Orocos Real-Time Toolkit  2.6.0
Public Types | Public Member Functions
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:
RTT::corba::COperationInterface RTT::corba::CConfigurationInterface RTT::corba::CDataFlowInterface

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.

Detailed Description

An Orocos Service which hosts operations, attributes and properties.

Definition at line 22 of file Service.idl.


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:
CNoSuchPortExceptionif 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_portThe port to remove the stream from.
stream_nameThe name_id returned in the CConnPolicy object after the call to createStream.

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'.


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