#include <mtsManagerLocal.h>

Inheritance diagram for mtsManagerLocal:

Public Types
enum	ConfigurationType { LCM_CONFIG_STANDALONE, LCM_CONFIG_NETWORKED, LCM_CONFIG_NETWORKED_WITH_GCM }

Public Member Functions
mtsComponent *	CreateComponentDynamically (const std::string &className, const std::string &componentName, const std::string &constructorArgSerialized)
	Create a component. Does not add it to the local component manager. More...

bool	AddComponent (mtsComponent *component)
	Add a component to this local component manager. More...

bool CISST_DEPRECATED	AddTask (mtsTask *component)

bool CISST_DEPRECATED	AddDevice (mtsComponent *component)

bool	RemoveComponent (mtsComponent *component)
	Remove component from this local component manager. More...

bool	RemoveComponent (const std::string &componentName)

mtsComponent *	GetComponent (const std::string &componentName) const
	Retrieve a component by name. More...

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. More...

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. More...

bool	CreateAllAndWait (double timeoutInSeconds)

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

bool	StartAllAndWait (double timeoutInSeconds)

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

bool	KillAllAndWait (double timeoutInSeconds)

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. More...

bool	Connect (const std::string &clientComponentName, const std::string &clientInterfaceRequiredName, const std::string &serverComponentName, const std::string &serverInterfaceProvidedName)
	Connect two local interfaces. More...

bool	Connect (const std::string &clientProcessName, const std::string &clientComponentName, const std::string &clientInterfaceRequiredName, const std::string &serverProcessName, const std::string &serverComponentName, const std::string &serverInterfaceProvidedName, const unsigned int retryCount=10)
	Connect two remote interfaces. More...

bool	Disconnect (const ConnectionIDType connectionID)

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

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

std::vector< std::string >	GetNamesOfComponents (void) const

void	GetNamesOfComponents (std::vector< std::string > &namesOfComponents) const

const osaTimeServer &	GetTimeServer (void) const

const std::string	GetProcessName (const std::string &CMN_UNUSED(listenerID)="") const

ConfigurationType	GetConfiguration (void) const

bool	IsGCMActive (void) const

void	SetMainThreadId (void)

void	SetMainThreadId (const osaThreadId &threadId)

osaThreadId	GetMainThreadId (void) const

void	PushCurrentMainTask (mtsTaskContinuous *cur)

mtsTaskContinuous *	PopCurrentMainTask ()

mtsTaskContinuous *	GetCurrentMainTask (void) const

void	GetNamesOfCommands (std::vector< std::string > &namesOfCommands, const std::string &componentName, const std::string &providedInterfaceName, const std::string &CMN_UNUSED(listenerID)="")

void	GetNamesOfEventGenerators (std::vector< std::string > &namesOfEventGenerators, const std::string &componentName, const std::string &providedInterfaceName, const std::string &CMN_UNUSED(listenerID)="")

void	GetNamesOfFunctions (std::vector< std::string > &namesOfFunctions, const std::string &componentName, const std::string &requiredInterfaceName, const std::string &CMN_UNUSED(listenerID)="")

void	GetNamesOfEventHandlers (std::vector< std::string > &namesOfEventHandlers, const std::string &componentName, const std::string &requiredInterfaceName, const std::string &CMN_UNUSED(listenerID)="")

void	GetDescriptionOfCommand (std::string &description, const std::string &componentName, const std::string &providedInterfaceName, const std::string &commandName, const std::string &CMN_UNUSED(listenerID)="")

void	GetDescriptionOfEventGenerator (std::string &description, const std::string &componentName, const std::string &providedInterfaceName, const std::string &eventGeneratorName, const std::string &CMN_UNUSED(listenerID)="")

void	GetDescriptionOfFunction (std::string &description, const std::string &componentName, const std::string &requiredInterfaceName, const std::string &functionName, const std::string &CMN_UNUSED(listenerID)="")

void	GetDescriptionOfEventHandler (std::string &description, const std::string &componentName, const std::string &requiredInterfaceName, const std::string &eventHandlerName, const std::string &CMN_UNUSED(listenerID)="")

const std::string &	GetIPAddress (void) const

const std::string	GetName (void) const

bool	SetInterfaceProvidedProxyAccessInfo (const ConnectionIDType connectionID, const std::string &endpointInfo)

bool	GetGCMProcTimeSyncInfo (std::vector< std::string > &processNames, std::vector< double > &timeOffsets)

void	ToStream (std::ostream &outputStream) const

void	ToStreamDot (std::ostream &outputStream) const

Public Member Functions inherited from mtsManagerLocalInterface
virtual const std::string	GetProcessName (const std::string &listenerID="") const =0

virtual void	GetNamesOfCommands (std::vector< std::string > &namesOfCommands, const std::string &componentName, const std::string &providedInterfaceName, const std::string &listenerID="")=0

virtual void	GetNamesOfEventGenerators (std::vector< std::string > &namesOfEventGenerators, const std::string &componentName, const std::string &providedInterfaceName, const std::string &listenerID="")=0

virtual void	GetNamesOfFunctions (std::vector< std::string > &namesOfFunctions, const std::string &componentName, const std::string &requiredInterfaceName, const std::string &listenerID="")=0

virtual void	GetNamesOfEventHandlers (std::vector< std::string > &namesOfEventHandlers, const std::string &componentName, const std::string &requiredInterfaceName, const std::string &listenerID="")=0

virtual void	GetDescriptionOfCommand (std::string &description, const std::string &componentName, const std::string &providedInterfaceName, const std::string &commandName, const std::string &listenerID="")=0

virtual void	GetDescriptionOfEventGenerator (std::string &description, const std::string &componentName, const std::string &providedInterfaceName, const std::string &eventGeneratorName, const std::string &listenerID="")=0

virtual void	GetDescriptionOfFunction (std::string &description, const std::string &componentName, const std::string &requiredInterfaceName, const std::string &functionName, const std::string &listenerID="")=0

virtual void	GetDescriptionOfEventHandler (std::string &description, const std::string &componentName, const std::string &requiredInterfaceName, const std::string &eventHandlerName, const std::string &listenerID="")=0

Public Member Functions inherited from cmnGenericObject
virtual	~cmnGenericObject (void)

virtual const cmnClassServicesBase *	Services (void) const =0

bool	ReconstructFrom (const cmnGenericObject &other)

std::string	ToString (void) const

virtual void	ToStreamRaw (std::ostream &outputStream, const char delimiter= ' ', bool headerOnly=false, const std::string &headerPrefix="") const

virtual bool	FromStreamRaw (std::istream &inputStream, const char delimiter= ' ')

virtual void	SerializeRaw (std::ostream &outputStream) const

virtual void	DeSerializeRaw (std::istream &inputStream)

virtual cmnLogger::StreamBufType *	GetLogMultiplexer (void) const

virtual size_t	ScalarNumber (void) const

virtual bool	ScalarNumberIsFixed (void) const

virtual double	Scalar (const size_t CMN_UNUSED(index)) const throw (std::out_of_range)

virtual std::string	ScalarDescription (const size_t CMN_UNUSED(index), const std::string &CMN_UNUSED(userDescription)) const

Static Public Member Functions
static void	LogDispatcher (const char *str, int len)

static void	SetLogForwarding (bool activate)

static void	GetLogForwardingState (bool &state)

static bool	GetLogForwardingState (void)

static bool	IsLogForwardingEnabled (void)

static bool	IsLogAllowed (void)

static mtsManagerLocal *	GetInstance (void)

static mtsManagerLocal *	GetInstance (const std::string &globalComponentManagerIP, const std::string &thisProcessName="", const std::string &thisProcessIP="")
	Return singleton object of local component manager (networked mode) More...

static mtsManagerLocal *	GetInstance (mtsManagerGlobal &globalComponentManager)
	Return singleton object of local component manager (networked mode, as GCM) More...

static std::vector< std::string >	GetIPAddressList (void)

static void	GetIPAddressList (std::vector< std::string > &ipAddresses)

Static Public Attributes
static const std::string	ProcessNameOfLCMDefault

static const std::string	ProcessNameOfLCMWithGCM

Protected Member Functions
	mtsManagerLocal (void)

	mtsManagerLocal (const std::string &globalComponentManagerIP, const std::string &thisProcessName, const std::string &thisProcessIP)

	mtsManagerLocal (mtsManagerGlobal &globalComponentManager)

virtual	~mtsManagerLocal ()

void	Initialize (void)

void	InitializeLocal (void)

bool	CreateManagerComponents (void)
	Create internal manager components automatically when LCM is initialized. More...

bool	AddManagerComponent (const std::string &processName, const bool isServer=false)
	Add an internal manager component. More...

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. More...

bool	ConnectToManagerComponentClient (const std::string &componentName)
	Connect a local component which has internal interfaces to the manager component client (connect InterfaceInternal.Required - InterfaceComponent.Provided) More...

void	SetIPAddress (void)
	Set IP address of this machine. More...

bool	ConnectToGlobalComponentManager (void)
	Create Ice proxy for this LCM and connects to the GCM. More...

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. More...

bool	RegisterInterfaces (const std::string &componentName)

ConnectionIDType	ConnectSetup (const std::string &clientComponentName, const std::string &clientInterfaceRequiredName, const std::string &serverComponentName, const std::string &serverInterfaceProvidedName)

bool	ConnectNotify (ConnectionIDType connectionId, const std::string &clientComponentName, const std::string &clientInterfaceRequiredName, const std::string &serverComponentName, const std::string &serverInterfaceProvidedName)

bool	RemoveComponent (mtsComponent *component, const bool notifyGCM)

bool	RemoveComponent (const std::string &componentName, const bool notifyGCM)

bool	RemoveInterfaceProvided (const std::string &componentName, const std::string &interfaceProvidedName)

bool	RemoveInterfaceRequired (const std::string &componentName, const std::string &interfaceRequiredName)

bool	CreateComponentProxy (const std::string &componentProxyName, const std::string &listenerID="")
	Create component proxy. More...

bool	RemoveComponentProxy (const std::string &componentProxyName, const std::string &listenerID="")
	Remove component proxy. More...

bool	CreateInterfaceProvidedProxy (const std::string &serverComponentProxyName, const mtsInterfaceProvidedDescription &providedInterfaceDescription, const std::string &listenerID="")
	Create provided interface proxy. More...

bool	CreateInterfaceRequiredProxy (const std::string &clientComponentProxyName, const mtsInterfaceRequiredDescription &requiredInterfaceDescription, const std::string &listenerID="")
	Create required interface proxy. More...

bool	RemoveInterfaceProvidedProxy (const std::string &componentProxyName, const std::string &providedInterfaceProxyName, const std::string &listenerID="")

bool	RemoveInterfaceRequiredProxy (const std::string &componentProxyName, const std::string &requiredInterfaceProxyName, const std::string &listenerID="")

bool	ConnectServerSideInterface (const mtsDescriptionConnection &description, const std::string &listenerID="")

bool	ConnectClientSideInterface (const mtsDescriptionConnection &description, const std::string &listenerID="")
	Connect two local interfaces at the client side. More...

bool	GetInterfaceProvidedDescription (const std::string &serverComponentName, const std::string &providedInterfaceName, mtsInterfaceProvidedDescription &providedInterfaceDescription, const std::string &listenerID="")

bool	GetInterfaceRequiredDescription (const std::string &componentName, const std::string &requiredInterfaceName, mtsInterfaceRequiredDescription &requiredInterfaceDescription, const std::string &listenerID="")

void	SetGCMConnected (const bool connected)

Friends
class	mtsManagerLocalTest

class	mtsManagerGlobalTest

class	mtsManagerGlobal

class	mtsManagerProxyClient

class	mtsManagerComponentClient

class	mtsComponentProxy

Member Enumeration Documentation

enum mtsManagerLocal::ConfigurationType

Typedef for local component manager's configuration

Enumerator
LCM_CONFIG_STANDALONE
LCM_CONFIG_NETWORKED
LCM_CONFIG_NETWORKED_WITH_GCM

Constructor & Destructor Documentation

mtsManagerLocal::mtsManagerLocal ( void )

protected

Protected constructor (singleton)

mtsManagerLocal::mtsManagerLocal	(	const std::string &	globalComponentManagerIP,
		const std::string &	thisProcessName,
		const std::string &	thisProcessIP
	)

protected

mtsManagerLocal::mtsManagerLocal ( mtsManagerGlobal & globalComponentManager )

protected

virtual mtsManagerLocal::~mtsManagerLocal ( )

protectedvirtual

Destructor. Includes OS-specific cleanup.

Member Function Documentation

bool mtsManagerLocal::AddComponent ( mtsComponent * component )

Add a component to this local component manager.

Parameters

component Component instance to be added

bool CISST_DEPRECATED mtsManagerLocal::AddDevice ( mtsComponent * component )

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 CISST_DEPRECATED mtsManagerLocal::AddTask ( mtsTask * component )

void mtsManagerLocal::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 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::Connect	(	const std::string &	clientProcessName,
		const std::string &	clientComponentName,
		const std::string &	clientInterfaceRequiredName,
		const std::string &	serverProcessName,
		const std::string &	serverComponentName,
		const std::string &	serverInterfaceProvidedName,
		const unsigned int	retryCount = `10`
	)

Connect two remote interfaces.

Parameters

clientProcessName	Name of client process
clientComponentName	Name of client component
clientInterfaceRequiredName	Name of required interface
serverProcessName	Name of server process
serverComponentName	Name of server component
serverInterfaceProvidedName	Name of provided interface
retryCount	Number of times this connection is retried (default: 10)

Returns: True if success, false otherwise

Note: If connection is established successfully, this information is reported to the global component manager. Since connection between two interfaces should be established twice–once in the client process and once in the server process–there are two internal connection management methods: ConnectClientSideInterface() and ConnectServerSideInterface(). ConnectClientSideInterface() is always executed first and calls ConnectServerSideInterface() internally in a blocking way (i.e., it waits for ConnectServerSideInterface() to finish). Connection request can be made by any process – server process, client process, or even third process – and the result should be the same regardless the request process. If this method is called against two local interfaces, the other Connect() method is internally called instead.

bool mtsManagerLocal::ConnectClientSideInterface	(	const mtsDescriptionConnection &	description,
		const std::string &	listenerID = `""`
	)

protectedvirtual

Connect two local interfaces at the client side.

Implements mtsManagerLocalInterface.

bool mtsManagerLocal::ConnectManagerComponentClientToServer ( void )

protected

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 mtsManagerLocal::ConnectNotify	(	ConnectionIDType	connectionId,
		const std::string &	clientComponentName,
		const std::string &	clientInterfaceRequiredName,
		const std::string &	serverComponentName,
		const std::string &	serverInterfaceProvidedName
	)

protected

bool mtsManagerLocal::ConnectServerSideInterface	(	const mtsDescriptionConnection &	description,
		const std::string &	listenerID = `""`
	)

protectedvirtual

Connect two local interfaces at the server side

Implements mtsManagerLocalInterface.

ConnectionIDType mtsManagerLocal::ConnectSetup	(	const std::string &	clientComponentName,
		const std::string &	clientInterfaceRequiredName,
		const std::string &	serverComponentName,
		const std::string &	serverInterfaceProvidedName
	)

protected

bool mtsManagerLocal::ConnectToGlobalComponentManager ( void )

protected

Create Ice proxy for this LCM and connects to the GCM.

Returns: True if success, false otherwise

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

protected

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

void mtsManagerLocal::CreateAll ( void )

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

bool mtsManagerLocal::CreateAllAndWait ( double timeoutInSeconds )

Call CreateAll method followed by WaitForStateAll.

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

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

bool mtsManagerLocal::CreateComponentProxy	(	const std::string &	componentProxyName,
		const std::string &	listenerID = `""`
	)

protectedvirtual

Create component proxy.

Parameters

componentProxyName	Name of component proxy
listenerID	Not used

Note: This should be called before an interface proxy is created.

Implements mtsManagerLocalInterface.

bool mtsManagerLocal::CreateInterfaceProvidedProxy	(	const std::string &	serverComponentProxyName,
		const mtsInterfaceProvidedDescription &	providedInterfaceDescription,
		const std::string &	listenerID = `""`
	)

protectedvirtual

Create provided interface proxy.

Parameters

serverComponentProxyName	Name of server component proxy
providedInterfaceDescription	Description of provided interface

Implements mtsManagerLocalInterface.

bool mtsManagerLocal::CreateInterfaceRequiredProxy	(	const std::string &	clientComponentProxyName,
		const mtsInterfaceRequiredDescription &	requiredInterfaceDescription,
		const std::string &	listenerID = `""`
	)

protectedvirtual

Create required interface proxy.

Parameters

clientComponentProxyName Name of component proxy that has

Implements mtsManagerLocalInterface.

bool mtsManagerLocal::CreateManagerComponents ( void )

protected

Create internal manager components automatically when LCM is initialized.

bool mtsManagerLocal::Disconnect ( const ConnectionIDType connectionID )

Disconnect two interfaces

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

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

bool mtsManagerLocal::FindComponent ( const std::string & componentName ) const

Check if a component exists by its name.

mtsComponent* mtsManagerLocal::GetComponent ( const std::string & componentName ) const

Retrieve a component by name.

mtsTask* mtsManagerLocal::GetComponentAsTask ( const std::string & componentName ) const

ConfigurationType mtsManagerLocal::GetConfiguration ( void ) const

inline

Returns the current configuration of this local component manager

mtsTaskContinuous* mtsManagerLocal::GetCurrentMainTask ( void ) const

inline

Get pointer to active task that has main thread (if none, returns 0)

void mtsManagerLocal::GetDescriptionOfCommand	(	std::string &	description,
		const std::string &	componentName,
		const std::string &	providedInterfaceName,
		const std::string &	commandName,
		const std::string &	CMN_UNUSEDlistenerID = `""`
	)

Get description of a command in a provided interface

void mtsManagerLocal::GetDescriptionOfEventGenerator	(	std::string &	description,
		const std::string &	componentName,
		const std::string &	providedInterfaceName,
		const std::string &	eventGeneratorName,
		const std::string &	CMN_UNUSEDlistenerID = `""`
	)

Get description of a event generator in a provided interface

void mtsManagerLocal::GetDescriptionOfEventHandler	(	std::string &	description,
		const std::string &	componentName,
		const std::string &	requiredInterfaceName,
		const std::string &	eventHandlerName,
		const std::string &	CMN_UNUSEDlistenerID = `""`
	)

Get description of a function in a required interface

void mtsManagerLocal::GetDescriptionOfFunction	(	std::string &	description,
		const std::string &	componentName,
		const std::string &	requiredInterfaceName,
		const std::string &	functionName,
		const std::string &	CMN_UNUSEDlistenerID = `""`
	)

Get description of a function in a required interface

mtsComponent CISST_DEPRECATED* mtsManagerLocal::GetDevice ( const std::string & deviceName )

bool mtsManagerLocal::GetGCMProcTimeSyncInfo	(	std::vector< std::string > &	processNames,
		std::vector< double > &	timeOffsets
	)

static mtsManagerLocal* mtsManagerLocal::GetInstance ( void )

static

Get a singleton object of local component manager.

Note: If this is called first, the local component manager is configured in standalone mode. If one of the other GetInstance methods (with arguments) is later called, the singleton object is reconfigured in networked mode if (CISST_MTS_HAS_ICE is defined) to support inter-process communication. During this reconfiguration process, a caller thread is blocked for thread-safe transition of all internal data.

static mtsManagerLocal* mtsManagerLocal::GetInstance	(	const std::string &	globalComponentManagerIP,
		const std::string &	thisProcessName = `""`,
		const std::string &	thisProcessIP = `""`
	)

static

Return singleton object of local component manager (networked mode)

Parameters

globalComponentManagerIP	Ip address of global component manager that this local component manager connects to
thisProcessName	Name of this process. If not specified, set as ip address of this host by default
thisProcessIP	IP address of this process. If not specified, set as the first ip address detected

Returns: Pointer to singleton object

static mtsManagerLocal* mtsManagerLocal::GetInstance ( mtsManagerGlobal & globalComponentManager )

static

Return singleton object of local component manager (networked mode, as GCM)

Parameters

globalComponentManager reference to global component manager (GCM)

bool mtsManagerLocal::GetInterfaceProvidedDescription	(	const std::string &	serverComponentName,
		const std::string &	providedInterfaceName,
		mtsInterfaceProvidedDescription &	providedInterfaceDescription,
		const std::string &	listenerID = `""`
	)

protectedvirtual

Get information about provided interface

Implements mtsManagerLocalInterface.

bool mtsManagerLocal::GetInterfaceRequiredDescription	(	const std::string &	componentName,
		const std::string &	requiredInterfaceName,
		mtsInterfaceRequiredDescription &	requiredInterfaceDescription,
		const std::string &	listenerID = `""`
	)

protectedvirtual

Extract all the information on a required interface such as function objects and event handlers with arguments serialized

Implements mtsManagerLocalInterface.

const std::string& mtsManagerLocal::GetIPAddress ( void ) const

inline

Return IP address of this process

static std::vector<std::string> mtsManagerLocal::GetIPAddressList ( void )

static

Return a list of all IP addresses detected on this machine.

static void mtsManagerLocal::GetIPAddressList ( std::vector< std::string > & ipAddresses )

static

static void mtsManagerLocal::GetLogForwardingState ( bool & state )

static

Get whether system-wide logging is enabled or not

static bool mtsManagerLocal::GetLogForwardingState ( void )

static

osaThreadId mtsManagerLocal::GetMainThreadId ( void ) const

inline

Return main thread id.

const std::string mtsManagerLocal::GetName ( void ) const

inline

Returns name of this local component manager (for mtsProxyBaseCommon.h)

void mtsManagerLocal::GetNamesOfCommands	(	std::vector< std::string > &	namesOfCommands,
		const std::string &	componentName,
		const std::string &	providedInterfaceName,
		const std::string &	CMN_UNUSEDlistenerID = `""`
	)

Get names of all commands in a provided interface

std::vector<std::string> mtsManagerLocal::GetNamesOfComponents ( void ) const

Enumerate all the names of components added

void mtsManagerLocal::GetNamesOfComponents ( std::vector< std::string > & namesOfComponents ) const

void mtsManagerLocal::GetNamesOfEventGenerators	(	std::vector< std::string > &	namesOfEventGenerators,
		const std::string &	componentName,
		const std::string &	providedInterfaceName,
		const std::string &	CMN_UNUSEDlistenerID = `""`
	)

Get names of all event generators in a provided interface

void mtsManagerLocal::GetNamesOfEventHandlers	(	std::vector< std::string > &	namesOfEventHandlers,
		const std::string &	componentName,
		const std::string &	requiredInterfaceName,
		const std::string &	CMN_UNUSEDlistenerID = `""`
	)

Get names of all event handlers in a required interface

void mtsManagerLocal::GetNamesOfFunctions	(	std::vector< std::string > &	namesOfFunctions,
		const std::string &	componentName,
		const std::string &	requiredInterfaceName,
		const std::string &	CMN_UNUSEDlistenerID = `""`
	)

Get names of all functions in a required interface

const std::string mtsManagerLocal::GetProcessName ( const std::string & CMN_UNUSEDlistenerID = "" ) const

inline

Returns name of this local component manager

mtsTask CISST_DEPRECATED* mtsManagerLocal::GetTask ( const std::string & taskName )

const osaTimeServer& mtsManagerLocal::GetTimeServer ( void ) const

Return a reference to the time server.

void mtsManagerLocal::Initialize ( void )

protected

Initialization

void mtsManagerLocal::InitializeLocal ( void )

protected

bool mtsManagerLocal::IsGCMActive ( void ) const

inline

Check if connection to GCM is active

static bool mtsManagerLocal::IsLogAllowed ( void )

static

Check if further logs are allowed

static bool mtsManagerLocal::IsLogForwardingEnabled ( void )

static

Is system-wide thread-safe logging enabled?

void mtsManagerLocal::KillAll ( void )

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

bool mtsManagerLocal::KillAllAndWait ( double timeoutInSeconds )

Call KillAll method followed by WaitForStateAll.

static void mtsManagerLocal::LogDispatcher	(	const char *	str,
		int	len
	)

static

Callback function for system-wide thread-safe logging

mtsTaskContinuous* mtsManagerLocal::PopCurrentMainTask ( )

Restore previous active task that has main thread (called when task is exiting)

void mtsManagerLocal::PushCurrentMainTask ( mtsTaskContinuous * cur )

Set active task that has main thread (called by mtsTaskContinuous::Start)

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::RegisterInterfaces ( const std::string & componentName )

protected

bool mtsManagerLocal::RemoveComponent	(	mtsComponent *	component,
		const bool	notifyGCM
	)

protected

Remove component from this local component manager

bool mtsManagerLocal::RemoveComponent	(	const std::string &	componentName,
		const bool	notifyGCM
	)

protected

bool mtsManagerLocal::RemoveComponent ( mtsComponent * component )

Remove component from this local component manager.

bool mtsManagerLocal::RemoveComponent ( const std::string & componentName )

bool mtsManagerLocal::RemoveComponentProxy	(	const std::string &	componentProxyName,
		const std::string &	listenerID = `""`
	)

protectedvirtual

Remove component proxy.

Parameters

componentProxyName	Name of component proxy
listenerID	Not used

Note: Note that all the interface proxies that the proxy manages is automatically removed when removing a component proxy.

Implements mtsManagerLocalInterface.

bool mtsManagerLocal::RemoveInterfaceProvided	(	const std::string &	componentName,
		const std::string &	interfaceProvidedName
	)

protected

Remove provided interface

bool mtsManagerLocal::RemoveInterfaceProvidedProxy	(	const std::string &	componentProxyName,
		const std::string &	providedInterfaceProxyName,
		const std::string &	listenerID = `""`
	)

protectedvirtual

Remove provided interface proxy

Implements mtsManagerLocalInterface.

bool mtsManagerLocal::RemoveInterfaceRequired	(	const std::string &	componentName,
		const std::string &	interfaceRequiredName
	)

protected

Remove required interface

bool mtsManagerLocal::RemoveInterfaceRequiredProxy	(	const std::string &	componentProxyName,
		const std::string &	requiredInterfaceProxyName,
		const std::string &	listenerID = `""`
	)

protectedvirtual

Remove required interface proxy

Implements mtsManagerLocalInterface.

void mtsManagerLocal::SetGCMConnected ( const bool connected )

inlineprotected

Change GCM connection state

bool mtsManagerLocal::SetInterfaceProvidedProxyAccessInfo	(	const ConnectionIDType	connectionID,
		const std::string &	endpointInfo
	)

Set endpoint access information

void mtsManagerLocal::SetIPAddress ( void )

protected

Set IP address of this machine.

static void mtsManagerLocal::SetLogForwarding ( bool activate )

static

Enable or disable system-wide thread-safe logging

void mtsManagerLocal::SetMainThreadId ( void )

inline

Set main thread id based on the current thread. In most situations, it is not necessary to call this function because the main thread id is initialized in GetInstance.

void mtsManagerLocal::SetMainThreadId ( const osaThreadId & threadId )

inline

Set main thread id based on the passed parameter. In most situations, it is not necessary to call this function because the main thread id is initialized in GetInstance.

void mtsManagerLocal::StartAll ( void )

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

bool mtsManagerLocal::StartAllAndWait ( double timeoutInSeconds )

Call StartAll method followed by WaitForStateAll.

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.

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.

Friends And Related Function Documentation

friend class mtsComponentProxy

friend

friend class mtsManagerComponentClient

friend

friend class mtsManagerGlobal

friend

friend class mtsManagerGlobalTest

friend

friend class mtsManagerLocalTest

friend

friend class mtsManagerProxyClient

friend

Member Data Documentation

mtsManagerComponentClient* mtsManagerLocal::Client

const std::string mtsManagerLocal::ProcessNameOfLCMDefault

static

Default name of local component manager

const std::string mtsManagerLocal::ProcessNameOfLCMWithGCM

static

Name of local component manager running with the global component manager

mtsManagerComponentServer* mtsManagerLocal::Server

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

/home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstMultiTask/mtsManagerLocal.h

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Friends

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation