ERC CISST - cisst software

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mtsManagerLocal Class Reference

Inheritance diagram for mtsManagerLocal:

[legend]Collaboration diagram for mtsManagerLocal:

[legend]List of all members.

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Detailed Description

Definition at line 71 of file mtsManagerLocal.h.

Public Types

• enum ConfigurationType

Public Member Functions

• mtsComponent * CreateComponentDynamically (const std::string &className, const std::string &componentName)

  Create a component. Does not add it to the local component manager.
  

• bool AddComponent (mtsComponent *component)

  Add a component to this local component manager.
  

• bool CISST_DEPRECATED AddTask (mtsTask *component)
• bool CISST_DEPRECATED AddDevice (mtsComponent *component)
• bool RemoveComponent (mtsComponent *component)

  Remove a component from this local component manager.
  

• bool RemoveComponent (const std::string &componentName)
• mtsComponent * GetComponent (const std::string &componentName) const

  Retrieve a component by name.
  

• mtsTask * GetComponentAsTask (const std::string &componentName) const
• mtsComponent CISST_DEPRECATED * GetDevice (const std::string &deviceName)
• mtsTask CISST_DEPRECATED * GetTask (const std::string &taskName)
• bool FindComponent (const std::string &componentName) const

  Check if a component exists by its name.
  

• bool WaitForStateAll (mtsComponentState desiredState, double timeout=3.0 *cmn_minute) const
• void CreateAll (void)

  Create all components. If a component is of type mtsTask, mtsTask::Create() is called internally.
  

• void StartAll (void)

  Start all components. If a component is of type mtsTask, mtsTask::Start() is called internally.
  

• void KillAll (void)

  Stop all components. If a component is of type mtsTask, mtsTask::Kill() is called internally.
  

• void Cleanup (void)

  Cleanup. Since a local component manager is a singleton, the destructor will be called when the program exits but a library user is not capable of handling the timing. Thus, for safe termination, this method should be called before an application quits.
  

• bool Connect (const std::string &clientComponentName, const std::string &clientInterfaceRequiredName, const std::string &serverComponentName, const std::string &serverInterfaceProvidedName)

  Connect two local interfaces.
  

• bool Disconnect (const std::string &clientComponentName, const std::string &clientInterfaceRequiredName, const std::string &serverComponentName, const std::string &serverInterfaceProvidedName)
• std::vector< std::string > GetNamesOfComponents (void) const
• std::vector< std::string
  > CISST_DEPRECATED GetNamesOfDevices (void) const
• std::vector< std::string
  > CISST_DEPRECATED GetNamesOfTasks (void) const
• void GetNamesOfComponents (std::vector< std::string > &namesOfComponents) const
• void CISST_DEPRECATED GetNamesOfDevices (std::vector< std::string > &namesOfDevices) const
• void CISST_DEPRECATED GetNamesOfTasks (std::vector< std::string > &namesOfTasks) const
• const osaTimeServer & GetTimeServer (void) const
• const std::string GetProcessName (const std::string &CMN_UNUSED(listenerID)="") const
• const std::string GetEndUserName (void) const
• ConfigurationType GetConfiguration (void) const
• void ToStream (std::ostream &outputStream) const
• void ToStreamDot (std::ostream &outputStream) const

Static Public Member Functions

• static mtsManagerLocal * GetInstance (void)

Static Public Attributes

• static std::string ProcessNameOfLCMDefault
• static std::string ProcessNameOfLCMWithGCM

Protected Types

• typedef cmnNamedMap< mtsComponent > ComponentMapType

Protected Member Functions

• mtsManagerLocal (void)
• virtual ~mtsManagerLocal ()
• void Initialize (void)
• bool CreateManagerComponents (void)

  Create internal manager components automatically when LCM is initialized.
  

• bool AddManagerComponent (const std::string &processName, const bool isServer=false)

  Add an internal manager component.
  

• bool ConnectManagerComponentClientToServer (void)

  Connect manager component client to manager component server (connect InterfaceLCM.Required - InterfaceGCM.Provided) This will make the manager component server dynamically create a required interface which connects to InterfaceLCM's provided interface.
  

• bool ConnectToManagerComponentClient (const std::string &componentName)

  Connect a local component which has internal interfaces to the manager component client (connect InterfaceInternal.Required - InterfaceComponent.Provided).
  

• bool ConnectAllToManagerComponentClient (void)

  Connect all local components which have internal interfaces to the manager component client (connect InterfaceInternal.Required - InterfaceComponent.Provided) This allows user components to use cisstMultiTask's Command Pattern to communicate with local component manager.
  

• bool RegisterInterfaces (mtsComponent *component)

  Register all interfaces that a component owns to the global component manager. The GCM uses this information to connect interfaces that are in different processes.
  

• bool RegisterInterfaces (const std::string &componentName)
• bool ConnectLocally (const std::string &clientComponentName, const std::string &clientInterfaceRequiredName, const std::string &serverComponentName, const std::string &serverInterfaceProvidedName, const std::string &clientProcessName="")

  Connect two local interfaces.
  

Protected Attributes

• ComponentMapType ComponentMap
• osaTimeServer TimeServer
• std::string ProcessName
• const std::string GlobalComponentManagerIP
• std::string ProcessIP
• std::vector< std::string > ProcessIPList
• osaMutex ComponentMapChange
• mtsManagerGlobalInterface * ManagerGlobal
• struct {
  •    mtsManagerComponentClient *    Client
  •    mtsManagerComponentServer *    Server
• } ManagerComponent

Static Protected Attributes

• static osaMutex ConfigurationChange

Friends

• class mtsManagerLocalTest
• class mtsManagerGlobalTest
• class mtsManagerGlobal
• class mtsManagerProxyClient
• class mtsManagerComponentClient
• class mtsComponentProxy

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Member Typedef Documentation

typedef cmnNamedMap<mtsComponent> mtsManagerLocal::ComponentMapType [protected]

Typedef for component map: key is component name, value is component object

Definition at line 121 of file mtsManagerLocal.h.

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Member Enumeration Documentation

enum mtsManagerLocal::ConfigurationType

Typedef for local component manager's configuration

Definition at line 88 of file mtsManagerLocal.h.

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Constructor & Destructor Documentation

mtsManagerLocal::mtsManagerLocal

(

void

)

[protected]

Protected constructor (singleton)

virtual mtsManagerLocal::~mtsManagerLocal

(

)

[protected, virtual]

Destructor. Includes OS-specific cleanup.

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Member Function Documentation

void mtsManagerLocal::Initialize

(

void

)

[protected]

Initialization

bool mtsManagerLocal::AddManagerComponent	(	const std::string &	processName,
		const bool	isServer = false
	)			[protected]

Add an internal manager component.

Parameters:

	processName	Name of this process (or this LCM)
	isServer	True to create manager component server, false to create manager component client. Note that this argument should be true only when LCM runs with GCM in the same process.

bool mtsManagerLocal::RegisterInterfaces

(

mtsComponent *

component

)

[protected]

Register all interfaces that a component owns to the global component manager. The GCM uses this information to connect interfaces that are in different processes.

Parameters:

	component	Component object instance
	componentName	Name of component

bool mtsManagerLocal::ConnectLocally	(	const std::string &	clientComponentName,
		const std::string &	clientInterfaceRequiredName,
		const std::string &	serverComponentName,
		const std::string &	serverInterfaceProvidedName,
		const std::string &	clientProcessName = ""
	)			[protected]

Connect two local interfaces.

Parameters:

	clientComponentName	Name of client component
	clientInterfaceRequiredName	Name of required interface
	serverComponentName	Name of server component
	serverInterfaceProvidedName	Name of provided interface
	clientProcessName	Name of client process (ignored in standalone configuration, used in networked configuration)

Returns:

true if successful, false otherwise

Note:

It is assumed that two components are in the same process.

bool mtsManagerLocal::AddComponent

(

mtsComponent *

component

)

Add a component to this local component manager.

Parameters:

component

Component instance to be added

bool mtsManagerLocal::WaitForStateAll	(	mtsComponentState	desiredState,
		double	timeout = 3.0 *cmn_minute
	)			const

Wait until all components reach a certain state. If all components have reach the given state within the time alloted, the method returns true.

bool mtsManagerLocal::Connect	(	const std::string &	clientComponentName,
		const std::string &	clientInterfaceRequiredName,
		const std::string &	serverComponentName,
		const std::string &	serverInterfaceProvidedName
	)

Connect two local interfaces.

Parameters:

	clientComponentName	Name of client component
	clientInterfaceRequiredName	Name of required interface
	serverComponentName	Name of server component
	serverInterfaceProvidedName	Name of provided interface

Returns:

True if success, false otherwise

Note:

If connection is established successfully, this information is reported to the global component manager (the local component manager does not keep any connection information).

bool mtsManagerLocal::Disconnect	(	const std::string &	clientComponentName,
		const std::string &	clientInterfaceRequiredName,
		const std::string &	serverComponentName,
		const std::string &	serverInterfaceProvidedName
	)

Disconnect two interfaces

static mtsManagerLocal* mtsManagerLocal::GetInstance

(

void

)

[static]

Get a singleton object of local component manager

std::vector<std::string> mtsManagerLocal::GetNamesOfComponents

(

void

)

const

Enumerate all the names of components added

const osaTimeServer& mtsManagerLocal::GetTimeServer

(

void

)

const [inline]

Return a reference to the time server.

Definition at line 481 of file mtsManagerLocal.h.

const std::string mtsManagerLocal::GetProcessName

(

const std::string &

CMN_UNUSED(listenerID) = ""

)

const [inline]

Returns name of this local component manager

Definition at line 486 of file mtsManagerLocal.h.

const std::string mtsManagerLocal::GetEndUserName

(

void

)

const

Returns end user name to access provided interface's resources

ConfigurationType mtsManagerLocal::GetConfiguration

(

void

)

const [inline]

Returns the current configuration of this local component manager

Definition at line 494 of file mtsManagerLocal.h.

void mtsManagerLocal::ToStream

(

std::ostream &

outputStream

)

const [virtual]

For debugging. Dumps to stream the maps maintained by the manager.

Reimplemented from cmnGenericObject.

void mtsManagerLocal::ToStreamDot

(

std::ostream &

outputStream

)

const

Create a dot file to be used by graphviz to generate a nice graph of connections between tasks/interfaces.

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Member Data Documentation

osaTimeServer mtsManagerLocal::TimeServer [protected]

Time server used by all tasks.

Definition at line 125 of file mtsManagerLocal.h.

std::string mtsManagerLocal::ProcessName [protected]

Process name of this local component manager. Should be globally unique across the whole system.

Definition at line 129 of file mtsManagerLocal.h.

const std::string mtsManagerLocal::GlobalComponentManagerIP [protected]

IP address of the global component manager that this LCM connects to

Definition at line 132 of file mtsManagerLocal.h.

std::string mtsManagerLocal::ProcessIP [protected]

IP address of this machine. Internally set by SetIPAddress().

Definition at line 135 of file mtsManagerLocal.h.

std::vector<std::string> mtsManagerLocal::ProcessIPList [protected]

List of all IP addresses detected on this machine

Definition at line 138 of file mtsManagerLocal.h.

osaMutex mtsManagerLocal::ComponentMapChange [protected]

Mutex to use ComponentMap safely

Definition at line 141 of file mtsManagerLocal.h.

osaMutex mtsManagerLocal::ConfigurationChange [static, protected]

Mutex for thread-safe transition of configuration from standalone mode to networked mode

Definition at line 145 of file mtsManagerLocal.h.

mtsManagerGlobalInterface* mtsManagerLocal::ManagerGlobal [protected]

Pointer to the global component manager. Depending on configuration, this can be of two different type of object:

• In standalone mode: an instance of the GCM (of type mtsManagerGlobal) which runs in the same process.
• In networked mode: a network proxy object for the GCM (of type mtsManagerGlobalProxyClient) that possibly runs in a different process or a different host.

Definition at line 154 of file mtsManagerLocal.h.

struct { ... } mtsManagerLocal::ManagerComponent [protected]

Manager component instances (for direct access)

std::string mtsManagerLocal::ProcessNameOfLCMDefault [static]

Default name of local component manager

Definition at line 440 of file mtsManagerLocal.h.

std::string mtsManagerLocal::ProcessNameOfLCMWithGCM [static]

Name of local component manager running with the global component manager

Definition at line 443 of file mtsManagerLocal.h.

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

• mtsManagerLocal.h

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