka 'proxy') for a remote Operation. More...
class  OperationInterface
 Holds all exported operations of a component and is able to produce callers for these operations. More...
class  OperationInterfacePart
 This class defines the interface for creating operation objects without using C++ templates. More...
class  OutputPort
 A component's data output port. More...
class  Property
 A property represents a named value of any type with a description. More...
class  PropertyBag
 A container for holding references to properties. More...
class  file_parse_exception
 This is an exception class that keeps a parse_exception pointer along with the location in the file and the file where it occurred. More...
class  parse_exception
 This is the uppermost exception class in the parser system. More...
class  Scripting
 The method interface of the scripting plugin. More...
class  SendHandle
 The SendHandle is used to collect the result values of an asynchronous invocation. More...
class  Service
 This class allows storage and retrieval of operations, attributes and properties provided by a component. More...
class  ServiceRequester
 An object that expresses you wish to use a service. More...
class  TaskContext
 The TaskContext is the C++ representation of an Orocos component. More...

Typedefs

typedef TaskContext *(* ComponentLoaderSignature )(std::string instance_name)
 This signature defines how a component can be instantiated.
typedef std::map< std::string,
ComponentLoaderSignature
FactoryMap
typedef double Seconds
 Seconds are stored as a double precision float.
typedef long secs
 seconds as a signed long.
typedef long msecs
 milliseconds as a signed long.
typedef long usecs
 microseconds as a signed long.
typedef long long nsecs
 nanoseconds as a signed long long.
typedef long long psecs
 picoseconds as a signed long long
typedef std::basic_string
< char, std::char_traits< char >
, RTT::os::rt_allocator< char > > 
rt_string
 Real-time allocatable, dynamically-sized string.
typedef
std::basic_ostringstream< char,
std::char_traits< char >
, RTT::os::rt_allocator< char > > 
rt_ostringstream
 Real-time allocatable, dynamically-size output string stream.
typedef boost::shared_ptr
< Service
ServicePtr

Enumerations

enum  ExecutionThread { OwnThread, ClientThread }
 Users can choose if an operation is executed in the component's thread or in the thread of the caller.
enum  FlowStatus { NoData = 0, OldData = 1, NewData = 2 }
 Returns the status of a data flow read. More...
enum  LoggerLevel {
  Never = 0, Fatal, Critical, Error,
  Warning, Info, Debug, RealTime
}
 Enumerate all log-levels from absolute silence to everything. More...
enum  SendStatus { SendFailure = -1, SendNotReady = 0, SendSuccess = 1 }
 Returns the status of a send() invocation.

Functions

RTT_API std::ostream & operator<< (std::ostream &os, FlowStatus fs)
std::istream & operator>> (std::istream &is, FlowStatus &fs)
msecs secs_to_msecs (const secs s)
usecs secs_to_usecs (const secs s)
nsecs secs_to_nsecs (const secs s)
psecs secs_to_psecs (const secs s)
usecs msecs_to_usecs (const msecs ms)
nsecs msecs_to_nsecs (const msecs ms)
psecs msecs_to_psecs (const msecs ms)
nsecs usecs_to_nsecs (const usecs us)
psecs usecs_to_psecs (const usecs us)
psecs nsecs_to_psecs (const nsecs ns)
nsecs Seconds_to_nsecs (const Seconds s)
Seconds nsecs_to_Seconds (const nsecs ns)
psecs Seconds_to_psecs (const Seconds s)
Seconds psecs_to_Seconds (const psecs ps)
template<typename T >
std::ostream & operator<< (std::ostream &os, Property< T > &p)
std::ostream & operator<< (std::ostream &os, const PropertyBag &bag)
 Recursively prints out the contents of this bag.
std::istream & operator>> (std::istream &is, PropertyBag &bag)
 Not implemented.
PropertyBasefindProperty (const PropertyBag &bag, const std::string &path, const std::string &separator=std::string("."))
 This function locates a Property in nested PropertyBags.
vector< string > listProperties (const PropertyBag &bag, const std::string &separator=std::string("."))
 List all properties in a PropertyBag in a single list.
vector< string > listPropertyDescriptions (const PropertyBag &bag, const std::string &separator=std::string("."))
 List all descriptions of properties in a PropertyBag in a single list.
bool storeProperty (PropertyBag &bag, const std::string &path, base::PropertyBase *item, const std::string &separator=std::string("."))
 Stores a property in a bag given a certain path with transfer of ownership.
bool removeProperty (PropertyBag &bag, const std::string &path, const std::string &separator=std::string("."))
 Removes a property from a bag given a certain path.
bool updateOrRefreshProperty (PropertyBase *source, PropertyBase *target, bool update)
bool refreshProperties (const PropertyBag &target, const PropertyBag &source, bool strict=false)
 This function refreshes the values of the properties in one PropertyBag with the values of the properties of another PropertyBag.
bool refreshProperty (const PropertyBag &target, const base::PropertyBase &source)
 Refresh one Property in the target bag with the new value.
bool copyProperties (PropertyBag &target, const PropertyBag &source)
 This function copies (recursively) the Properties of one Bag into another Bag.
bool updateProperties (PropertyBag &target, const PropertyBag &source)
 This function updates (recursively) the values of Property objects of one Bag with the values of Property objects of another bag.
bool updateProperty (PropertyBag &target, const PropertyBag &source, const std::string &path, const std::string &separator=".")
 This function updates (recursively) the values of a single Property object of one Bag with the property of another bag.
bool refreshProperty (PropertyBag &target, const PropertyBag &source, const std::string &path, const std::string &separator=".")
 This function refreshes (recursively) the values of a single Property object of one Bag with the property of another bag.
void deleteProperties (PropertyBag &target)
 This function iterates over a PropertyBag and deletes all Property objects in it without recursion.
void deletePropertyBag (PropertyBag &target)
 This function iterates over a PropertyBag and recursively deletes all Property objects.
void flattenPropertyBag (PropertyBag &target, const std::string &separator=".")
 This function flattens a PropertyBag recursively.
std::string makeString (const RTT::rt_string &str)
 convert from real-time string to std::string
std::ostream & operator<< (std::ostream &os, SendStatus fs)
std::istream & operator>> (std::istream &is, SendStatus &fs)
bool connectPorts (TaskContext *A, TaskContext *B)
 Connect the Data Flow Ports of A and B in both directions, by matching port names.
bool connectPeers (TaskContext *A, TaskContext *B)
 Set up the Execution Flow (who knows who) between A and B in both directions.
OperatorRepository::shared_ptr operators ()
 This global function provides the short notation for OperatorRepository::Instance()

Variables

char const * default_comp_path_build
const long MSECS_IN_SECS = 1000
const long USECS_IN_SECS = 1000 * MSECS_IN_SECS
const long NSECS_IN_SECS = 1000 * USECS_IN_SECS
const long long PSECS_IN_SECS = 1000LL * NSECS_IN_SECS
const long USECS_IN_MSECS = 1000
const long NSECS_IN_MSECS = 1000 * USECS_IN_MSECS
const long PSECS_IN_MSECS = 1000 * NSECS_IN_MSECS
const long NSECS_IN_USECS = 1000
const long PSECS_IN_USECS = 1000 * NSECS_IN_USECS
const long PSECS_IN_NSECS = 1000

Detailed Description

Contains TaskContext, Activity, OperationCaller, Operation, Property, InputPort, OutputPort, Attribute.

The Real-Time Toolkit is documented in The Orocos Real-Time Toolkit Online Manual


Enumeration Type Documentation

Returns the status of a data flow read.

NoData means that the channel is disconnected or never written to. NewData means that the returned data is new data. OldData means that the returned data was already read.

Definition at line 54 of file FlowStatus.hpp.

Enumerate all log-levels from absolute silence to everything.

Warning:
If you enable 'RealTime' logging, this may break realtime performance. Use With Care and NOT on production systems.
See also:
Logger::allowRealTime()

Definition at line 338 of file Logger.hpp.


Function Documentation

RTT_API bool RTT::connectPeers ( TaskContext *  A,
TaskContext *  B 
)

Set up the Execution Flow (who knows who) between A and B in both directions.

Both will be able to use each other's interface.

See also:
TaskContext::connectPeers

Definition at line 394 of file TaskContext.cpp.

References RTT::TaskContext::connectPeers().

RTT_API bool RTT::connectPorts ( TaskContext *  A,
TaskContext *  B 
)

Connect the Data Flow Ports of A and B in both directions, by matching port names.

See also:
TaskContext::connectPorts

Definition at line 390 of file TaskContext.cpp.

References RTT::TaskContext::connectPorts().