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

#include <DeploymentComponent.hpp>

Inheritance diagram for DeploymentComponent:

Classes
struct	ComponentData
	Each configured component is stored in a struct like this. More...

struct	ConnectionData
	Assembles all ports which share a connection. More...

Public Member Functions
	DeploymentComponent (std::string name="Deployer", std::string siteFile="")
	Constructs and configures this component. More...

	~DeploymentComponent ()
	Cleans up all configuration related information. More...

RTT::TaskContext *	myGetPeer (std::string name)

bool	connectPeers (const std::string &one, const std::string &other)
	Make two components peers in both directions, such that both can use each other's services. More...

bool	connectPorts (const std::string &one, const std::string &other)
	Establish a data flow connection between two tasks. More...

bool	connectPorts (const std::string &one, const std::string &one_port, const std::string &other, const std::string &other_port)
	Connect two named ports of components. More...

bool	connect (const std::string &one, const std::string &other, ConnPolicy policy)
	Connect two named ports of components. More...

bool	stream (const std::string &port, ConnPolicy policy)
	Creates a stream from a given port of a component. More...

bool	createStream (const std::string &component, const std::string &port, ConnPolicy policy)

bool	connectServices (const std::string &one, const std::string &other)
	Connects the required services of one component to the provided services of another and vice versa. More...

bool	connectOperations (const std::string &required, const std::string &provided)
	Connects a required operation to a provided operation. More...

bool	addPeer (const std::string &from, const std::string &target)
	Make one component a peer of the other, in one direction, such that one can use the services of the other. More...

bool	aliasPeer (const std::string &from, const std::string &target, const std::string &alias)
	Make one component a peer of the other, in one direction, with an alternative name, such that one can use the services of the other and knows it under the name of the alias. More...

bool	import (const std::string &package)
	Import a component package or directory. More...

void	path (const std::string &path)
	Add an additional path to search for component packages. More...

bool	loadLibrary (const std::string &name)
	Use this command to load a plugin or component library into the memory of the current process. More...

bool	reloadLibrary (const std::string &filepath)
	Use this command to reload a component library into the memory of the current process. More...

bool	loadComponent (const std::string &name, const std::string &type)
	Load a new component in the current process. More...

bool	loadService (const std::string &component, const std::string &service)
	Loads a service in the given component. More...

bool	unloadComponent (const std::string &name)
	Unload a loaded component from the current process. More...

void	displayComponentTypes () const
	This function prints out the component types this DeploymentComponent can create. More...

std::vector< std::string >	getComponentTypes () const
	This function returns the component types this DeploymentComponent can create in a comma separated list. More...

bool	setPeriodicActivity (const std::string &comp_name, double period, int priority, int scheduler)
	(Re-)set the activity of a component with a periodic activity. More...

bool	setActivity (const std::string &comp_name, double period, int priority, int scheduler)
	(Re-)set the activity of a component with an activity. More...

bool	setFileDescriptorActivity (const std::string &comp_name, double timeout, int priority, int scheduler)
	(Re-)set the activity of a component with a FileDescriptor activity. More...

bool	setActivityOnCPU (const std::string &comp_name, double period, int priority, int scheduler, unsigned int cpu_nr)
	(Re-)set the activity of a component and run it on a given CPU. More...

bool	setSequentialActivity (const std::string &comp_name)
	(Re-)set the activity of a component with a (threadless, reactive) sequential activity. More...

bool	setSlaveActivity (const std::string &comp_name, double period)
	(Re-)set the activity of a component with a (stand alone) slave activity. More...

bool	setMasterSlaveActivity (const std::string &comp_name, const std::string &master_name)
	(Re-)set the activity of a component with a slave activity with master. More...

bool	setNamedActivity (const std::string &comp_name, const std::string &act_type, double period, int priority, int scheduler, const std::string &master_name="")
	(Re-)set the activity of a component. More...

bool	setNamedActivity (const std::string &comp_name, const std::string &act_type, double period, int priority, int scheduler, unsigned cpu_affinity, const std::string &master_name="")
	(Re-)set the activity of a component. More...

bool	setWaitPeriodPolicy (const std::string &comp_name, int policy)
	(Re-)set the wait period policy of a component's thread. More...

bool	loadComponents (const std::string &config_file)
	Load a (partial) application XML configuration from disk. More...

bool	loadComponentsInGroup (const std::string &config_file, const int group)
	Load a (partial) application XML configuration from disk into a specific group. More...

bool	configureComponents ()
	Configure the components with loaded configuration(s). More...

bool	configureComponentsGroup (const int group)
	Configure the components in group group. More...

bool	startComponents ()
	Start all components in the current configuration which have AutoStart set to true. More...

bool	startComponentsGroup (const int group)
	Start all components in group group which have AutoStart set to true. More...

void	clearConfiguration ()
	Clear all loaded configuration options. More...

bool	stopComponents ()
	Stop all loaded and running components.

bool	stopComponentsGroup (const int group)
	Stop all loaded and running components in group group. More...

bool	cleanupComponents ()
	Cleanup all loaded and not running components.

bool	cleanupComponentsGroup (const int group)
	Cleanup all loaded and not running components. More...

bool	unloadComponents ()
	Unload all loaded and not running components.

bool	unloadComponentsGroup (const int group)
	Unload all loaded and not running components in group group. More...

bool	kickStart (const std::string &file_name)
	This function runs loadComponents, configureComponents and startComponents in a row, given no failures occur along the way.

bool	kickOutComponent (const std::string &comp_name)
	Stop, cleanup and unload a single component which were loaded by this component. More...

void	kickOut (const std::string &config_file)
	Identical to kickOutAll, but it reads the name of the Components to kickOut from an XML file. More...

bool	kickOutAll ()
	Stop, cleanup and unload all components loaded by the DeploymentComponent. More...

bool	kickOutGroup (const int group)
	Stop, cleanup and unload all components in group group.

bool	runScript (const std::string &file_name)
	Scripting-alternative to kickStart: runs this script in the Orocos scripting service.

bool	configure (const std::string &name)
	Configure a component by loading the property file 'name.cpf' for component with name name. More...

bool	configureFromFile (const std::string &name, const std::string &filename)
	Configure a component by loading a property file. More...

bool	loadConfiguration (const std::string &config_file)
	Load a (partial) application XML configuration from disk. More...

bool	loadConfigurationString (const std::string &config_text)
	Identical to loadConfiguration, but reads the XML from a string instead of a file. More...

const RTT::FactoryMap &	getFactories () const
	Returns the factory singleton which creates all types of components for the DeploymentComponent.

bool	configureComponent (RTT::TaskContext *instance)
	Configure a single loaded and running component. More...

bool	configureComponent (const std::string &comp_name)
	Configure a single loaded and running components. More...

bool	startComponent (RTT::TaskContext *instance)
	Stop a single loaded and running component. More...

bool	startComponent (const std::string &comp_name)
	Stop a single loaded and running components. More...

bool	stopComponent (RTT::TaskContext *instance)
	Stop a single loaded and running component. More...

bool	stopComponent (const std::string &comp_name)
	Stop a single loaded and running components. More...

bool	cleanupComponent (RTT::TaskContext *instance)
	Cleanup a single loaded and not running component. More...

bool	cleanupComponent (const std::string &comp_name)
	Cleanup a single loaded and not running component. More...

void	shutdownDeployment ()
	Clean up and shutdown the entire deployment If an operation named "shutdownDeployment" is found in a peer component named "Application", then that operation is called otherwise if a scripting program named "shutdown" is loaded, then that will be executed, otherwise nothing occurs.

Protected Types
typedef std::map< std::string, ConnectionData >	ConMap
	This maps connection names to associated ports.

typedef std::map< std::string, ComponentData >	CompMap
	This list and map hold the dynamically loaded components.

typedef std::list< std::string >	CompList

Protected Member Functions
bool	configureHook ()
	This function imports available plugins from the path formed by the expression. More...

bool	unloadComponentImpl (CompMap::iterator cit)
	This method removes all references to the component hold in cit, on the condition that it is not running.

virtual bool	componentLoaded (RTT::TaskContext *c)
	Hook function for subclasses. More...

virtual void	componentUnloaded (RTT::TaskContext *c)
	Hook function for subclasses. More...

Service::shared_ptr	stringToService (std::string const &names)
	Converts a dot-separated path to a service to a Service object. More...

ServiceRequester::shared_ptr	stringToServiceRequester (std::string const &names)
	Converts a dot-separated path to a service to a ServiceRequester object. More...

base::PortInterface *	stringToPort (std::string const &names)
	Converts a dot-separated path to a service to a Port object. More...

bool	waitForSignal (int signumber)
	Waits for any signal and then returns. More...

bool	waitForInterrupt ()
	Waits for SIGINT and then returns. More...

Protected Attributes
RTT::PropertyBag	root
	This bag stores the current configuration. More...

std::string	compPath

int	defaultWaitPeriodPolicy

RTT::Property< bool >	autoUnload

RTT::Attribute< bool >	validConfig

RTT::Constant< int >	sched_RT

RTT::Constant< int >	sched_OTHER

RTT::Constant< int >	lowest_Priority

RTT::Constant< int >	highest_Priority

RTT::Attribute< std::string >	target

int	nextGroup
	Next group number.

ConMap	conmap

CompMap	compmap

CompList	comps

Detailed Description

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

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

The main idea is to load an XML file as described in the Deployment Component Manual. It dictates the libraries to load, the components to create, configure and start. Every aspect of the XML file can be expressed in a program script as well. If you want this component to execute a program script, assign it a periodic activity using either a 'site local' XML script (see below), or by listing the DeploymentComponent in your main XML file.

Automatically loading a site local XML file

It is possible to store site local settings in a separate XML configuration file which will be automatically loaded when the DeploymentComponent is created. The default name of this file is 'this->getName() + "-site.cpf"'. It is only looked for and loaded in the constructor of this class.

Configuring the DeploymentComponent itself.

When reading an XML file (for example, when using kickStart() or loadComponents() ) the DeploymentComponent checks if a section is devoted to itself by comparing the listed component name with its own name ( this->getName() ). If it matches, it applies the configuration instructions to itself in the same manner as it would configure other components.

Definition at line 86 of file DeploymentComponent.hpp.

Constructor & Destructor Documentation

DeploymentComponent	(	std::string	name = `"Deployer"`,
		std::string	siteFile = `""`
	)

Constructs and configures this component.

The constructor looks for the site local configuration XML file ('name + "-site.cpf"') and if found, kickStart()'s it. You need to set AutoConf to true in order to force a call to configureHook(). In case this file is not present in the current working directory, the component is configured and is thus constructed in the Stopped state. Using a site file does not prevent you from kickstarting or loading other XML files lateron.

Parameters

name	The name of this component. By default: Deployer
siteFile	The site-specific XML file which, if found, will be used for a site-specific kickStart. If left empty, the value becomes by default: name + "-site.cpf"

See also: kickStart; configureHook

Definition at line 96 of file DeploymentComponent.cpp.

~DeploymentComponent ( )

Cleans up all configuration related information.

If the property 'AutoUnload' is set to true, it will also call kickOutAll(), otherwise, the loaded components are left as-is.

Definition at line 280 of file DeploymentComponent.cpp.

References DeploymentComponent::kickOutAll().

Member Function Documentation

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

Make one component a peer of the other, in one direction, such that one can use the services of the other.

Parameters

from	The component that must 'see' target and use its services.
target	The component that is 'seen' and used by from.

Returns: true if both components are peers of this deployment component and target became a peer of from.

Definition at line 336 of file DeploymentComponent.cpp.

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

bool aliasPeer	(	const std::string &	from,
		const std::string &	target,
		const std::string &	alias
	)

Make one component a peer of the other, in one direction, with an alternative name, such that one can use the services of the other and knows it under the name of the alias.

Parameters

from	The component that must 'see' target and use its services.
target	The component that is 'seen' and used by from.
alias	The name of the target as it will be seen by from.

Returns: true if both components are peers of this deployment component and target became a peer of from.

Definition at line 356 of file DeploymentComponent.cpp.

Referenced by DeploymentComponent::DeploymentComponent().

bool cleanupComponent ( RTT::TaskContext * instance )

Cleanup a single loaded and not running component.

Parameters

instance instance pointer of the component.

Returns: true if successfully cleaned up

Definition at line 2173 of file DeploymentComponent.cpp.

Referenced by DeploymentComponent::kickOutComponent().

bool cleanupComponent ( const std::string & comp_name )

inline

Cleanup a single loaded and not running component.

Parameters

comp_name name of the component.

Returns: true if successfully cleaned up

Definition at line 920 of file DeploymentComponent.hpp.

bool cleanupComponentsGroup ( const int group )

Cleanup all loaded and not running components.

Parameters

group The group number to cleanup

Definition at line 1622 of file DeploymentComponent.cpp.

References DeploymentComponent::ComponentData::group, DeploymentComponent::ComponentData::instance, and DeploymentComponent::ComponentData::loadedProperties.

Referenced by DeploymentComponent::cleanupComponents(), and DeploymentComponent::kickOutGroup().

void clearConfiguration ( )

Clear all loaded configuration options.

This does not alter any component.

Definition at line 1703 of file DeploymentComponent.cpp.

References DeploymentComponent::root.

Referenced by DeploymentComponent::DeploymentComponent().

bool componentLoaded ( RTT::TaskContext * c )

protectedvirtual

Hook function for subclasses.

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

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

Reimplemented in CorbaDeploymentComponent.

Definition at line 276 of file DeploymentComponent.cpp.

Referenced by DeploymentComponent::loadComponent().

void componentUnloaded ( RTT::TaskContext * c )

protectedvirtual

Hook function for subclasses.

Allows a subclass to take notice of a component being deleted.

Parameters

c	a valid TaskContext object.

Reimplemented in CorbaDeploymentComponent.

Definition at line 278 of file DeploymentComponent.cpp.

Referenced by DeploymentComponent::unloadComponentImpl().

bool configure ( const std::string & name )

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

Parameters

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

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

Definition at line 2119 of file DeploymentComponent.cpp.

References DeploymentComponent::configureFromFile().

Referenced by DeploymentComponent::DeploymentComponent().

bool configureComponent ( RTT::TaskContext * instance )

Configure a single loaded and running component.

Parameters

instance instance pointer of the component.

Returns: true if successfully configured.

Definition at line 2191 of file DeploymentComponent.cpp.

Referenced by DeploymentComponent::DeploymentComponent().

bool configureComponent ( const std::string & comp_name )

inline

Configure a single loaded and running components.

Parameters

comp_name name of the component.

Returns: true if successfully configured

Definition at line 869 of file DeploymentComponent.hpp.

bool configureComponents ( )

Configure the components with loaded configuration(s).

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

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

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

Returns: true if all components could be succesfully configured.

Definition at line 1223 of file DeploymentComponent.cpp.

References DeploymentComponent::configureComponentsGroup(), and DeploymentComponent::nextGroup.

Referenced by DeploymentComponent::DeploymentComponent().

bool configureComponentsGroup ( const int group )

Configure the components in group group.

See also: configureComponents()

Returns: true if all the group's components could be succesfully configured.

Definition at line 1234 of file DeploymentComponent.cpp.

References DeploymentComponent::addPeer(), DeploymentComponent::ComponentData::group, DeploymentComponent::ComponentData::instance, DeploymentComponent::ComponentData::loaded, DeploymentComponent::root, and DeploymentComponent::runScript().

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

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

Configure a component by loading a property file.

Parameters

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

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

Definition at line 2124 of file DeploymentComponent.cpp.

Referenced by DeploymentComponent::configure().

bool configureHook ( )

protected

This function imports available plugins from the path formed by the expression.

ComponentPath + "/rtt/"+ Target + "/plugins"

Returns: always true.

Definition at line 260 of file DeploymentComponent.cpp.

bool connect	(	const std::string &	one,
		const std::string &	other,
		ConnPolicy	policy
	)

Connect two named ports of components.

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

Parameters

one	A dot-separated path to a port in a service
other	A dot-separated path to a port in a service
policy	The connection policy of the new connetion.

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

Definition at line 546 of file DeploymentComponent.cpp.

References DeploymentComponent::stringToPort().

Referenced by DeploymentComponent::DeploymentComponent().

bool connectOperations	(	const std::string &	required,
		const std::string &	provided
	)

Connects a required operation to a provided operation.

Parameters

required	The dot-separated name of a required operation
provided	The dot-separated name of a provided operation

Returns: true if required is connected to provided

Definition at line 600 of file DeploymentComponent.cpp.

References DeploymentComponent::stringToService(), and DeploymentComponent::stringToServiceRequester().

Referenced by DeploymentComponent::DeploymentComponent().

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

Make two components peers in both directions, such that both can use each other's services.

Parameters

one	The component that must 'see' other.
other	The component that must 'see' one.

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

Definition at line 320 of file DeploymentComponent.cpp.

Referenced by DeploymentComponent::DeploymentComponent().

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

Establish a data flow connection between two tasks.

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

Note: Using this function is not advised, since it relies on equal port names on both components. Use the alternative form of connectPorts() which specify component/service and port name.

Deprecated:: by connect()

Parameters

one	The first component
other	The second component

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

Definition at line 475 of file DeploymentComponent.cpp.

Referenced by DeploymentComponent::DeploymentComponent().

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

Connect two named ports of components.

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

Parameters

one	Name of the first component or a dot-separated path to its service
one_port	Name of the port of the first component to connect to other_port
other	Name of the second component or a dot-separated path to its service
other_port	Name of the port of the second component to connect to one_port

Deprecated:: by connect()

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

Definition at line 493 of file DeploymentComponent.cpp.

References DeploymentComponent::stringToService().

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

Connects the required services of one component to the provided services of another and vice versa.

Parameters

one	The name of a provided service or a dot-separated path to a Service
one	The name of a required service or a dot-separated path to a ServiceRequester

Note: One of the parameters must be a Service and the other a ServiceRequester, or vice versa.

Definition at line 582 of file DeploymentComponent.cpp.

Referenced by DeploymentComponent::DeploymentComponent().

bool createStream	(	const std::string &	component,
		const std::string &	port,
		ConnPolicy	policy
	)

Deprecated:: by stream()

Definition at line 532 of file DeploymentComponent.cpp.

References DeploymentComponent::stringToService().

Referenced by DeploymentComponent::DeploymentComponent().

void displayComponentTypes ( ) const

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

See also: loadComponent()

Definition at line 1873 of file DeploymentComponent.cpp.

References DeploymentComponent::getFactories().

Referenced by DeploymentComponent::DeploymentComponent().

std::vector< std::string > getComponentTypes ( ) const

This function returns the component types this DeploymentComponent can create in a comma separated list.

See also: loadComponent()

Definition at line 1884 of file DeploymentComponent.cpp.

References DeploymentComponent::getFactories().

Referenced by DeploymentComponent::DeploymentComponent().

bool import ( const std::string & package )

Import a component package or directory.

The import statement searches through the component paths set with path() or set using the RTT_COMPONENT_PATH environment variable.

Parameters

package A (ros) package or directory name. All components, plugins and typekits in package will be loaded and become available to the application. As a special case, you may specify a path to a library directly, which will be loaded when found.

Returns: true if the package could be found and loaded, false if no such package was found in the search path.

Definition at line 1710 of file DeploymentComponent.cpp.

Referenced by DeploymentComponent::DeploymentComponent().

void kickOut ( const std::string & config_file )

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

Parameters

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

Definition at line 2146 of file DeploymentComponent.cpp.

References DeploymentComponent::kickOutComponent().

Referenced by DeploymentComponent::DeploymentComponent().

bool kickOutAll ( )

Stop, cleanup and unload all components loaded by the DeploymentComponent.

Postcondition: 0 == nextGroup

Definition at line 705 of file DeploymentComponent.cpp.

References DeploymentComponent::kickOutGroup(), and DeploymentComponent::nextGroup.

Referenced by DeploymentComponent::DeploymentComponent(), and DeploymentComponent::~DeploymentComponent().

bool kickOutComponent ( const std::string & comp_name )

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

Parameters

comp_name name of the component.

Returns: true if successfully stopped, cleaned and unloaded

Definition at line 2247 of file DeploymentComponent.cpp.

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

Referenced by DeploymentComponent::DeploymentComponent(), and DeploymentComponent::kickOut().

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

Load a new component in the current process.

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

Parameters

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

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

Definition at line 1751 of file DeploymentComponent.cpp.

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

Referenced by DeploymentComponent::DeploymentComponent(), and DeploymentComponent::loadComponentsInGroup().

bool loadComponents ( const std::string & config_file )

Load a (partial) application XML configuration from disk.

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

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

Parameters

config_file A file on local disk containing the XML configuration.

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

Definition at line 744 of file DeploymentComponent.cpp.

References DeploymentComponent::loadComponentsInGroup(), and DeploymentComponent::nextGroup.

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

bool loadComponentsInGroup	(	const std::string &	config_file,
		const int	group
	)

Load a (partial) application XML configuration from disk into a specific group.

If the group already exists, then adds to that group. Does not affect existing members of the group.

See also: loadComponents for general details

Parameters

config_file	A file on local disk containing the XML configuration.
group	The group number to load into

Precondition: 0 <= group

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

Definition at line 751 of file DeploymentComponent.cpp.

References DeploymentComponent::loadComponent(), DeploymentComponent::loadLibrary(), DeploymentComponent::path(), DeploymentComponent::root, and DeploymentComponent::setNamedActivity().

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

bool loadConfiguration ( const std::string & config_file )

Load a (partial) application XML configuration from disk.

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

Deprecated:: by loadComponents.

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

Parameters

config_file A file on local disk containing the XML configuration.

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

Definition at line 739 of file DeploymentComponent.cpp.

References DeploymentComponent::loadComponents().

Referenced by DeploymentComponent::DeploymentComponent(), and DeploymentComponent::loadConfigurationString().

bool loadConfigurationString ( const std::string & config_text )

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

Parameters

config_text A string containing the XML configuration.

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

Definition at line 646 of file DeploymentComponent.cpp.

References DeploymentComponent::loadConfiguration().

Referenced by DeploymentComponent::DeploymentComponent().

bool loadLibrary ( const std::string & name )

Use this command to load a plugin or component library into the memory of the current process.

This is a low-level function which you should only use if you could not use import().

Parameters

name	an absolute or relative path to a loadable library.

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

Definition at line 1723 of file DeploymentComponent.cpp.

Referenced by DeploymentComponent::DeploymentComponent(), and DeploymentComponent::loadComponentsInGroup().

bool loadService	(	const std::string &	component,
		const std::string &	service
	)

Loads a service in the given component.

If a service with the name of service is already loaded, does nothing and returns true.

Note: If the loaded service uses another name to expose itself or does not register itself with an RTT::Service object, this function will load the service anyway in case it has been loaded before.

Parameters

component	A peer of this component.
service	A service discovered by the PluginLoader which will be loaded into component.

Returns: false if component is not a peer or service is not known. true otherwise.

Definition at line 1735 of file DeploymentComponent.cpp.

Referenced by DeploymentComponent::DeploymentComponent().

void path ( const std::string & path )

Add an additional path to search for component packages.

Parameters

a	colon or semi-colon separated list of directories to search for. Typically, paths have the form prefix1/lib/orocos:prefix2/lib/orocos etc.

Definition at line 1716 of file DeploymentComponent.cpp.

Referenced by DeploymentComponent::DeploymentComponent(), and DeploymentComponent::loadComponentsInGroup().

bool reloadLibrary ( const std::string & filepath )

Use this command to reload a component library into the memory of the current process.

This is a low-level function which you should only use for testing/development

Parameters

filepath an absolute path to a loaded library.

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

Definition at line 1729 of file DeploymentComponent.cpp.

Referenced by DeploymentComponent::DeploymentComponent().

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

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

Parameters

comp_name	The name of the component to change.
period	The period of the activity (or 0.0 if non periodic).
priority	The scheduler priority (OS dependent).
scheduler	The scheduler type ORO_SCHED_RT or ORO_SCHED_OTHER.

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

Definition at line 1894 of file DeploymentComponent.cpp.

References DeploymentComponent::setNamedActivity().

Referenced by DeploymentComponent::DeploymentComponent().

bool setActivityOnCPU	(	const std::string &	comp_name,
		double	period,
		int	priority,
		int	scheduler,
		unsigned int	cpu_nr
	)

(Re-)set the activity of a component and run it on a given CPU.

Parameters

comp_name	The name of the component to change.
period	The period of the activity (or 0.0 if non periodic).
priority	The scheduler priority (OS dependent).
scheduler	The scheduler type ORO_SCHED_RT or ORO_SCHED_OTHER.
cpu_nr	The CPU to run the thread on. Numbering starts from zero. @return false if one of the parameters does not match or if the component is running.

Definition at line 1922 of file DeploymentComponent.cpp.

References DeploymentComponent::setNamedActivity().

Referenced by DeploymentComponent::DeploymentComponent().

bool setFileDescriptorActivity	(	const std::string &	comp_name,
		double	timeout,
		int	priority,
		int	scheduler
	)

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

Parameters

comp_name	The name of the component to change.
timeout	The timeout of the activity (or 0.0 if no timeout).
priority	The scheduler priority (OS dependent).
scheduler	The scheduler type ORO_SCHED_RT or ORO_SCHED_OTHER.

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

Definition at line 1908 of file DeploymentComponent.cpp.

References DeploymentComponent::setNamedActivity().

Referenced by DeploymentComponent::DeploymentComponent().

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

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

Parameters

comp_name	The name of the component to change.
master_name	The name of the master component.

Returns: false if one of the components is not found or comp_name is running.

Definition at line 1976 of file DeploymentComponent.cpp.

References DeploymentComponent::setNamedActivity().

Referenced by DeploymentComponent::DeploymentComponent().

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

(Re-)set the activity of a component.

CPU affinity defaults to all available CPUs

Parameters

comp_name	The name of the component to change.
act_type	The RTT::Activity type: 'Activity', 'PeriodicActivity', 'SequentialActivity' or 'SlaveActivity'.
priority	The scheduler priority (OS dependent).
period	The period of the activity.
scheduler	The scheduler type ORO_SCHED_RT or ORO_SCHED_OTHER.
master_name	The name of the master component in case of a extras::SlaveActivity with a master.

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

Definition at line 1990 of file DeploymentComponent.cpp.

Referenced by DeploymentComponent::loadComponentsInGroup(), DeploymentComponent::setActivity(), DeploymentComponent::setActivityOnCPU(), DeploymentComponent::setFileDescriptorActivity(), DeploymentComponent::setMasterSlaveActivity(), DeploymentComponent::setPeriodicActivity(), DeploymentComponent::setSequentialActivity(), and DeploymentComponent::setSlaveActivity().

bool setNamedActivity	(	const std::string &	comp_name,
		const std::string &	act_type,
		double	period,
		int	priority,
		int	scheduler,
		unsigned	cpu_affinity,
		const std::string &	master_name = `""`
	)

(Re-)set the activity of a component.

Parameters

comp_name	The name of the component to change.
act_type	The RTT::Activity type: 'Activity', 'PeriodicActivity', 'SequentialActivity' or 'SlaveActivity'.
priority	The scheduler priority (OS dependent).
period	The period of the activity.
scheduler	The scheduler type ORO_SCHED_RT or ORO_SCHED_OTHER.
cpu_affinity	The prefered cpu to run on (a mask)
master_name	The name of the master component in case of a extras::SlaveActivity with a master.

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

Definition at line 2004 of file DeploymentComponent.cpp.

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

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

Parameters

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

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

Definition at line 1937 of file DeploymentComponent.cpp.

References DeploymentComponent::setNamedActivity().

Referenced by DeploymentComponent::DeploymentComponent().

bool setSequentialActivity ( const std::string & comp_name )

(Re-)set the activity of a component with a (threadless, reactive) sequential activity.

Parameters

comp_name The name of the component to change.

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

Definition at line 1964 of file DeploymentComponent.cpp.

References DeploymentComponent::setNamedActivity().

Referenced by DeploymentComponent::DeploymentComponent().

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

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

Parameters

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

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

Definition at line 1951 of file DeploymentComponent.cpp.

References DeploymentComponent::setNamedActivity().

Referenced by DeploymentComponent::DeploymentComponent().

bool setWaitPeriodPolicy	(	const std::string &	comp_name,
		int	policy
	)

(Re-)set the wait period policy of a component's thread.

Parameters

comp_name	The name of the component to change.
policy	The new policy ORO_WAIT_ABS or ORO_WAIT_REL

Returns: false if one of the parameters does not match.

Definition at line 2102 of file DeploymentComponent.cpp.

Referenced by DeploymentComponent::DeploymentComponent().

bool startComponent ( RTT::TaskContext * instance )

Stop a single loaded and running component.

Parameters

instance instance pointer of the component.

Returns: true if successfully started.

Definition at line 2209 of file DeploymentComponent.cpp.

Referenced by DeploymentComponent::DeploymentComponent().

bool startComponent ( const std::string & comp_name )

inline

Stop a single loaded and running components.

Parameters

comp_name name of the component.

Returns: true if successfully started

Definition at line 886 of file DeploymentComponent.hpp.

bool startComponents ( )

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

Returns: true if all components could be succesfully started.

Definition at line 1517 of file DeploymentComponent.cpp.

References DeploymentComponent::nextGroup, and DeploymentComponent::startComponentsGroup().

Referenced by DeploymentComponent::DeploymentComponent().

bool startComponentsGroup ( const int group )

Start all components in group group which have AutoStart set to true.

Returns: true if all the group's components could be succesfully started.

Definition at line 1527 of file DeploymentComponent.cpp.

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

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

bool stopComponent ( RTT::TaskContext * instance )

Stop a single loaded and running component.

Parameters

instance instance pointer of the component.

Returns: true if successfully stopped.

Definition at line 2228 of file DeploymentComponent.cpp.

Referenced by DeploymentComponent::DeploymentComponent(), and DeploymentComponent::kickOutComponent().

bool stopComponent ( const std::string & comp_name )

inline

Stop a single loaded and running components.

Parameters

comp_name name of the component.

Returns: true if successfully stopped

Definition at line 903 of file DeploymentComponent.hpp.

bool stopComponentsGroup ( const int group )

Stop all loaded and running components in group group.

Parameters

group The group number to stop

Definition at line 1590 of file DeploymentComponent.cpp.

References DeploymentComponent::ComponentData::group, and DeploymentComponent::ComponentData::instance.

Referenced by DeploymentComponent::kickOutGroup(), and DeploymentComponent::stopComponents().

bool stream	(	const std::string &	port,
		ConnPolicy	policy
	)

Creates a stream from a given port of a component.

Parameters

port	The dot-separated path to an input or output port of component or service.
policy	The connection policy that instructs how to set up the stream. The policy.transport field is mandatory, the policy.name_id field is highly recommended.