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It is safest +to attach them to the start of each source file to most effectively +convey the exclusion of warranty; and each file should have at least +the "copyright" line and a pointer to where the full notice is found. - - <one line to give the library's name and a brief idea of what it does.> + <one line to give the program's name and a brief idea of what it does.> Copyright (C) <year> <name of author> - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. + This program is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. - This library is distributed in the hope that it will be useful, + This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA Also add information on how to contact you by electronic and paper mail. -You should also get your employer (if you work as a programmer) or -your school, if any, to sign a "copyright disclaimer" for the library, -if necessary. Here is a sample; alter the names: +If the program is interactive, make it output a short notice like this +when it starts in an interactive mode: - Yoyodyne, Inc., hereby disclaims all copyright interest in the - library `Frob' (a library for tweaking knobs) written by James - Random Hacker. + Gnomovision version 69, Copyright (C) year name of author + Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. - <signature of Ty Coon>, 1 April 1990 - Ty Coon, President of Vice +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, the commands you use may +be called something other than `show w' and `show c'; they could even be +mouse-clicks or menu items--whatever suits your program. -That's all there is to it! +You should also get your employer (if you work as a programmer) or your +school, if any, to sign a "copyright disclaimer" for the program, if +necessary. Here is a sample; alter the names: + Yoyodyne, Inc., hereby disclaims all copyright interest in the program + `Gnomovision' (which makes passes at compilers) written by James Hacker. + + <signature of Ty Coon>, 1 April 1989 + Ty Coon, President of Vice +This General Public License does not permit incorporating your program into +proprietary programs. If your program is a subroutine library, you may +consider it more useful to permit linking proprietary applications with the +library. If this is what you want to do, use the GNU Library General +Public License instead of this License. COPYING @@ -1,4 +1,4 @@ -# Doxyfile 1.4.3-20050530 +# Doxyfile 1.4.7 # This file describes the settings to be used by the documentation system # doxygen (www.doxygen.org) for a project @@ -161,13 +161,6 @@ DETAILS_AT_TOP = YES INHERIT_DOCS = YES -# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC -# tag is set to YES, then doxygen will reuse the documentation of the first -# member in the group (if any) for the other members of the group. By default -# all members of a group must be documented explicitly. - -DISTRIBUTE_GROUP_DOC = YES - # If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce # a new page for each member. If set to NO, the documentation of a member will # be part of the file/class/namespace that contains it. @@ -195,13 +188,29 @@ ALIASES = OPTIMIZE_OUTPUT_FOR_C = NO -# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java sources -# only. Doxygen will then generate output that is more tailored for Java. +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java +# sources only. Doxygen will then generate output that is more tailored for Java. # For instance, namespaces will be presented as packages, qualified scopes # will look different, etc. OPTIMIZE_OUTPUT_JAVA = NO +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want to +# include (a tag file for) the STL sources as input, then you should +# set this tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); v.s. +# func(std::string) {}). This also make the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. + +BUILTIN_STL_SUPPORT = NO + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES, then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. + +DISTRIBUTE_GROUP_DOC = YES + # Set the SUBGROUPING tag to YES (the default) to allow class member groups of # the same type (for instance a group of public functions) to be put as a # subgroup of that type (e.g. under the Public Functions section). Set it to @@ -376,7 +385,7 @@ SHOW_USED_FILES = YES # If the sources in your project are distributed over multiple directories # then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy -# in the documentation. +# in the documentation. The default is NO. SHOW_DIRECTORIES = YES @@ -385,7 +394,7 @@ SHOW_DIRECTORIES = YES # version control system). Doxygen will invoke the program by executing (via # popen()) the command <command> <input-file>, where <command> is the value of # the FILE_VERSION_FILTER tag, and <input-file> is the name of an input file -# provided by doxygen. Whatever the progam writes to standard output +# provided by doxygen. Whatever the program writes to standard output # is used as the file version. See the manual for examples. FILE_VERSION_FILTER = @@ -487,7 +496,9 @@ EXCLUDE_SYMLINKS = NO # If the value of the INPUT tag contains directories, you can use the # EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude -# certain files from those directories. +# certain files from those directories. Note that the wildcards are matched +# against the file with absolute path, so to exclude all test directories +# for example use the pattern */test/* EXCLUDE_PATTERNS = *.Main.hpp @@ -576,6 +587,13 @@ REFERENCED_BY_RELATION = YES REFERENCES_RELATION = YES +# If the REFERENCES_LINK_SOURCE tag is set to YES (the default) +# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from +# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will +# link to the source code. Otherwise they will link to the documentstion. + +REFERENCES_LINK_SOURCE = YES + # If the USE_HTAGS tag is set to YES then the references to source code # will point to the HTML generated by the htags(1) tool instead of doxygen # built-in source browser. The htags tool is part of GNU's global source @@ -604,7 +622,7 @@ ALPHABETICAL_INDEX = YES # the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns # in which this list will be split (can be a number in the range [1..20]) -COLS_IN_ALPHA_INDEX = 5 +COLS_IN_ALPHA_INDEX = 4 # In case all classes in a project start with a common prefix, all # classes will be put under the same header in the alphabetical index. @@ -970,7 +988,7 @@ MACRO_EXPANSION = NO # If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES # then the macro expansion is limited to the macros specified with the -# PREDEFINED and EXPAND_AS_PREDEFINED tags. +# PREDEFINED and EXPAND_AS_DEFINED tags. EXPAND_ONLY_PREDEF = NO @@ -1138,6 +1156,14 @@ INCLUDED_BY_GRAPH = NO CALL_GRAPH = NO +# If the CALLER_GRAPH and HAVE_DOT tags are set to YES then doxygen will +# generate a caller dependency graph for every global function or class method. +# Note that enabling this option will significantly increase the time of a run. +# So in most cases it will be better to enable caller graphs for selected +# functions only using the \callergraph command. + +CALLER_GRAPH = NO + # If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen # will graphical hierarchy of all classes instead of a textual one. Doxyfile.in @@ -22,7 +22,8 @@ PNGS= images/ConfigTool.png images/ConfigToolAdmin.png \ images/ConfigToolPackages.png images/ConfigToolFlags.png \ images/RealTimeToolkit.png images/ComponentInterface.png \ images/ComponentImplementation.png images/ApplicationStack.png \ - images/fdi.png images/DataObjectBuffer.png images/TaskEventSerialisation.png \ + images/fdi.png images/FDIvsFOSI.png \ + images/DataObjectBuffer.png images/TaskEventSerialisation.png \ images/CommandExecution.png images/execution-sequence.png \ images/ReactiveState.png images/AutomaticState.png \ images/CoreVsContext.png images/DeploymentLevels.png \ @@ -35,7 +36,7 @@ PNGS= images/ConfigTool.png images/ConfigToolAdmin.png \ images/ProgramTransitions.png images/ProgramStates.png \ images/StateTransitions.png images/MachineStates.png \ images/TaskCommandSerialisation.png images/Functor.png \ - images/FrameworkOverview.png + images/FrameworkOverview.png images/RTT_KDL_BFL_400.png FOP_STYLESHEET := $(srcdir)/../xsl/orocos.xsl HTML_STYLESHEET := $(srcdir)/../xsl/orocos-html.xsl @@ -43,7 +44,8 @@ HTML_STYLESHEET := $(srcdir)/../xsl/orocos-html.xsl include $(srcdir)/../docrules.mak EXTRA_DIST = \ - $(XMLDOCS) \ + images \ + $(ALL_XMLDOCS) \ $(HTMLDOCS) \ $(PNGIMGS) \ catalog.xml.in \ doc/xml/Makefile.am @@ -186,11 +186,11 @@ sodipodi:role="line" x="117.19776" y="504.09787" - id="tspan3359">processes incomming commands,</tspan><tspan + id="tspan3359">processes incoming commands,</tspan><tspan sodipodi:role="line" x="117.19776" y="526.59787" - id="tspan3361">incomming events and finally</tspan><tspan + id="tspan3361">incoming events and finally</tspan><tspan sodipodi:role="line" x="117.19776" y="549.09787" doc/xml/images/TaskContextExecution.svg @@ -63,61 +63,70 @@ </dia:attribute> </dia:diagramdata> <dia:layer name="Achtergrond" visible="true"> - <dia:object type="UML - Lifeline" version="0" id="O0"> + <dia:object type="UML - Message" version="0" id="O0"> <dia:attribute name="obj_pos"> - <dia:point val="5.4,5.3"/> + <dia:point val="22,13"/> </dia:attribute> <dia:attribute name="obj_bb"> - <dia:rectangle val="5.05,5.275;5.75,13.075"/> + <dia:rectangle val="9.10977,12.4499;22.05,13.4"/> </dia:attribute> <dia:attribute name="conn_endpoints"> - <dia:point val="5.4,5.3"/> - <dia:point val="5.4,13.05"/> + <dia:point val="22,13"/> + <dia:point val="9.15977,13"/> </dia:attribute> <dia:attribute name="line_colour"> <dia:color val="#000000"/> </dia:attribute> - <dia:attribute name="fill_colour"> - <dia:color val="#ffffff"/> + <dia:attribute name="text"> + <dia:string>##</dia:string> </dia:attribute> - <dia:attribute name="rtop"> - <dia:real val="2.1674699999999998"/> + <dia:attribute name="type"> + <dia:enum val="0"/> </dia:attribute> - <dia:attribute name="rbot"> - <dia:real val="5.2058100000000005"/> + <dia:attribute name="text_pos"> + <dia:point val="15.5799,12.9999"/> </dia:attribute> - <dia:attribute name="draw_focus"> - <dia:boolean val="true"/> + <dia:connections> + <dia:connection handle="1" to="O8" connection="1"/> + </dia:connections> + </dia:object> + <dia:object type="UML - Message" version="0" id="O1"> + <dia:attribute name="obj_pos"> + <dia:point val="22,9"/> </dia:attribute> - <dia:attribute name="draw_cross"> - <dia:boolean val="false"/> + <dia:attribute name="obj_bb"> + <dia:rectangle val="15.1098,8.44995;22.05,9.4"/> </dia:attribute> - <dia:attribute name="cpl_northwest"> - <dia:int val="1"/> + <dia:attribute name="conn_endpoints"> + <dia:point val="22,9"/> + <dia:point val="15.1598,9"/> </dia:attribute> - <dia:attribute name="cpl_southwest"> - <dia:int val="1"/> + <dia:attribute name="line_colour"> + <dia:color val="#000000"/> </dia:attribute> - <dia:attribute name="cpl_northeast"> - <dia:int val="1"/> + <dia:attribute name="text"> + <dia:string>##</dia:string> </dia:attribute> - <dia:attribute name="cpl_southeast"> - <dia:int val="1"/> + <dia:attribute name="type"> + <dia:enum val="0"/> + </dia:attribute> + <dia:attribute name="text_pos"> + <dia:point val="18.5799,8.99995"/> </dia:attribute> <dia:connections> - <dia:connection handle="0" to="O3" connection="6"/> + <dia:connection handle="1" to="O2" connection="1"/> </dia:connections> </dia:object> - <dia:object type="UML - Lifeline" version="0" id="O1"> + <dia:object type="UML - Lifeline" version="0" id="O2"> <dia:attribute name="obj_pos"> - <dia:point val="15.375,5.3"/> + <dia:point val="14.8098,4.8"/> </dia:attribute> <dia:attribute name="obj_bb"> - <dia:rectangle val="15.025,5.275;15.725,21.225"/> + <dia:rectangle val="14.4598,4.775;15.1598,17.975"/> </dia:attribute> <dia:attribute name="conn_endpoints"> - <dia:point val="15.375,5.3"/> - <dia:point val="15.375,21.2"/> + <dia:point val="14.8098,4.8"/> + <dia:point val="14.8098,17.95"/> </dia:attribute> <dia:attribute name="line_colour"> <dia:color val="#000000"/> @@ -126,10 +135,10 @@ <dia:color val="#ffffff"/> </dia:attribute> <dia:attribute name="rtop"> - <dia:real val="10.4"/> + <dia:real val="4.2000000000000002"/> </dia:attribute> <dia:attribute name="rbot"> - <dia:real val="13.050000000000001"/> + <dia:real val="7.2000000000000002"/> </dia:attribute> <dia:attribute name="draw_focus"> <dia:boolean val="true"/> @@ -150,19 +159,19 @@ <dia:int val="1"/> </dia:attribute> <dia:connections> - <dia:connection handle="0" to="O4" connection="6"/> + <dia:connection handle="0" to="O5" connection="6"/> </dia:connections> </dia:object> - <dia:object type="UML - Lifeline" version="0" id="O2"> + <dia:object type="UML - Lifeline" version="0" id="O3"> <dia:attribute name="obj_pos"> - <dia:point val="25.35,5.4"/> + <dia:point val="22,6"/> </dia:attribute> <dia:attribute name="obj_bb"> - <dia:rectangle val="25,5.375;25.7,24.8808"/> + <dia:rectangle val="21.65,5.975;22.35,17.975"/> </dia:attribute> <dia:attribute name="conn_endpoints"> - <dia:point val="25.35,5.4"/> - <dia:point val="25.35,24.8558"/> + <dia:point val="22,6"/> + <dia:point val="22,17.95"/> </dia:attribute> <dia:attribute name="line_colour"> <dia:color val="#000000"/> @@ -171,10 +180,10 @@ <dia:color val="#ffffff"/> </dia:attribute> <dia:attribute name="rtop"> - <dia:real val="16.355809999999998"/> + <dia:real val="2"/> </dia:attribute> <dia:attribute name="rbot"> - <dia:real val="18.305810000000001"/> + <dia:real val="11"/> </dia:attribute> <dia:attribute name="draw_focus"> <dia:boolean val="true"/> @@ -194,22 +203,19 @@ <dia:attribute name="cpl_southeast"> <dia:int val="1"/> </dia:attribute> - <dia:connections> - <dia:connection handle="0" to="O5" connection="6"/> - </dia:connections> </dia:object> - <dia:object type="UML - Object" version="0" id="O3"> + <dia:object type="UML - Object" version="0" id="O4"> <dia:attribute name="obj_pos"> - <dia:point val="2.5,3.5"/> + <dia:point val="6,3"/> </dia:attribute> <dia:attribute name="obj_bb"> - <dia:rectangle val="2.45,3.45;8.35,5.35"/> + <dia:rectangle val="5.95,2.95;11.6695,4.85"/> </dia:attribute> <dia:attribute name="elem_corner"> - <dia:point val="2.5,3.5"/> + <dia:point val="6,3"/> </dia:attribute> <dia:attribute name="elem_width"> - <dia:real val="5.7999999999999998"/> + <dia:real val="5.6195312499999996"/> </dia:attribute> <dia:attribute name="elem_height"> <dia:real val="1.7999999999999998"/> @@ -223,7 +229,7 @@ <dia:attribute name="text"> <dia:composite type="text"> <dia:attribute name="string"> - <dia:string>#Zero time thread#</dia:string> + <dia:string>#PeriodicActivity#</dia:string> </dia:attribute> <dia:attribute name="font"> <dia:font family="arial" style="0" name="Helvetica"/> @@ -232,7 +238,7 @@ <dia:real val="0.80000000000000004"/> </dia:attribute> <dia:attribute name="pos"> - <dia:point val="5.4,4.55"/> + <dia:point val="8.80977,4.05"/> </dia:attribute> <dia:attribute name="color"> <dia:color val="#000000"/> @@ -280,18 +286,18 @@ <dia:boolean val="false"/> </dia:attribute> </dia:object> - <dia:object type="UML - Object" version="0" id="O4"> + <dia:object type="UML - Object" version="0" id="O5"> <dia:attribute name="obj_pos"> - <dia:point val="12.1,3.5"/> + <dia:point val="12,3"/> </dia:attribute> <dia:attribute name="obj_bb"> - <dia:rectangle val="12.05,3.45;18.7,5.35"/> + <dia:rectangle val="11.95,2.95;17.6695,4.85"/> </dia:attribute> <dia:attribute name="elem_corner"> - <dia:point val="12.1,3.5"/> + <dia:point val="12,3"/> </dia:attribute> <dia:attribute name="elem_width"> - <dia:real val="6.5499999999999998"/> + <dia:real val="5.6195312499999996"/> </dia:attribute> <dia:attribute name="elem_height"> <dia:real val="1.7999999999999998"/> @@ -305,7 +311,7 @@ <dia:attribute name="text"> <dia:composite type="text"> <dia:attribute name="string"> - <dia:string>#Zero latency thread#</dia:string> + <dia:string>#PeriodicActivity#</dia:string> </dia:attribute> <dia:attribute name="font"> <dia:font family="arial" style="0" name="Helvetica"/> @@ -314,7 +320,7 @@ <dia:real val="0.80000000000000004"/> </dia:attribute> <dia:attribute name="pos"> - <dia:point val="15.375,4.55"/> + <dia:point val="14.8098,4.05"/> </dia:attribute> <dia:attribute name="color"> <dia:color val="#000000"/> @@ -362,21 +368,21 @@ <dia:boolean val="false"/> </dia:attribute> </dia:object> - <dia:object type="UML - Object" version="0" id="O5"> + <dia:object type="UML - Object" version="0" id="O6"> <dia:attribute name="obj_pos"> - <dia:point val="22.05,3.6"/> + <dia:point val="19,4"/> </dia:attribute> <dia:attribute name="obj_bb"> - <dia:rectangle val="22,3.55;28.7,5.45"/> + <dia:rectangle val="18.95,3.95;24.7172,5.85"/> </dia:attribute> <dia:attribute name="elem_corner"> - <dia:point val="22.05,3.6"/> + <dia:point val="19,4"/> </dia:attribute> <dia:attribute name="elem_width"> - <dia:real val="6.5999999999999996"/> + <dia:real val="5.6671874999999998"/> </dia:attribute> <dia:attribute name="elem_height"> - <dia:real val="1.8000000000000003"/> + <dia:real val="1.7999999999999998"/> </dia:attribute> <dia:attribute name="line_colour"> <dia:color val="#000000"/> @@ -387,7 +393,7 @@ <dia:attribute name="text"> <dia:composite type="text"> <dia:attribute name="string"> - <dia:string>#Non realtime thread#</dia:string> + <dia:string>#PeriodicThread#</dia:string> </dia:attribute> <dia:attribute name="font"> <dia:font family="arial" style="0" name="Helvetica"/> @@ -396,7 +402,7 @@ <dia:real val="0.80000000000000004"/> </dia:attribute> <dia:attribute name="pos"> - <dia:point val="25.35,4.65"/> + <dia:point val="21.8336,5.05"/> </dia:attribute> <dia:attribute name="color"> <dia:color val="#000000"/> @@ -435,7 +441,7 @@ </dia:composite> </dia:attribute> <dia:attribute name="is_active"> - <dia:boolean val="false"/> + <dia:boolean val="true"/> </dia:attribute> <dia:attribute name="show_attribs"> <dia:boolean val="false"/> @@ -444,156 +450,16 @@ <dia:boolean val="false"/> </dia:attribute> </dia:object> - <dia:object type="UML - Note" version="0" id="O6"> + <dia:object type="UML - Message" version="0" id="O7"> <dia:attribute name="obj_pos"> - <dia:point val="2,-3"/> + <dia:point val="15.1598,12"/> </dia:attribute> <dia:attribute name="obj_bb"> - <dia:rectangle val="1.95,-3.05;17.3,1.95"/> - </dia:attribute> - <dia:attribute name="elem_corner"> - <dia:point val="2,-3"/> - </dia:attribute> - <dia:attribute name="elem_width"> - <dia:real val="15.25"/> - </dia:attribute> - <dia:attribute name="elem_height"> - <dia:real val="4.9000000000000004"/> - </dia:attribute> - <dia:attribute name="line_colour"> - <dia:color val="#000000"/> - </dia:attribute> - <dia:attribute name="fill_colour"> - <dia:color val="#ffffff"/> - </dia:attribute> - <dia:attribute name="text"> - <dia:composite type="text"> - <dia:attribute name="string"> - <dia:string>#The Zero Time Thread (ZTT) is -the highest priority thread. The -execution time of each of its activities -is considered to be near zero. These -activities are nonpreemtable.#</dia:string> - </dia:attribute> - <dia:attribute name="font"> - <dia:font family="courier new" style="0" name="Courier"/> - </dia:attribute> - <dia:attribute name="height"> - <dia:real val="0.80000000000000004"/> - </dia:attribute> - <dia:attribute name="pos"> - <dia:point val="2.35,-1.8"/> - </dia:attribute> - <dia:attribute name="color"> - <dia:color val="#000000"/> - </dia:attribute> - <dia:attribute name="alignment"> - <dia:enum val="0"/> - </dia:attribute> - </dia:composite> - </dia:attribute> - </dia:object> - <dia:object type="UML - Note" version="0" id="O7"> - <dia:attribute name="obj_pos"> - <dia:point val="18,-3"/> - </dia:attribute> - <dia:attribute name="obj_bb"> - <dia:rectangle val="17.95,-3.05;31.9,1.95"/> - </dia:attribute> - <dia:attribute name="elem_corner"> - <dia:point val="18,-3"/> - </dia:attribute> - <dia:attribute name="elem_width"> - <dia:real val="13.85"/> - </dia:attribute> - <dia:attribute name="elem_height"> - <dia:real val="4.9000000000000004"/> - </dia:attribute> - <dia:attribute name="line_colour"> - <dia:color val="#000000"/> - </dia:attribute> - <dia:attribute name="fill_colour"> - <dia:color val="#ffffff"/> - </dia:attribute> - <dia:attribute name="text"> - <dia:composite type="text"> - <dia:attribute name="string"> - <dia:string>#The Zero Latency Thread (ZLT) is -the second highest priority thread. -The latency of these activities is -considered to be near zero. These -activities are preemtable by the ZTT.#</dia:string> - </dia:attribute> - <dia:attribute name="font"> - <dia:font family="courier new" style="0" name="Courier"/> - </dia:attribute> - <dia:attribute name="height"> - <dia:real val="0.80000000000000004"/> - </dia:attribute> - <dia:attribute name="pos"> - <dia:point val="18.35,-1.8"/> - </dia:attribute> - <dia:attribute name="color"> - <dia:color val="#000000"/> - </dia:attribute> - <dia:attribute name="alignment"> - <dia:enum val="0"/> - </dia:attribute> - </dia:composite> - </dia:attribute> - </dia:object> - <dia:object type="UML - Lifeline" version="0" id="O8"> - <dia:attribute name="obj_pos"> - <dia:point val="5.4,12.85"/> - </dia:attribute> - <dia:attribute name="obj_bb"> - <dia:rectangle val="5.05,12.825;5.75,18.675"/> + <dia:rectangle val="15.1098,11.45;22.05,12.4"/> </dia:attribute> <dia:attribute name="conn_endpoints"> - <dia:point val="5.4,12.85"/> - <dia:point val="5.4,18.65"/> - </dia:attribute> - <dia:attribute name="line_colour"> - <dia:color val="#000000"/> - </dia:attribute> - <dia:attribute name="fill_colour"> - <dia:color val="#ffffff"/> - </dia:attribute> - <dia:attribute name="rtop"> - <dia:real val="1.8058099999999992"/> - </dia:attribute> - <dia:attribute name="rbot"> - <dia:real val="2.9174699999999998"/> - </dia:attribute> - <dia:attribute name="draw_focus"> - <dia:boolean val="true"/> - </dia:attribute> - <dia:attribute name="draw_cross"> - <dia:boolean val="false"/> - </dia:attribute> - <dia:attribute name="cpl_northwest"> - <dia:int val="1"/> - </dia:attribute> - <dia:attribute name="cpl_southwest"> - <dia:int val="1"/> - </dia:attribute> - <dia:attribute name="cpl_northeast"> - <dia:int val="1"/> - </dia:attribute> - <dia:attribute name="cpl_southeast"> - <dia:int val="1"/> - </dia:attribute> - </dia:object> - <dia:object type="UML - Message" version="0" id="O9"> - <dia:attribute name="obj_pos"> - <dia:point val="5.75,15.7675"/> - </dia:attribute> - <dia:attribute name="obj_bb"> - <dia:rectangle val="5.69964,15.1837;15.0779,16.1004"/> - </dia:attribute> - <dia:attribute name="conn_endpoints"> - <dia:point val="5.75,15.7675"/> - <dia:point val="15.025,15.7"/> + <dia:point val="15.1598,12"/> + <dia:point val="22,12"/> </dia:attribute> <dia:attribute name="line_colour"> <dia:color val="#000000"/> @@ -605,23 +471,22 @@ activities are preemtable by the ZTT.#</dia:string> <dia:enum val="0"/> </dia:attribute> <dia:attribute name="text_pos"> - <dia:point val="10.3875,15.7337"/> + <dia:point val="18.5799,12"/> </dia:attribute> <dia:connections> - <dia:connection handle="0" to="O8" connection="5"/> - <dia:connection handle="1" to="O1" connection="0"/> + <dia:connection handle="0" to="O2" connection="5"/> </dia:connections> </dia:object> - <dia:object type="UML - Lifeline" version="0" id="O10"> + <dia:object type="UML - Lifeline" version="0" id="O8"> <dia:attribute name="obj_pos"> - <dia:point val="5.45,17.75"/> + <dia:point val="8.80977,4.8"/> </dia:attribute> <dia:attribute name="obj_bb"> - <dia:rectangle val="5.1,17.725;5.8,23.7808"/> + <dia:rectangle val="8.45977,4.775;9.15977,17.025"/> </dia:attribute> <dia:attribute name="conn_endpoints"> - <dia:point val="5.45,17.75"/> - <dia:point val="5.45,23.7558"/> + <dia:point val="8.80977,4.8"/> + <dia:point val="8.80977,17"/> </dia:attribute> <dia:attribute name="line_colour"> <dia:color val="#000000"/> @@ -630,10 +495,10 @@ activities are preemtable by the ZTT.#</dia:string> <dia:color val="#ffffff"/> </dia:attribute> <dia:attribute name="rtop"> - <dia:real val="0.55000000000000004"/> + <dia:real val="8.1999999999999993"/> </dia:attribute> <dia:attribute name="rbot"> - <dia:real val="3.0505"/> + <dia:real val="11.199999999999999"/> </dia:attribute> <dia:attribute name="draw_focus"> <dia:boolean val="true"/> @@ -653,45 +518,20 @@ activities are preemtable by the ZTT.#</dia:string> <dia:attribute name="cpl_southeast"> <dia:int val="1"/> </dia:attribute> - </dia:object> - <dia:object type="UML - Message" version="0" id="O11"> - <dia:attribute name="obj_pos"> - <dia:point val="15.025,18.35"/> - </dia:attribute> - <dia:attribute name="obj_bb"> - <dia:rectangle val="5.74783,17.775;15.0753,18.7003"/> - </dia:attribute> - <dia:attribute name="conn_endpoints"> - <dia:point val="15.025,18.35"/> - <dia:point val="5.8,18.3"/> - </dia:attribute> - <dia:attribute name="line_colour"> - <dia:color val="#000000"/> - </dia:attribute> - <dia:attribute name="text"> - <dia:string>##</dia:string> - </dia:attribute> - <dia:attribute name="type"> - <dia:enum val="0"/> - </dia:attribute> - <dia:attribute name="text_pos"> - <dia:point val="10.4125,18.325"/> - </dia:attribute> <dia:connections> - <dia:connection handle="0" to="O1" connection="4"/> - <dia:connection handle="1" to="O10" connection="1"/> + <dia:connection handle="0" to="O4" connection="6"/> </dia:connections> </dia:object> - <dia:object type="UML - Message" version="0" id="O12"> + <dia:object type="UML - Message" version="0" id="O9"> <dia:attribute name="obj_pos"> - <dia:point val="5.8,20.8005"/> + <dia:point val="9.15977,16"/> </dia:attribute> <dia:attribute name="obj_bb"> - <dia:rectangle val="5.75,20.2502;15.05,21.2"/> + <dia:rectangle val="9.10977,15.4499;22.05,16.4"/> </dia:attribute> <dia:attribute name="conn_endpoints"> - <dia:point val="5.8,20.8005"/> - <dia:point val="15,20.8"/> + <dia:point val="9.15977,16"/> + <dia:point val="22,16"/> </dia:attribute> <dia:attribute name="line_colour"> <dia:color val="#000000"/> @@ -703,215 +543,24 @@ activities are preemtable by the ZTT.#</dia:string> <dia:enum val="0"/> </dia:attribute> <dia:attribute name="text_pos"> - <dia:point val="10.4,20.8002"/> + <dia:point val="15.5799,15.9999"/> </dia:attribute> <dia:connections> - <dia:connection handle="0" to="O10" connection="5"/> - <dia:connection handle="1" to="O13" connection="0"/> - </dia:connections> - </dia:object> - <dia:object type="UML - Lifeline" version="0" id="O13"> - <dia:attribute name="obj_pos"> - <dia:point val="15.35,20.25"/> - </dia:attribute> - <dia:attribute name="obj_bb"> - <dia:rectangle val="15,20.225;15.7,24.3308"/> - </dia:attribute> - <dia:attribute name="conn_endpoints"> - <dia:point val="15.35,20.25"/> - <dia:point val="15.35,24.3058"/> - </dia:attribute> - <dia:attribute name="line_colour"> - <dia:color val="#000000"/> - </dia:attribute> - <dia:attribute name="fill_colour"> - <dia:color val="#ffffff"/> - </dia:attribute> - <dia:attribute name="rtop"> - <dia:real val="0.55000000000000004"/> - </dia:attribute> - <dia:attribute name="rbot"> - <dia:real val="1.5058100000000003"/> - </dia:attribute> - <dia:attribute name="draw_focus"> - <dia:boolean val="true"/> - </dia:attribute> - <dia:attribute name="draw_cross"> - <dia:boolean val="false"/> - </dia:attribute> - <dia:attribute name="cpl_northwest"> - <dia:int val="1"/> - </dia:attribute> - <dia:attribute name="cpl_southwest"> - <dia:int val="1"/> - </dia:attribute> - <dia:attribute name="cpl_northeast"> - <dia:int val="1"/> - </dia:attribute> - <dia:attribute name="cpl_southeast"> - <dia:int val="1"/> - </dia:attribute> - </dia:object> - <dia:object type="UML - Note" version="0" id="O14"> - <dia:attribute name="obj_pos"> - <dia:point val="19.2437,15.8099"/> - </dia:attribute> - <dia:attribute name="obj_bb"> - <dia:rectangle val="19.1937,15.7599;31.3937,19.9599"/> - </dia:attribute> - <dia:attribute name="elem_corner"> - <dia:point val="19.2437,15.8099"/> - </dia:attribute> - <dia:attribute name="elem_width"> - <dia:real val="12.1"/> - </dia:attribute> - <dia:attribute name="elem_height"> - <dia:real val="4.1000000000000005"/> - </dia:attribute> - <dia:attribute name="line_colour"> - <dia:color val="#000000"/> - </dia:attribute> - <dia:attribute name="fill_colour"> - <dia:color val="#ffffff"/> - </dia:attribute> - <dia:attribute name="text"> - <dia:composite type="text"> - <dia:attribute name="string"> - <dia:string>#Activity A3 is interrupted -by the higher priotity -activity T. When T has finished, -A3 can continue.#</dia:string> - </dia:attribute> - <dia:attribute name="font"> - <dia:font family="courier new" style="0" name="Courier"/> - </dia:attribute> - <dia:attribute name="height"> - <dia:real val="0.80000000000000004"/> - </dia:attribute> - <dia:attribute name="pos"> - <dia:point val="19.5937,17.0099"/> - </dia:attribute> - <dia:attribute name="color"> - <dia:color val="#000000"/> - </dia:attribute> - <dia:attribute name="alignment"> - <dia:enum val="0"/> - </dia:attribute> - </dia:composite> - </dia:attribute> - </dia:object> - <dia:object type="Standard - Text" version="0" id="O15"> - <dia:attribute name="obj_pos"> - <dia:point val="16.6793,17.2901"/> - </dia:attribute> - <dia:attribute name="obj_bb"> - <dia:rectangle val="16.1543,16.7226;17.2218,17.7251"/> - </dia:attribute> - <dia:attribute name="text"> - <dia:composite type="text"> - <dia:attribute name="string"> - <dia:string>#A3a#</dia:string> - </dia:attribute> - <dia:attribute name="font"> - <dia:font family="courier new" style="0" name="Courier"/> - </dia:attribute> - <dia:attribute name="height"> - <dia:real val="0.80000000000000004"/> - </dia:attribute> - <dia:attribute name="pos"> - <dia:point val="16.6793,17.2901"/> - </dia:attribute> - <dia:attribute name="color"> - <dia:color val="#000000"/> - </dia:attribute> - <dia:attribute name="alignment"> - <dia:enum val="1"/> - </dia:attribute> - </dia:composite> - </dia:attribute> - </dia:object> - <dia:object type="Standard - Text" version="0" id="O16"> - <dia:attribute name="obj_pos"> - <dia:point val="16.5144,21.4478"/> - </dia:attribute> - <dia:attribute name="obj_bb"> - <dia:rectangle val="15.9894,20.8803;17.0569,21.8828"/> - </dia:attribute> - <dia:attribute name="text"> - <dia:composite type="text"> - <dia:attribute name="string"> - <dia:string>#A3b#</dia:string> - </dia:attribute> - <dia:attribute name="font"> - <dia:font family="courier new" style="0" name="Courier"/> - </dia:attribute> - <dia:attribute name="height"> - <dia:real val="0.80000000000000004"/> - </dia:attribute> - <dia:attribute name="pos"> - <dia:point val="16.5144,21.4478"/> - </dia:attribute> - <dia:attribute name="color"> - <dia:color val="#000000"/> - </dia:attribute> - <dia:attribute name="alignment"> - <dia:enum val="1"/> - </dia:attribute> - </dia:composite> - </dia:attribute> - </dia:object> - <dia:object type="Standard - Line" version="0" id="O17"> - <dia:attribute name="obj_pos"> - <dia:point val="19.2437,17.8599"/> - </dia:attribute> - <dia:attribute name="obj_bb"> - <dia:rectangle val="15.284,17.7939;19.3097,19.666"/> - </dia:attribute> - <dia:attribute name="conn_endpoints"> - <dia:point val="19.2437,17.8599"/> - <dia:point val="15.35,19.6"/> - </dia:attribute> - <dia:attribute name="numcp"> - <dia:int val="1"/> - </dia:attribute> - <dia:connections> - <dia:connection handle="0" to="O14" connection="3"/> - </dia:connections> - </dia:object> - <dia:object type="Standard - Line" version="0" id="O18"> - <dia:attribute name="obj_pos"> - <dia:point val="9.625,1.9"/> - </dia:attribute> - <dia:attribute name="obj_bb"> - <dia:rectangle val="5.33553,1.83553;9.68947,3.56447"/> - </dia:attribute> - <dia:attribute name="conn_endpoints"> - <dia:point val="9.625,1.9"/> - <dia:point val="5.4,3.5"/> - </dia:attribute> - <dia:attribute name="numcp"> - <dia:int val="1"/> - </dia:attribute> - <dia:attribute name="line_style"> - <dia:enum val="4"/> - </dia:attribute> - <dia:connections> - <dia:connection handle="0" to="O6" connection="6"/> - <dia:connection handle="1" to="O3" connection="1"/> + <dia:connection handle="0" to="O8" connection="5"/> </dia:connections> </dia:object> - <dia:object type="UML - Note" version="0" id="O19"> + <dia:object type="UML - Note" version="0" id="O10"> <dia:attribute name="obj_pos"> - <dia:point val="2.8549,23.315"/> + <dia:point val="10,-1"/> </dia:attribute> <dia:attribute name="obj_bb"> - <dia:rectangle val="2.8049,23.265;20.6049,26.665"/> + <dia:rectangle val="9.95,-1.05;21.8,2.35"/> </dia:attribute> <dia:attribute name="elem_corner"> - <dia:point val="2.8549,23.315"/> + <dia:point val="10,-1"/> </dia:attribute> <dia:attribute name="elem_width"> - <dia:real val="17.699999999999999"/> + <dia:real val="11.75"/> </dia:attribute> <dia:attribute name="elem_height"> <dia:real val="3.3000000000000003"/> @@ -925,18 +574,18 @@ A3 can continue.#</dia:string> <dia:attribute name="text"> <dia:composite type="text"> <dia:attribute name="string"> - <dia:string>#All nonrealtime activities can be -executed in the NRT. They -are executed only when the ZTT and ZLT are idle.#</dia:string> + <dia:string>#PeriodicActivities with +equal period and equal priority +run in the same PeriodicThread#</dia:string> </dia:attribute> <dia:attribute name="font"> - <dia:font family="courier new" style="0" name="Courier"/> + <dia:font family="monospace" style="0" name="Courier"/> </dia:attribute> <dia:attribute name="height"> <dia:real val="0.80000000000000004"/> </dia:attribute> <dia:attribute name="pos"> - <dia:point val="3.2049,24.515"/> + <dia:point val="10.35,0.2"/> </dia:attribute> <dia:attribute name="color"> <dia:color val="#000000"/> @@ -947,136 +596,26 @@ are executed only when the ZTT and ZLT are idle.#</dia:string> </dia:composite> </dia:attribute> </dia:object> - <dia:object type="UML - Message" version="0" id="O20"> - <dia:attribute name="obj_pos"> - <dia:point val="15.7,21.7558"/> - </dia:attribute> - <dia:attribute name="obj_bb"> - <dia:rectangle val="15.65,21.2058;25.05,22.1558"/> - </dia:attribute> - <dia:attribute name="conn_endpoints"> - <dia:point val="15.7,21.7558"/> - <dia:point val="25,21.7558"/> - </dia:attribute> - <dia:attribute name="line_colour"> - <dia:color val="#000000"/> - </dia:attribute> - <dia:attribute name="text"> - <dia:string>##</dia:string> - </dia:attribute> - <dia:attribute name="type"> - <dia:enum val="0"/> - </dia:attribute> - <dia:attribute name="text_pos"> - <dia:point val="20.35,21.7558"/> - </dia:attribute> - <dia:connections> - <dia:connection handle="0" to="O13" connection="5"/> - <dia:connection handle="1" to="O2" connection="0"/> - </dia:connections> - </dia:object> - <dia:object type="Standard - Line" version="0" id="O21"> - <dia:attribute name="obj_pos"> - <dia:point val="24.925,1.9"/> - </dia:attribute> - <dia:attribute name="obj_bb"> - <dia:rectangle val="15.3174,1.84243;24.9826,3.55757"/> - </dia:attribute> - <dia:attribute name="conn_endpoints"> - <dia:point val="24.925,1.9"/> - <dia:point val="15.375,3.5"/> - </dia:attribute> - <dia:attribute name="numcp"> - <dia:int val="1"/> - </dia:attribute> - <dia:attribute name="line_style"> - <dia:enum val="4"/> - </dia:attribute> - <dia:connections> - <dia:connection handle="0" to="O7" connection="6"/> - <dia:connection handle="1" to="O4" connection="1"/> - </dia:connections> - </dia:object> - <dia:object type="Standard - Text" version="0" id="O22"> - <dia:attribute name="obj_pos"> - <dia:point val="9,11"/> - </dia:attribute> - <dia:attribute name="obj_bb"> - <dia:rectangle val="7.075,10.4325;10.9425,11.435"/> - </dia:attribute> - <dia:attribute name="text"> - <dia:composite type="text"> - <dia:attribute name="string"> - <dia:string>#T=A1+A2+...#</dia:string> - </dia:attribute> - <dia:attribute name="font"> - <dia:font family="courier new" style="0" name="Courier"/> - </dia:attribute> - <dia:attribute name="height"> - <dia:real val="0.80000000000000004"/> - </dia:attribute> - <dia:attribute name="pos"> - <dia:point val="9,11"/> - </dia:attribute> - <dia:attribute name="color"> - <dia:color val="#000000"/> - </dia:attribute> - <dia:attribute name="alignment"> - <dia:enum val="1"/> - </dia:attribute> - </dia:composite> - </dia:attribute> - </dia:object> - <dia:object type="Standard - Text" version="0" id="O23"> - <dia:attribute name="obj_pos"> - <dia:point val="26.7129,22.5188"/> - </dia:attribute> - <dia:attribute name="obj_bb"> - <dia:rectangle val="26.3454,21.9513;27.0629,22.9538"/> - </dia:attribute> - <dia:attribute name="text"> - <dia:composite type="text"> - <dia:attribute name="string"> - <dia:string>#A5#</dia:string> - </dia:attribute> - <dia:attribute name="font"> - <dia:font family="courier new" style="0" name="Courier"/> - </dia:attribute> - <dia:attribute name="height"> - <dia:real val="0.80000000000000004"/> - </dia:attribute> - <dia:attribute name="pos"> - <dia:point val="26.7129,22.5188"/> - </dia:attribute> - <dia:attribute name="color"> - <dia:color val="#000000"/> - </dia:attribute> - <dia:attribute name="alignment"> - <dia:enum val="1"/> - </dia:attribute> - </dia:composite> - </dia:attribute> - </dia:object> - <dia:object type="Standard - Text" version="0" id="O24"> + <dia:object type="Standard - Text" version="0" id="O11"> <dia:attribute name="obj_pos"> - <dia:point val="9,15"/> + <dia:point val="18,8.45"/> </dia:attribute> <dia:attribute name="obj_bb"> - <dia:rectangle val="7.075,14.4325;10.9425,15.435"/> + <dia:rectangle val="17.05,7.8825;18.9675,8.885"/> </dia:attribute> <dia:attribute name="text"> <dia:composite type="text"> <dia:attribute name="string"> - <dia:string>#T=A1+A2+...#</dia:string> + <dia:string>#step()#</dia:string> </dia:attribute> <dia:attribute name="font"> - <dia:font family="courier new" style="0" name="Courier"/> + <dia:font family="sans" style="0" name="Helvetica"/> </dia:attribute> <dia:attribute name="height"> <dia:real val="0.80000000000000004"/> </dia:attribute> <dia:attribute name="pos"> - <dia:point val="9,15"/> + <dia:point val="18,8.45"/> </dia:attribute> <dia:attribute name="color"> <dia:color val="#000000"/> @@ -1087,26 +626,26 @@ are executed only when the ZTT and ZLT are idle.#</dia:string> </dia:composite> </dia:attribute> </dia:object> - <dia:object type="Standard - Text" version="0" id="O25"> + <dia:object type="Standard - Text" version="0" id="O12"> <dia:attribute name="obj_pos"> - <dia:point val="9,20"/> + <dia:point val="11.95,12.635"/> </dia:attribute> <dia:attribute name="obj_bb"> - <dia:rectangle val="7.075,19.4325;10.9425,20.435"/> + <dia:rectangle val="11,12.0675;12.9175,13.07"/> </dia:attribute> <dia:attribute name="text"> <dia:composite type="text"> <dia:attribute name="string"> - <dia:string>#T=A1+A2+...#</dia:string> + <dia:string>#step()#</dia:string> </dia:attribute> <dia:attribute name="font"> - <dia:font family="courier new" style="0" name="Courier"/> + <dia:font family="sans" style="0" name="Helvetica"/> </dia:attribute> <dia:attribute name="height"> <dia:real val="0.80000000000000004"/> </dia:attribute> <dia:attribute name="pos"> - <dia:point val="9,20"/> + <dia:point val="11.95,12.635"/> </dia:attribute> <dia:attribute name="color"> <dia:color val="#000000"/> @@ -1117,160 +656,5 @@ are executed only when the ZTT and ZLT are idle.#</dia:string> </dia:composite> </dia:attribute> </dia:object> - <dia:object type="UML - Note" version="0" id="O26"> - <dia:attribute name="obj_pos"> - <dia:point val="12.6129,6.46881"/> - </dia:attribute> - <dia:attribute name="obj_bb"> - <dia:rectangle val="12.5629,6.41881;22.6629,10.6188"/> - </dia:attribute> - <dia:attribute name="elem_corner"> - <dia:point val="12.6129,6.46881"/> - </dia:attribute> - <dia:attribute name="elem_width"> - <dia:real val="10"/> - </dia:attribute> - <dia:attribute name="elem_height"> - <dia:real val="4.1000000000000005"/> - </dia:attribute> - <dia:attribute name="line_colour"> - <dia:color val="#000000"/> - </dia:attribute> - <dia:attribute name="fill_colour"> - <dia:color val="#ffffff"/> - </dia:attribute> - <dia:attribute name="text"> - <dia:composite type="text"> - <dia:attribute name="string"> - <dia:string>#A1,A2,.. are running -a RunnableInterface object -or calling their own step -methods.#</dia:string> - </dia:attribute> - <dia:attribute name="font"> - <dia:font family="monospace" style="0" name="Courier"/> - </dia:attribute> - <dia:attribute name="height"> - <dia:real val="0.80000000000000004"/> - </dia:attribute> - <dia:attribute name="pos"> - <dia:point val="12.9629,7.66881"/> - </dia:attribute> - <dia:attribute name="color"> - <dia:color val="#000000"/> - </dia:attribute> - <dia:attribute name="alignment"> - <dia:enum val="0"/> - </dia:attribute> - </dia:composite> - </dia:attribute> - </dia:object> - <dia:object type="Standard - Line" version="0" id="O27"> - <dia:attribute name="obj_pos"> - <dia:point val="12.6129,8.51881"/> - </dia:attribute> - <dia:attribute name="obj_bb"> - <dia:rectangle val="5.69672,8.46553;12.6662,9.03992"/> - </dia:attribute> - <dia:attribute name="conn_endpoints"> - <dia:point val="12.6129,8.51881"/> - <dia:point val="5.75,8.98664"/> - </dia:attribute> - <dia:attribute name="numcp"> - <dia:int val="1"/> - </dia:attribute> - <dia:attribute name="line_style"> - <dia:enum val="4"/> - </dia:attribute> - <dia:connections> - <dia:connection handle="0" to="O26" connection="3"/> - 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<dia:attribute name="height"> - <dia:real val="0.80000000000000004"/> - </dia:attribute> - <dia:attribute name="pos"> - <dia:point val="30.0629,3.71747"/> - </dia:attribute> - <dia:attribute name="color"> - <dia:color val="#000000"/> - </dia:attribute> - <dia:attribute name="alignment"> - <dia:enum val="0"/> - </dia:attribute> - </dia:composite> - </dia:attribute> - </dia:object> - <dia:object type="Standard - Line" version="0" id="O29"> - <dia:attribute name="obj_pos"> - <dia:point val="29.7129,3.36747"/> - </dia:attribute> - <dia:attribute name="obj_bb"> - <dia:rectangle val="28.5793,3.29679;29.7836,4.57068"/> - </dia:attribute> - <dia:attribute name="conn_endpoints"> - <dia:point val="29.7129,3.36747"/> - <dia:point val="28.65,4.5"/> - </dia:attribute> - <dia:attribute name="numcp"> - <dia:int val="1"/> - </dia:attribute> - <dia:attribute name="line_style"> - <dia:enum val="4"/> - </dia:attribute> - <dia:connections> - <dia:connection handle="0" to="O28" connection="3"/> - <dia:connection handle="1" to="O5" connection="4"/> - </dia:connections> - </dia:object> - <dia:object type="Standard - Line" version="0" id="O30"> - <dia:attribute name="obj_pos"> - <dia:point val="24.4727,23.1869"/> - </dia:attribute> - <dia:attribute name="obj_bb"> - <dia:rectangle val="20.4887,23.1207;24.5389,25.0312"/> - </dia:attribute> - <dia:attribute name="conn_endpoints"> - <dia:point val="24.4727,23.1869"/> - <dia:point val="20.5549,24.965"/> - </dia:attribute> - <dia:attribute name="numcp"> - <dia:int val="1"/> - </dia:attribute> - <dia:connections> - <dia:connection handle="1" to="O19" connection="4"/> - </dia:connections> - </dia:object> </dia:layer> </dia:diagram> doc/xml/images/execution-sequence.dia @@ -37,6 +37,12 @@ <authorinitials>ps</authorinitials> <revremark>Update to new Orocos interfaces</revremark> </revision> + <revision> + <revnumber>0.03</revnumber> + <date>9 November 2006</date> + <authorinitials>ps</authorinitials> + <revremark>1.0.0 release updates</revremark> + </revision> </revhistory> <legalnotice> @@ -83,12 +89,11 @@ <listitem><para>Command interface: fully</para></listitem> <listitem><para>Method interface: fully</para></listitem> <listitem><para>Scripting interface: fully</para></listitem> + <listitem><para>Data Flow interface: fully</para></listitem> </itemizedlist> </para> - <para>These interfaces are work in progress and not yet available: <itemizedlist> - <listitem><para>Data Flow interface</para></listitem> <listitem><para>Event interface</para></listitem> </itemizedlist> </para> @@ -118,21 +123,16 @@ Orocos Corba components are work in progress. The following limitations apply: <itemizedlist> <listitem><para>Components can only communicate standard C++ - types (double, int, string, etc.), std::vector&lt;double> - and the Orocos 3D Frame, Rotation and Vector types. Adding - user types (user defined structs) is work in - progress. </para></listitem> - <listitem><para>The Corba interfaces have not stabilised - fully and may change (albeit not drastically) before the - Orocos 1.0 release. This is hidden if you use the 'transparant' - approach below.</para></listitem> + types (double, int, string, etc.) and std::vector&lt;double>. + Adding user types is possible using the 'Toolkit Plugin' feature + ( see also 'Orocos Type System' ). + </para></listitem> <listitem><para>Some Corba objects (for example 'commands') have a longer lifetime in memory than necessary. This does not cause harm in 'simple' setups, but is problematic when - thousands of such objects are created. This issue is being - addressed.</para></listitem> + thousands of such objects are created. + </para></listitem> </itemizedlist> - We aim for removing all these limitations before the Orocos 1.0 release. </para> </section> </section> @@ -153,7 +153,7 @@ #include &lt;rtt/corba/ControlTaskServer.hpp> #include &lt;rtt/PeriodicActivity.hpp> - #include &lt;rtt/GenericTaskContext.hpp> + #include &lt;rtt/TaskContext.hpp> #include &lt;rtt/os/main.h> using namespace RTT; @@ -162,7 +162,7 @@ int ORO_main(int argc, char** argv) { // Setup a component - <classname>RTT::GenericTaskContext</classname> mycomponent("HelloWorld"); + <classname>RTT::TaskContext</classname> mycomponent("HelloWorld"); // Execute a component <classname>RTT::PeriodicActivity</classname> myact(1, 0.01, mycomponent.engine() ); myact.start(); @@ -200,7 +200,7 @@ <classname>RTT::TaskContext</classname>* component = ControlTaskProxy::Create( "HelloWorld" ); // Interface it: - <classname>RTT::TaskBrowser</classname> browse( component ); + <classname>OCL::TaskBrowser</classname> browse( component ); browse.loop(); // Cleanup Corba: @@ -262,6 +262,7 @@ <listitem><para><filename>OperationInterface.idl</filename>: The interface for accessing methods and commands.</para></listitem> <listitem><para><filename>ScriptingAccess.idl</filename>: The interface for loading and running scripts.</para></listitem> <listitem><para><filename>Attributes.idl</filename>: The interface for attributes and properties.</para></listitem> + <listitem><para><filename>DataFlow.idl</filename>: The interface for communicating buffered or unbufferd data.</para></listitem> </itemizedlist> All data is communicated with CORBA::Any types. The way of using these interfaces is very similar to using Orocos in C++, but using doc/xml/orocos-corba.xml @@ -167,7 +167,7 @@ <entry><classname>RTT::AtomicQueue</classname></entry> <entry> <para>Uses Compare And Swap (CAS) to store object pointers - in an atomic queue. Used by the Processor class to queue incomming Commands.</para> + in an atomic queue. Used by the Processor class to queue incoming Commands.</para> </entry> </row> <row> @@ -303,288 +303,4 @@ </itemizedlist> </para> </section> - <section> - <title>The Orocos Type System : Toolkits</title> - <para> - Most applications define their own classes or structs to exchange - data between objects. It is possible to tell Orocos about these - user defined types such that they can be displayed, stored to XML, - used in the scripting engine or even transfered over a network - connection. - </para> - - <section> - <title>The Real-Time Toolkit</title> - <para> - Orocos uses the 'Toolkit' principle to make it aware of user - types. Orocos' Real-Time Toolkit already provides support for - the C++ types <classname>int</classname>,<classname>unsigned - int</classname>,<classname>double</classname>, - <classname>char</classname>,<classname>bool</classname>,<classname>float</classname>, - <classname>std::vector&lt;double&gt;</classname> and - <classname>std::string</classname>. - </para> - <para> - A toolkit can be imported into the application by writing: - <programlisting> #include &lt;rtt/RealTimeToolkit.hpp> - // ... - RTT::Toolkit::Import( RTT::RealTimeToolkit ); </programlisting> - This is however done automatically, unless you disabled that - option in the configuration system. After this line is executed, - Orocos is able to display, transfer over a network or recognise - these types in scripts. - </para> - </section> - <section> - <title>Telling Orocos about your data</title> - <para> - Say that you have an application which transfers data - in a struct <classname>ControlData</classname> : - <programlisting> struct ControlData { - double x, y, z; - int sample_nbr; - }</programlisting> - How can you tell Orocos how to handle this type ? A helper - class is provided which you can extend to fit your needs, - <classname>RTT::TemplateTypeInfo</classname>. - <programlisting> #include &lt;rtt/TemplateTypeInfo.hpp> - // ... - struct ControlDataTypeInfo - : public RTT::TemplateTypeInfo&lt;ControlData> - { - ControlDataTypeInfo - : RTT::TemplateTypeInfo&lt;ControlData>("ControlData") - {} - }; - - // Tell Orocos the name and type of this struct: - RTT::TypeInfoRepository::Instance()->addType( new ControlDataTypeInfo() ); - </programlisting> - From now on, Orocos knows the 'ControlData' type name and allows - you to create a scripting variable of that type. It does however - not know yet how to display it or write it to an XML file. - </para> - <section> - <title>Displaying</title> - <para> - In order to tell Orocos how to display your type, you - may overload the <function>TemplateTypeInfo::write</function> fuction - or define <function>operator&lt;&lt;()</function> for your type: - </para> - <programlisting> #include &lt;rtt/TemplateTypeInfo.hpp> - #include &lt;ostream> - - std::ostream&amp; operator&lt;&lt;(std::ostream&amp; os, const ControlData&amp; cd) { - return os &lt;&lt; '('&lt;&lt; cd.x &lt;&lt; cd.y &lt;&lt; cd.z &lt;&lt; '): ' &lt;&lt; cd.sample_nbr; - } - // ... - // 'true' argument: <emphasis> it has operator&lt;&lt;</emphasis> - struct ControlDataTypeInfo - : public RTT::TemplateTypeInfo&lt;ControlData,<emphasis>true</emphasis>> - { - ControlDataTypeInfo - : RTT::TemplateTypeInfo&lt;ControlData,<emphasis>true</emphasis>>("ControlData") - {} - }; - - // Tell Orocos the name and type of this struct - RTT::Types::Instance()->addType( new ControlDataTypeInfo() ); - </programlisting> - <para> - If you use the above line of code to add the type, Orocos will be - able to display it as well, for example in the TaskBrowser or - in the ReportingComponent. - </para> - </section> - <section> - <title>Writing to XML</title> - <para> - In order to inform Orocos of the structure of your data type, - it must be given a 'decompose' function: Of which primitive types - does the struct consists ? Representing structured data is what - Orocos <classname>RTT::Property</classname> objects do. - Here is how to tell Orocos how the "ControlData" is structured: - </para> - <programlisting> // ... - struct ControlDataTypeInfo - : public TemplateTypeInfo&lt;ControlData,true> - { - // ... other functions omitted - - virtual bool decomposeTypeImpl(const ControlData&amp; in, PropertyBag&amp; targetbag ) const { - targetbag.setType("ControlData"); - targetbag.add( new Property&lt;double>("X", "X value of my Data", in.x ) ); - targetbag.add( new Property&lt;double>("Y", "Y value of my Data", in.y ) ); - targetbag.add( new Property&lt;double>("Z", "Z value of my Data", in.z ) ); - targetbag.add( new Property&lt;int>("Sample", "The sample number of the Data", in.sample_nbr ) ); - return true; - } - }</programlisting> - <para> - That was easy ! For each member of your struct, add a - <classname>RTT::Property</classname> of the correct - type to the targetbag and you're done ! - <function>setType()</function> can be used lateron to - determine the version or type of your XML representation. Next, - if Orocos tries to write an XML file with ControlData in it, - it will look like: - </para> - <programlisting> -<![CDATA[ <struct name="MyData" type="ControlData"> - <simple name="X" type="double"> - <description>X value of my Data</description> - <value>0.12</value> - </simple> - <simple name="Y" type="double"> - <description>Y value of my Data</description> - <value>1.23</value> - </simple> - <simple name="Z" type="double"> - <description>Z value of my Data</description> - <value>3.21</value> - </simple> - <simple name="Sample" type="short"> - <description>The sample number of the Data</description> - <value>3123</value> - </simple> - </struct>]]> - </programlisting> - </section> - <section> - <title>Reading from XML</title> - <para> - Orocos does not know yet how to convert an XML format back - to the ControlData object. This operation is called 'composition' - and is fairly simple as well: - Here is how to tell Orocos how the "ControlData" is read: - </para> - <programlisting> // ... - struct ControlDataTypeInfo - : public TemplateTypeInfo&lt;ControlData,true> - { - - // ... other functions omitted - - virtual bool composeTypeImpl(const PropertyBag&amp; bag, ControlData&amp; out ) const - { - if ( bag.getType() == std::string("ControlData") ) // check the type - { - Property&lt;double>* x = targetbag.getProperty&lt;double>("X"); - Property&lt;double>* y = targetbag.getProperty&lt;double>("Y"); - Property&lt;double>* z = targetbag.getProperty&lt;double>("Z"); - Property&lt;int>* t = targetbag.getProperty&lt;int>("Sample"); - - if ( !x || !y || !z || !t ) - return false; - - out.x = x->get(); - out.y = y->get(); - out.z = z->get(); - out.sample_nbr = t->get(); - return true; - } - return false; // unknown type ! - } - }</programlisting> - <para> - First the properties are located in the bag, it should look just - like we stored them. If not, return false, otherwise, read the - values and store them in the out variable. - </para> - </section> - <section> - <title>Network transfer (CORBA)</title> - <para> - In order to transfer your data between components over a - network, Orocos requires that you provide the conversion - from your type to a CORBA::Any type and back, quite similar - to the 'composition' and 'decomposition' of your data. - Look at the <classname>RTT::TemplateTypeInfo</classname> - interface for the functions you need to implement. - </para> - <para> - The first step is describing your struct in IDL and generate - the 'client' headers with 'Any' support. Next you - create such a struct, fill it with your data type's data - and next 'stream' it to an Any. The other way around is - required as well. - </para> - <para> - In addition, you will need the CORBA support of Orocos - enabled in your build configuration. - </para> - </section> - <section> - <title>Advanced types</title> - <para> - In order to add more complex types, take a look at the - code of the RealTimeToolkit and the GeometryToolkit of Orocos. - </para> - </section> - </section> - <section> - <title>Building your own Toolkit</title> - <para> - The number of types may grow in your application to such - a number or diversity that it may be convenient to - build your own toolkit and import them when appropriate. - Non-Orocos libraries benefit from this system as well because - they can introduce their data types into Orocos. - </para> - <para> - Each toolkit must inherit from the <classname>RTT::ToolkitPlugin</classname> - class and implement three functions: <function>loadTypes()</function>, - <function>loadOperators()</function> and <function>getName()</function>. - </para> - <para> - The name of a toolkit must be unique. Each toolkit will be loaded - no more than once. The loadTypes function contains all - 'TemplateTypeInfo' constructs to tell Orocos about the types - of your toolkit. The loadOperators function contains all - operations that can be performed on your data such as addition ('+'), - indexing ('[i]'), construction ('vector(1.0,2.0,3.0)'), - comparison ('==') etc. - </para> - <para> - Mimick the code of the - <classname>RTT::RealTimeToolkit</classname> and - <classname>RTT::GeometryToolkit</classname> to build - your own. - </para> - <section id="overloading-operators"> - <title>Loading Operators</title> - <para> - Operator are stored in the class <classname>RTT::OperatorRepository</classname> - in <filename>Operators.hpp</filename>. The list of - supported operators is set by the toolkit and added to the OperatorRepository - It looks something like this: - <programlisting> -bool loadOperators() { - OperatorRepository::shared_ptr or = OperatorRepository::Instance(); - // boolean stuff: - or->add( newUnaryOperator( &quot;!&quot;, std::logical_not&lt;bool&gt;() ) ); - or->add( newBinaryOperator( &quot;&amp;&amp;&quot;, std::logical_and&lt;bool&gt;() ) ); - or->add( newBinaryOperator( &quot;||&quot;, std::logical_or&lt;bool&gt;() ) ); - or->add( newBinaryOperator( &quot;==&quot;, std::equal_to&lt;bool&gt;() ) ); - or->add( newBinaryOperator( &quot;!=&quot;, std::not_equal_to&lt;bool&gt;() ) ); - return true; -} </programlisting> - Adding your own should not be terribly hard. The hardest - part is that as the second argument to newUnaryOperator, - newBinaryOperator or newTernaryOperator, you need to specify - a STL Adaptable Functor, and even though the STL provides - many predefined one's, it does not provide all possible - combinations, and you might end up having to write your - own. The STL does not at all provide any "ternary - operators", so if you need one of those, you'll definitely - have to write it yourself. - </para> - <para> - Note that this section is only about adding overloads for - existing operators, if you want to add new operators to - the scripting engine, the parsers need to be extended as well. - </para> - </section> - </section> - </section> </article> doc/xml/orocos-corelib-devel.xml @@ -186,7 +186,7 @@ Activities, which execute functions in a thread, in the system. Events allow callback functions to be executed when state changes occur. Commands are used to send instructions between threads. - The following sections explain usefull classes which + The following sections explain useful classes which are used throughout the framework such as the TimeService and Properties. </para> @@ -622,7 +622,7 @@ ORO_main( int argc, char** argv) The <classname>RTT::CommandProcessor</classname> is responsible for accepting command requests from other (realtime) tasks. It uses a non-blocking queue to store - incomming requests and fetch-and-execute them in its periodic + incoming requests and fetch-and-execute them in its periodic step. </para> <figure><title>Tasks Sending Commands</title> @@ -1125,7 +1125,7 @@ emergencyStop(); // User not notified</programlisting> bag.add( &amp;bd ); // setup mirrors: - <classname>RTT::Property&lt;double&gt;</classname> weight = bag.getProperty&lt;double&gt;("Weight"); + <classname>RTT::Property</classname>&lt;double&gt; weight = bag.getProperty&lt;double&gt;("Weight"); assert( weight.ready() ); // values are mirrored: @@ -1149,22 +1149,22 @@ emergencyStop(); // User not notified</programlisting> <title>Marshalling and Demarshalling Properties (Serialization)</title> <para> Marshalling is converting a property C++ object to a format - suitable for transportation or storage, like XML Demarshalling + suitable for transportation or storage, like XML. Demarshalling reconstructs the property again from the stored format. In Orocos, the <classname>RTT::Marshaller</classname> interface defines how properties can be marshalled. The available marshallers (property to file) in Orocos are the - <classname>RTT::SimpleMarshaller</classname>, + <classname>RTT::TinyMarshaller</classname>, <classname>RTT::XMLMarshaller</classname>, <classname>RTT::XMLRPCMarshaller</classname>, <classname>RTT::INIMarshaller</classname> and the - <classname>RTT::CPFMarshaller</classname>. + RTT::CPFMarshaller (only if Xerces is available). </para> <para> The inverse operation (file to property) is currently - supported by only two demarshallers: - <classname>RTT::SimpleDemarshaller</classname> and the - <classname>RTT::CPFDemarshaller</classname>. They + supported by two demarshallers: + <classname>RTT::TinyDemarshaller</classname> and the + RTT::CPFDemarshaller (only if Xerces is available). They implement the <classname>RTT::Demarshaller</classname> interface. </para> @@ -1407,7 +1407,7 @@ emergencyStop(); // User not notified</programlisting> file is <parameter>Logger::Info</parameter>. It will get more verbose if you increase <envar>ORO_LOGLEVEL</envar>, but will not go below Info. This file is always created if the logging infrastructure is used. You can inspect this file - if you want to know the most usefull information of what is happening inside Orocos. + if you want to know the most useful information of what is happening inside Orocos. </para> <para>If you want to disable logging completely, use <screen>export ORO_LOGLEVEL=-1</screen> before you start your program.</para> @@ -1425,7 +1425,7 @@ emergencyStop(); // User not notified</programlisting> log() &lt;&lt; " more debug info." &lt;&lt; data &lt;&lt; endlog(); log() &lt;&lt; "A warning." &lt;&lt; endlog( Warning );</programlisting> <para>As you can see, the Logger can be used like the standard C++ input streams. - You may change the Log message's level using the <classname>RTT::LogLevel</classname> + You may change the Log message's level using the LogLevel enums in front (using log() ) or at the end (using endlog()) of the log message. When no log level is specified, the previously set level is used. The above message could result in : doc/xml/orocos-corelib.xml @@ -49,7 +49,7 @@ Alex Russell </title> <subtitle><emphasis>Open RObot COntrol Software</emphasis> </subtitle> - <pubdate>13 January, 2005</pubdate> + <pubdate>8 November 2006</pubdate> <revhistory> <revision> <revnumber>0.1</revnumber> @@ -75,6 +75,22 @@ Alex Russell Added 'Testing Orocos' section. </revremark> </revision> + <revision> + <revnumber>0.4</revnumber> + <date>8 Nov 2006</date> + <authorinitials>PS</authorinitials> + <revremark> + Updated to Orocos 1.0 + </revremark> + </revision> + <revision> + <revnumber>0.5</revnumber> + <date>17 Nov 2006</date> + <authorinitials>PS</authorinitials> + <revremark> + Fixed wrong links. + </revremark> + </revision> </revhistory> <abstract> <para> @@ -89,22 +105,18 @@ Alex Russell <title>General Questions</title> <qandaentry> <question> - <para>What is Orocos - RealTime Control Services - Robot Control Software ?</para> + <para>What is Orocos - Real-Time Toolkit ?</para> </question> <answer> <para> Orocos stands for Open Robot Control Software and was a EU funded project to write Free Software for robots. This faq is - about the RealTime Control Services and Robot Control Software - libraries for writing hard realtime control applications in + about the Real-Time Toolkit + library for writing hard realtime control applications in C++. It supports hard realtime <ulink - url="http://www.rtai.org">RTAI/LXRT</ulink> and non - realtime GNU/Linux programs. Take a look at the webpage for <ulink - url="http://www.orocos.org/about.php"> Orocos history - </ulink> and the <ulink - url="http://www.orocos.org"> - main page</ulink> for the difference between the RealTime Control - Services and the Robot Control Software.</para> + url="http://www.rtai.org">RTAI/LXRT</ulink> and <ulink + url="http://www.xenomai.org">Xenomai</ulink> and normal + GNU/Linux programs.</para> </answer> </qandaentry> <qandaentry> @@ -126,12 +138,11 @@ Alex Russell <answer> <para> In the <ulink - url="http://www.orocos.org/documentation.php"> + url="http://www.orocos.org/documentation.html"> Documentation Section </ulink> of the Orocos website, you can find all online documents (and this FAQ). Also, - the <ulink url="http://www.orocos.org/downloads.php"> - Download Section </ulink> contains separate manuals for - all software packages. + the <ulink url="http://www.orocos.org/rtt"> RTT + Users Section </ulink> contains links to the manuals. </para> </answer> </qandaentry> @@ -154,8 +165,8 @@ Alex Russell </question> <answer> <para> - In the <ulink url="http://www.orocos.org/downloads.php"> - Download Section</ulink> of the Orocos website for each + In the <ulink url="http://www.orocos.org/rtt"> RTT + Users Section</ulink> of the Orocos website for each use of Orocos. </para> </answer> @@ -236,7 +247,7 @@ Alex Russell </listitem> </itemizedlist> </para> - <para>The follwing Linux options must be enabled to guarantee + <para>The following Linux options must be enabled to guarantee the most stable performance : <itemizedlist> <listitem> @@ -258,7 +269,7 @@ Alex Russell <para>How should I configure RTAI?</para> </question> <answer> - <para>The follwing RTAI options must be enabled (and modules must be loaded) : + <para>The following RTAI options must be enabled (and modules must be loaded) : <itemizedlist> <listitem> <para> @@ -292,18 +303,9 @@ Alex Russell popup the configuration GUI. If you unload packages (see also Build->Packages...) they will no longer be compiled (without removing them physically). </para> - </answer> - <answer> - <para> - Use <command>make control_services</command> in your build directory to build - only the RealTime Control Services library of Orocos. - </para> - </answer> - <answer> <para> - Use <command>make robot_control</command> in your build directory to build - the RealTime Control Services library, kinematics and the (feedback) control kernel application - framework. + Use <command>make rtt-corba</command> in your build directory to build + only the library for distributed components using Corba. </para> </answer> </qandaentry> @@ -335,23 +337,9 @@ Alex Russell </question> <answer> <para> - You can download the 'taskintro' application from the download page. - The Component Builder's Manual gives a short walk-through in the first Chapter. - You need to download, build 'control_services' and install Orocos on your system - to be able to compile the demo. - </para> - </answer> - <answer> - <para> - The kernel_sample package contains a number of example feedback - control kernels, using the Orocos 'robot_control' build. - </para> - </answer> - <answer> - <para> - The KDE 'kernelclient' package contains an examples directory - which can be used with the 'kernelclient' to monitor a remote (CORBA) - control kernel using the Orocos 'robot_control' build. + You can download the Orocos Component Library (OCL), + install it and check out the examples you can download + on the Orocos RTT page as well. </para> </answer> </qandaentry> @@ -361,7 +349,8 @@ Alex Russell </question> <answer> <para>Did you read the README ? Did you install Orocos in /usr/local/orocos ? - Otherwise, adapt the Makefile. + Otherwise, set ORO_PATH to the correct location in the Makefile or + specify it in <command>make ORO_PATH=/path/to/install</command> </para> </answer> </qandaentry> @@ -405,26 +394,6 @@ $ ldd core-test </para> </answer> </qandaentry> - <qandaentry> - <question> - <para>I get sporadic crashes on my SMP or hyper-threading system.</para> - </question> - <answer> - <para>Select the 'Build for SMP' option under 'Global Build Options' - of the graphical configuration tool. This will enable the 'CONFIG_SMP' - flag.</para> - </answer> - <answer> - <para>With some distributions, you can disable the 'Hide - System includes from Orocos' option in under 'OS Abstraction - Layer' in the graphical configuration tool. Orocos requires some - assembler instructions to be present (such as in atomic.h). Since - most distributions do not deliver these files (correctly), Orocos - uses a default implementation, which may not be correct for your - platform. This flag tells Orocos to use the system headers. Orocos - will not compile if they are not present or not fit.</para> - </answer> - </qandaentry> </qandadiv> <qandadiv> <title>Runtime Problems with RTAI/LXRT</title> @@ -465,7 +434,7 @@ $ ldd core-test <answer> <para>You tried to use RTAI's functions while RTAI was not yet initialised. This happens if you use global objects which contain Mutexes. Examples - are ORO_CoreLib::Event and some DataObjects, Buffers and the Logger class. + are Event and some DataObjects, Buffers and the Logger class. The solution is not to use global objects, but use global pointers and create the objects in ORO_main() with new. </para> @@ -596,7 +565,8 @@ $ ldd core-test </question> <answer> <para>The eCos Operating System (and all its supported processors) - and the ACE library (and all its supported OS's). + and the ACE library (and all its supported OS's). The Orocos developers + are very willing to assist you in porting Orocos to your Operating System. </para> </answer> </qandaentry> doc/xml/orocos-faq.xml @@ -12,9 +12,9 @@ <article> <articleinfo> <title> - Inside the Orocos Build System + Inside the RTT Build System </title> - <subtitle><emphasis>Open Robot Control Software Version &oversion;</emphasis></subtitle> + <subtitle><emphasis>Orocos Real-Time Toolkit Version &oversion;</emphasis></subtitle> <copyright> <year>2002,2003,2004,2005,2006</year> <holder>Peter Soetens</holder> doc/xml/orocos-installation-devel.xml @@ -12,9 +12,9 @@ <article> <articleinfo> <title> - The OROCOS Installation Guide + The OROCOS Real-Time Toolkit Installation Guide </title> - <subtitle><emphasis>Open Robot Control Software Version &oversion;</emphasis></subtitle> + <subtitle><emphasis>Real-Time Toolkit Version &oversion;</emphasis></subtitle> <copyright> <year>2002,2003,2004,2005,2006</year> <holder>Peter Soetens</holder> @@ -23,7 +23,7 @@ <abstract> <para> This document explains how the - packages of <ulink url="http://www.orocos.org">&orocos;</ulink>, + Real-Time Toolkit of <ulink url="http://www.orocos.org">&orocos;</ulink>, the <emphasis>Open RObot COntrol Software</emphasis> project must be installed and configured. </para> @@ -58,7 +58,7 @@ <revnumber>0.22.0</revnumber> <date>17 Feb 2006</date> <authorinitials>ps</authorinitials> - <revremark>Simplified configuration section, removed RTLinux, added Xenoami</revremark> + <revremark>Simplified configuration section, removed RTLinux, added Xenomai</revremark> </revision> <revision> <revnumber>0.25.0</revnumber> @@ -72,6 +72,18 @@ <authorinitials>ps</authorinitials> <revremark>Simplified build system.</revremark> </revision> + <revision> + <revnumber>1.0.0</revnumber> + <date>27 Okt 2006</date> + <authorinitials>ps</authorinitials> + <revremark>Simplified build system.</revremark> + </revision> + <revision> + <revnumber>1.0.1</revnumber> + <date>21 Nov 2006</date> + <authorinitials>ps</authorinitials> + <revremark>Updated build/run/doc dependencies.</revremark> + </revision> </revhistory> <legalnotice> @@ -118,7 +130,7 @@ middle number indicates a <emphasis>stable</emphasis> version. For example : <itemizedlist> - <listitem><para>0.1.4 : Release 0, unstable (1), revision + <listitem><para>1.1.4 : Release 1, unstable (1), revision 4.</para></listitem> <listitem><para>1.2.1 : Release 1, stable (2), revision 1.</para></listitem> @@ -479,8 +491,7 @@ Compiling : <option>-I/usr/realtime/include</option> </para> <para> - This is the RTAI headers installation directory. This option is not needed - if you configured Orocos with the 'Agnostic headers' option. + This is the RTAI headers installation directory. </para> </listitem> <listitem> doc/xml/orocos-installation.xml @@ -174,3 +174,179 @@ set d6 = double6d( 1., 2., 3., 4., 5., 6. ) </programlisting> </section> </article> +<?xml version='1.0'?> +<!DOCTYPE article PUBLIC "-//OASIS//DTD DocBook XML V4.3//EN" +"http://www.oasis-open.org/docbook/xml/4.3/docbookx.dtd" +[ +<!ENTITY % oro_ents SYSTEM "http://people.mech.kuleuven.be/~psoetens/orocos/doc/orocos.ent" > +%oro_ents; +] +> + +<article> + <articleinfo> + <title> + The Orocos Kinematics and Dynamics Library Plugin + </title> + <copyright> + <year>2006</year> + <holder>Peter Soetens, Herman Bruyninckx</holder> + </copyright> + + <abstract> + <para> + This document describes the &orocos; Kinematics and Dynamics + Library Plugin for the Real-Time Toolkit. + </para> + </abstract> + + <revhistory> + <revision> + <revnumber>0.01</revnumber> + <date>30/10/2006</date> + <authorinitials>PS</authorinitials> + <revremark>Initial version, text stripped from Main manual.</revremark> + </revision> + </revhistory> + + <legalnotice> + <para> + Permission is granted to copy, distribute and/or modify this document + under the terms of the GNU Free Documentation License, Version 1.1 or + any later version published by the Free Software Foundation, with no + Invariant Sections, with no Front-Cover Texts, and with no Back-Cover + Texts. A copy of this license can be found at + <ulink + url="http://www.fsf.org/copyleft/fdl.html">http://www.fsf.org/copyleft/fdl.html</ulink>. + </para> + </legalnotice> + + </articleinfo> + + <section id="intro"> + <title>Introduction</title> + <para> + The &orocos; Scripting language allows users of the &orocos; system to write + programs and state machines controlling the system in a + user-friendly realtime script language. The advantage of scripting is + that it is easily extendible and does not need recompilation of + the main program. + </para> + <para> + This document describes the extensions the Kinematics and + Dynamics Library (KDL) plugin adds to this scripting language. + </para> + </section> + <section> + <title>Setting up the KDL toolkit</title> + <para> + In order to obtain the kdl plugin, the kdl needs to be configured + with the path to the Real-Time Toolkit. The <filename>kdltk</filename> + library and the <filename>kdl/kdltk/toolkit.hpp</filename> header + file are then required for each application which wishes to use + the KDL with the RTT. + </para> + <para> + The KDL plugin can then be enabled in your program by writing: + </para> + <programlisting> #include &lt;kdl/kdltk/toolkit.hpp&gt; + + int ORO_main(int, char*) + { + RTT::Toolkit::Import( KDL::KDLToolkit ); + } + </programlisting> + <para> + The Import statement may occur multiple times in the same program, + the first one will actually import KDL into the RTT. From now on + the KDL types described below are available at the TaskBrowser + prompt and in scripts. + </para> + </section> + <section id="kdl-types"> + <title>KDL Types</title> + <para> + The KDL adds 3D vector, rotation, frame, twist and wrench types + to the scripting language. + </para> + <para> + Likewise, the following operators are available for the + geometry types : + <programlisting> var frame f1, f2, f3 + var rotation r + var vector v + var twist t + var wrench w + // ... + + set f1 = f2.inv * f3 // frame transformations: inverse of f2 times f3 + + set v = f1.p // read the position + set r = f1.R // read the rotation + set r = f1.R.inv // read the inverse rotation + + set v = t.vel // read the translational velocity + set v = t.rot // read the rotational velocity + + set v = w.force // read the force + set v = w.torque // read the torque + + var double x = v.x // also : v.y or v.z + + var double p = r.roll // also : r.pitch or r.yaw</programlisting> + </para> + <para> + You can not use the '.' operator in the reverse direction. + thus the following code is invalid : + <programlisting> set f.p = v // Invalid ! + set f1.R = r // Invalid !</programlisting> + These are thus read-only accessors and can thus not be written to. + To change them, you'll have to use a constructor from the next + section. + </para> + </section> + <section> + <title>Constructors</title> + <para> + For the KDL types, scripting constructors are provided. The + simplest example is the vector constructor, that looks like + this: + </para> + <para> + <programlisting> + vector( arg1, arg2, arg3 ) </programlisting></para> + <para> + where arg1, arg2 and arg3 are expressions which + <emphasis>must be of type double</emphasis>. + This returns an expression of type vector, with arg1 as + the x component, arg2 as the y component, and arg3 as the + z component. + </para> + <para> + Other constructors currently available are: + </para> + <programlisting> + // roll, pitch and yaw are double expressions, this + // returns a rotation, that is constructed using the + // Roll-Pitch-Yaw convention in RADIANS : + var double roll = 45.0 * (2.*3.14/360.) // convert to radians + // ... + var rotation rot = rotation( roll, pitch, yaw ) + + // Vect is a vector expression, rot is a rotation + // expression. This returns a frame, constructed + // using the vector x as the origin, and rotation + // rot as the rotation.. + var frame f = frame( vect, rot ) + + // or changing its vector and/or rotation: + f = frame( -f.p, f.M.inv ) + + // Double6D is a commonly used type in Orocos + // and has been recently introduced in the parser + var double6d d6 = double6d(0.0) + set d6[0] = 1.0 + var double d0 = d6[0] + set d6 = double6d( 1., 2., 3., 4., 5., 6. ) </programlisting> + </section> +</article> doc/xml/orocos-kdl-plugin.xml @@ -53,3 +53,58 @@ xmlns:xi="http://www.w3.org/2001/XInclude" /> </chapter> </book> +<?xml version='1.0'?> +<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.3//EN" +"http://www.oasis-open.org/docbook/xml/4.3/docbookx.dtd" +[ +<!ENTITY % oro_ents SYSTEM "http://people.mech.kuleuven.be/~psoetens/orocos/doc/orocos.ent" > +%oro_ents; +] +> + +<book> + <bookinfo> + <title> + Tutorial on the Component Interface + </title> + <subtitle><emphasis>Open RObot COntrol Software</emphasis> + </subtitle> + <subtitle>&oversion;</subtitle> + <copyright> + <year>2002,2003,2004,2005,2006</year> + <holder>Peter Soetens</holder> + <holder>FMTC</holder> + </copyright> + + <abstract> + <para> + This document gives an introduction on the different aspects + of interfacing an &orocos; component. This is an excerpt from + the Component Builder's Manual and walks through the 'Hello World' + program. + </para> + </abstract> + + <legalnotice> + <para> + Orocos Version &oversion;. + </para> + <para> + Permission is granted to copy, distribute and/or modify this document + under the terms of the GNU Free Documentation License, Version 1.1 or + any later version published by the Free Software Foundation, with no + Invariant Sections, with no Front-Cover Texts, and with no Back-Cover + Texts. A copy of this license can be found at + <ulink + url="http://www.fsf.org/copyleft/fdl.html">http://www.fsf.org/copyleft/fdl.html</ulink>. + </para> + </legalnotice> + </bookinfo> + <chapter id="orocos-ocl-intro"> + <title></title> + <xi:include href="orocos-task-context.xml#xpointer(/article/section[1])" + xmlns:xi="http://www.w3.org/2001/XInclude" /> + <xi:include href="orocos-task-context.xml#xpointer(/article/section[2])" + xmlns:xi="http://www.w3.org/2001/XInclude" /> + </chapter> +</book> doc/xml/orocos-ocl-intro.xml @@ -18,7 +18,7 @@ <subtitle><emphasis>Open RObot COntrol Software</emphasis> </subtitle> <copyright> - <year>2002,2003,2004,2005,2006</year> + <year>2002-2007</year> <holder>Herman Bruyninckx, Peter Soetens</holder> </copyright> @@ -50,6 +50,12 @@ <authorinitials>ps</authorinitials> <revremark>Added section 'Building Orocos Applications"</revremark> </revision> + <revision> + <revnumber>1.0.2</revnumber> + <date>4 Jan 2007</date> + <authorinitials>ps</authorinitials> + <revremark>Made this a less technical document</revremark> + </revision> </revhistory> <legalnotice> @@ -74,22 +80,51 @@ Software</ulink></emphasis> project. The project's aim is to develop a general-purpose, free software, and modular <emphasis>framework</emphasis> for <emphasis>robot</emphasis>and <emphasis>machine control</emphasis>. + The &orocos; project supports 4 C++ libraries: the Real-Time Toolkit, the + Kinematics and Dynamics Library, the Bayesian Filtering Library and + the Orocos Component Library. </para> - <para> - A framework is a set of source code from which applications in a - particular domain can be made <citation>Johnson97</citation>). So, the - framework is not an application - in itself, but it provides the infrastructure and the functionalities to - build applications in C++. Usually, application builders must fill - in some &ldquo;hot spots&rdquo; that are specific to their - application, and hence, which cannot be provided by the framework. - </para> - <para> - &orocos; works in a &ldquo;bottom-up&rdquo; fashion, so current - activities are currently more focused on developing - <emphasis>basic infrastructure</emphasis> than on implementing - advanced control, planning or sensor processing algorithms. - </para> + <mediaobject> + <imageobject role="html"> + <imagedata fileref="images/RTT_KDL_BFL_400" /> + </imageobject> + </mediaobject> + <itemizedlist> + <listitem> + <para> + The &orocos; Real-Time Toolkit (RTT) is not an application + in itself, but it provides the infrastructure and the + functionalities to build robotics applications in C++. The + emphasis is on <emphasis>real-time</emphasis>, + <emphasis>online interactive</emphasis> and + <emphasis>component based</emphasis> applications. + </para> + </listitem> + <listitem> + <para> + The &orocos; Components Library (OCL) provides some ready to + use control components. Both Component management and + Components for control and hardware access are available. + </para> + </listitem> + <listitem> + <para> + The &orocos; Kinematics and Dynamics Library (KDL) is a C++ + library which allows to calculate kinematic chains in + real-time. + </para> + </listitem> + <listitem> + <para> + The &orocos; Bayesian Filtering Library (BFL) provides an + application independent framework for inference in Dynamic + Bayesian Networks, i.e., recursive information processing + and estimation algorithms based on Bayes' rule, such as + (Extended) Kalman Filters, Particle Filters (Sequential + Monte methods), etc. + </para> + </listitem> + </itemizedlist> <para> &orocos; is a free software project, hence its code and documentation are released under Free Software licenses. @@ -111,6 +146,16 @@ because the robotics community is not homogeneous, &orocos; targets four different categories of &ldquo;Users&rdquo; (or, in the first place, &ldquo;Developers&rdquo;): + </para> + <mediaobject> + <imageobject role="html"> + <imagedata fileref="images/FrameworkOverview" /> + </imageobject> + <imageobject> + <imagedata fileref="images/FrameworkOverview" /> + </imageobject> + </mediaobject> + <para> <orderedlist> <listitem> <para> @@ -127,7 +172,8 @@ &orocos; project, the supporting code (the &ldquo;Framework&rdquo;) gets a lot of attention. The hope is, of course, that this work will pay of by facilitating the developments for the other - &ldquo;Builders&rdquo;. + &ldquo;Builders&rdquo;. The RTT, KDL and BFL are created by Framework + builders </para> </listitem> <listitem> @@ -142,7 +188,8 @@ Kinematics Component may be designed as such that it can &ldquo;serve&rdquo; different kinematic architectures. Other examples are Components to hardware devices, Components - for diagnostics, safety or simulation. + for diagnostics, safety or simulation. The OCL is created by + Component Builders. </para> </listitem> <listitem> @@ -150,14 +197,12 @@ <emphasis>Application Builders.</emphasis> </para> <para> - These developers use the &orocos;' Framework and Components, and - integrate them into one particular application. That means that they - add a specific, application-dependent - <emphasis>architecture</emphasis> on top - of the functionalities offered by the Framework and the Components. - An example Orocos application is the Orocos Control Kernel, which - provides an application framework for (motion) control, with a set - of components which implement control or planning algorithms. + These developers use the &orocos;' Framework and + Components, and integrate them into one particular + application. That means that they create a specific, + application-dependent <emphasis>architecture</emphasis>: + Components are connected and configured as such that they + form an application. </para> </listitem> <listitem> @@ -170,11 +215,6 @@ </para> </listitem> </orderedlist> - The focus in the &orocos; project lies primarily with the Framework - Builders and the Component Builders. But, since all contributors - are motivated by their own particular applications, the needs of - the Application Builders are also taken into account, albeit - indirectly. </para> <para> End Users do not directly belong to the target audience of @@ -209,21 +249,22 @@ <section> <title>Application Templates</title> <para> - The "Application Templates" are the kick-start 'Component - tapers' which do nothing more than selecting and connecting - a few components which work well together in order to - realise a running application. An application template - should be so simple that any Orocos user can pick one and - modify it, hence it is the first thing a new user will - encounter. An application template should be explainable on - one page with one figure explaining the architecture. + An "Application Template" is a set of components that work + well together. For example, the application template for + motion control contains components for path planning, + position control, hardware access and data reporting. The + components are choosen as such that their interfaces are + compatible. + </para> + <para> + An application template should be so simple that any Orocos + user can pick one and modify it, hence it is the first thing + a new user will encounter. An application template should be + explainable on one page with one figure explaining the + architecture. </para> <note> - <para>We are currently reworking the template infrastructure - to match this description. The current "Control Kernel" - application template does not fit that description very well - and will disappear as such [v1.0]. Also, an application - template will have no longer any relation to 'C++' + <para>An application template has no relation to 'C++' templates. </para> </note> @@ -258,17 +299,6 @@ through their (XML) properties or command/method interface in order to configure their applications. </para> - <note><para> - The current Orocos 'Control - Kernel' components need to be converted in order to fit in - this description and are to be split off in separate - packages [v1.0]. - </para></note> - <para> - The Component interface is defined by the - 'TaskContext' class as released in version 0.22.0 and - described in the "Component Builders Guide". - </para> <para> There are five distinct ways in which an Orocos component can be interfaced: through its properties, @@ -282,18 +312,17 @@ fictuous component interfaces for a 'Robot' Component: <itemizedlist> <listitem> - <para><emphasis>Properties:</emphasis> - Are run-time modifyable parameters, stored - in XML files. For example: - "Kinematic Algorithm", "Control Parameters", - "Homing Position", "ToolType",...</para> + <para><emphasis>Data-Flow Ports:</emphasis> Are a thread-safe + data transport mechanism to communicate buffered or + un-buffered data between components. For example: + "JointSetpoints", "EndEffectorFrame", + "FeedForward",...</para> </listitem> <listitem> - <para><emphasis>Events:</emphasis> - Provide a 'callback' mechanism to 'publish' - a change to 'subscribers'. For example: - "Position Reached", "Emergency Stop", - "Object Grasped",...</para> + <para><emphasis>Properties:</emphasis> Are run-time + modifyable parameters, stored in XML files. For example: + "Kinematic Algorithm", "Control Parameters", "Homing + Position", "ToolType",...</para> </listitem> <listitem> <para><emphasis>Methods:</emphasis> Are callable by other @@ -314,11 +343,10 @@ </para> </listitem> <listitem> - <para><emphasis>Data-Flow Ports:</emphasis> Are a 'raw' - data transport mechanism to communicate buffered or - un-buffered data between components. For example: - "JointSetpoints", "EndEffectorFrame", - "FeedForward",...</para> + <para><emphasis>Events:</emphasis> Allows functions to be + executed when a change in the system occurs. For example: + "Position Reached", "Emergency Stop", "Object + Grasped",...</para> </listitem> </itemizedlist> </para> @@ -344,53 +372,8 @@ </figure> </para> </section> - <section><title>Orocos Toolkits</title> - <para> - The lowest level of Orocos will exist out of 3 independent libraries: - The "Real-Time Toolkit", the "Bayesian Filtering Library" and the "Kinematics - and Dynamics Library". The project is currently refactoring some parts - in preparation of the 1.0 release. These changes are marked with - a version number such as [v1.0]. - </para> - <section> - <title>Real-Time Toolkit (RTT)</title> - <para> - This is a set of C++ classes which allows a developer to - build Orocos components. It provides the OS - abstraction, low-level device drivers and device interfaces, - and the 'task infrastructure' to build components. It also - encapsulates any distribution (using CORBA [v0.24.0]) specific code required - to distribute components. This is what we are now calling - the 'Real-Time Control Services' on our website. The - <emphasis>real-time</emphasis> stands for time determinism and - thread-safety but does not automatically require a real-time - Operating System to be useful. The aim is that beginning - Orocos users will not be working immediately with this - toolkit, but use the ready made components instead. - </para> - </section> - <section> - <title>Bayesian Filtering Library (BFL)</title> - <para> - This C++ library can be used independently of Orocos today but will get a more - prominent place on the Orocos webpage. It will be used by Orocos Components - which (actively) do intelligent sensor processing [v1.0]. Current BFL users will - still be able to use this library as before. - </para> - </section> - <section> - <title>Kinematics and Dynamics Library (KDL)</title> - <para> - This C++ library is today integrated within Orocos as the 'geometry' and - 'kindyn' packages. It will be split off [v1.0] as an independent library for - kinematics usable by developers who do not wish to use the Real-Time Toolkit. - Credits go to Erwin Aertbelien who developed a major part of this library, - and new candidates are ready to take over the job. - </para> - </section> </section> - </section> - <section> + <section> <title>Related 'Orocos' Projects</title> <para> The Orocos project spawned a couple of largely independent doc/xml/orocos-overview.xml @@ -105,6 +105,12 @@ <authorinitials>PS</authorinitials> <revremark>User feedback, drop 'task.' prefix for accessing properties.</revremark> </revision> + <revision> + <revnumber>1.0.0</revnumber> + <date>28 November 2006</date> + <authorinitials>PS</authorinitials> + <revremark>Added two new 'array' constructors.</revremark> + </revision> </revhistory> <legalnotice> @@ -313,15 +319,65 @@ <para>Container types can be used in two ways : with a predefined capacity (ie the <emphasis>possibility</emphasis> to hold N items), or with a free capacity, where capacity is expanded as there is need for it. - The former way is necessary for realtime programs, the latter can only be - used in non realtime tasks, since it may cause a memory allocation when - capacity limits are exceeded. + The former way is necessary for real-time programs, the latter can only be + used in non real-time tasks, since it may cause a memory allocation when + capacity limits are exceeded. The following table lists all available + constructors: </para> + <table frame="all"> + <title>array and string constructors</title> + <tgroup cols="3"> + <thead> + <row> + <entry>Constructor Syntax</entry> + <entry>Real-Time Initialising</entry> + <entry>Notes</entry> + </row> + </thead> + <tbody> + <row> + <entry><programlisting>var string x = string()</programlisting></entry> + <entry><programlisting>var string x</programlisting></entry> + <entry>Creates an empty string. (<type>std::string</type>)</entry> + </row> + <row> + <entry><programlisting>var string x = string("Hello World")</programlisting></entry> + <entry><programlisting>var string x("Hello World")</programlisting></entry> + <entry>Creates a string with contents "Hello World".</entry> + </row> + <row> + <entry><programlisting>var array x = array()</programlisting></entry> + <entry><programlisting>var array x</programlisting></entry> + <entry>Creates an empty array. (<type>std::vector&lt;double&gt;)</type></entry> + </row> + <row> + <entry><programlisting>var array x = array(10)</programlisting></entry> + <entry><programlisting>var array x(10)</programlisting></entry> + <entry>Creates an array with 10 elements, all equal to 0.0.</entry> + </row> + <row> + <entry><programlisting>var array x = array(10, 3.0)</programlisting></entry> + <entry><programlisting>var array x(10, 3.0)</programlisting></entry> + <entry>Creates an array with 10 elements, all equal to 3.0.</entry> + </row> + <row> + <entry><programlisting>var array x = array(1.0, 2.0, 3.0)</programlisting></entry> + <entry><programlisting>var array x(1.0, 2.0, 3.0)</programlisting></entry> + <entry>Creates an array with 3 elements: {1.0, 2.0, 3.0}. Any number of + arguments may be given.</entry> + </row> + </tbody> + </tgroup> + </table> + <warning><para>The 'Constructor Syntax' syntax leads to not + real-time scripts ! See the examples below. </para></warning> + <example> + <title>string and array creation</title> <programlisting> // A free string and free array : - // applestring is expanded to contain 6 characters (Non realtime!) + // applestring is expanded to contain 6 characters (Non real-time!) var string applestring = &quot;apples&quot; - // values is expanded to contain 15 elements (Non realtime!) + // values is expanded to contain 15 elements (Non real-time!) var array values = array(15) // A fixed string and fixed array : @@ -339,16 +395,22 @@ set fixvalues = morevalues // ok, since morevalues only contains 10 items. - set values = array(20) // expand values to contain 20 doubles. (Non realtime!) </programlisting> + set values = array(20) // expand values to contain 20 doubles. (Non real-time!) + + var array list(1.0, 2.0, 3.0, 4.0) // list contains {1.0, 2.0, 3.0, 4.0} + var array biglist; // creates an empty array + set biglist = list // 'biglist' is now equal to 'list' (Non real-time!) + </programlisting> <para> As the example above demonstrates, a <emphasis>fixed</emphasis> string or array may only be assigned from another string or array with equal or less elements, while a <emphasis>free</emphasis> string or array may be assigned any number of elements. </para> + </example> <important> <para> - The value given upon construction must be a + The 'size' value given upon construction (array(10) or string(17)) must be a <emphasis>legal expression at parse time and is only evaluated once</emphasis>. The safest method is using a literal integer ( i.e. (10) like in the examples ), but if you @@ -364,7 +426,7 @@ Which will not lead to '50', but to '5 times the value of numberOfItems, being still zero, when the program is parsed. </para> - </important> + </important> <para>Another property of container types is that you can index (use []) their contents. The index may be any expression that return an int. </para> doc/xml/orocos-program-parser.xml @@ -122,7 +122,7 @@ series of <classname>Processor</classname>s which loads state machine and program definitions and executes them. Execution of the programs and state machines will happen in real-time. In - addition, it processes incomming commands and events in + addition, it processes incoming commands and events in real-time as well. The execution engine thus exists of four processors : <classname>RTT::ProgramProcessor</classname>, <classname>RTT::StateMachineProcessor</classname>, @@ -446,13 +446,13 @@ void foo( int x, int y ); int a1 = 1, a2 = 2; - CommandInterface* command = newCommandFunctor( boost::bind( &amp;foo, a1, a2 ) ); + ActionInterface* command = newCommandFunctor( boost::bind( &amp;foo, a1, a2 ) ); command->execute(); // calls foo(a1,a2) delete command; </programlisting> - Argument 'binding' is a very powerfull feature of C++. It allows to + Argument 'binding' is a very powerful feature of C++. It allows to provide the arguments of a function in advance and execute the function lateron. </para> @@ -472,7 +472,7 @@ X x_object; int a1 = 1, a2 = 2; - CommandInterface* command = newCommandFunctor( boost::bind( &amp;X::foo, x_object, a1, a2 ) ); + ActionInterface* command = newCommandFunctor( boost::bind( &amp;X::foo, x_object, a1, a2 ) ); command->execute(); // calls x_object.foo(a1,a2) doc/xml/orocos-program-processor.xml @@ -38,6 +38,12 @@ <authorinitials>PS</authorinitials> <revremark>Split off the main manual.</revremark> </revision> + <revision> + <revnumber>1.0.2</revnumber> + <date>18 January 2007</date> + <authorinitials>PS</authorinitials> + <revremark>Removed outdated text.</revremark> + </revision> </revhistory> <legalnotice> doc/xml/orocos-task-context-devel.xml @@ -672,8 +672,8 @@ the_data_port. cd ls <para> The ready-to-execute code of this section can be found in the 'simple-task' package on the <ulink - url="http://www.orocos.org/download.html">Download</ulink> - page of the Orocos.org website. + url="http://www.orocos.org/rtt">RTT Download</ulink> + section of the Orocos.org website. </para> </important> <para> @@ -871,12 +871,12 @@ the_data_port. cd ls <title>Interfacing the TaskContext</title> <para> During development of your TaskContext, it is handy to connect - the <classname>RTT::TaskBrowser</classname> to your + the <classname>OCL::TaskBrowser</classname> to your task such that you can interactively manipulate it and it's properties: - <programlisting> #include &lt;rtt/TaskBrowser.hpp> + <programlisting> #include &lt;ocl/TaskBrowser.hpp> // ... see above - <classname>RTT::TaskBrowser</classname> browser(a_task); + <classname>OCL::TaskBrowser</classname> browser(a_task); // Start the interactive console: browser.loop();</programlisting> @@ -940,7 +940,7 @@ the_data_port. cd ls <para> The ready-to-execute code of this section can be found in the 'dataflow-task' package on the <ulink - url="http://www.orocos.org/download.html">Download</ulink> + url="http://www.orocos.org/rtt">RTT Download</ulink> page of the Orocos.org website. </para> </important> @@ -1391,7 +1391,7 @@ the_data_port. cd ls <entry>string, array</entry> </row> <row> - <entry>Orocos Fixed Container types : RTT::Double6D, ORO_Geometry::[Frame | Rotation | Twist | ... ]</entry> + <entry>Orocos Fixed Container types : RTT::Double6D, KDL::[Frame | Rotation | Twist | ... ]</entry> <entry><emphasis>const &amp;</emphasis></entry> <entry>double6d, frame, rotation, twist, ...</entry> </row> @@ -1477,7 +1477,7 @@ the_data_port. cd ls value of false and 5 to the task's interface. A constant 'pi' is added as well. The methods return false if an attribute with that name already exists. Adding a Property is also straightforward. The property is added in a - <classname>ORO_Corelib::PropertyBag</classname>. + <classname>RTT::PropertyBag</classname>. </para> </section> <section> @@ -1770,9 +1770,8 @@ the_data_port. cd ls </mediaobject> <para> A task may register its events in its interface in order to be - used by its state machines and other tasks as well. Events - are defined and explained in the Orocos - CoreLib Manual. + used by its state machines and other tasks as well. Events are + defined and explained in the Orocos CoreLib Reference Manual. </para> <section> <title>Adding Events</title> @@ -1819,7 +1818,7 @@ the_data_port. cd ls <para> Once events are added, they can be emitted using the <classname>RTT::Event</classname> object. - <programlisting> <classname>RTT::Event&lt; bool(double, double, double) &gt;</classname> move_event + <programlisting> <classname>RTT::Event</classname>&lt; bool(double, double, double) &gt; move_event = a_task.events()->getEvent( "move" ); assert( move_event.ready() ); @@ -1895,7 +1894,7 @@ the_data_port. cd ls </para> </note> <para> - Analogous to the event example in the CoreLib Manual, + Analogous to the event example in the CoreLib Reference Manual, a class is made to react to the event. A connection is setup between the "move" event and the <function>react_callback</function> function of "r". The connection can be controlled using @@ -1991,11 +1990,11 @@ the_data_port. cd ls <programlisting> // bi-directional : connectPeers( &amp;a_task, &amp;b_task ); assert( a_task.hasPeer( &amp;b_task.getName() ) - &amp;&amp; b_task.hasPeer( &amp;a_task.getName() ); + &amp; b_task.hasPeer( &amp;a_task.getName() ) ); // uni-directional : a_task.addPeer( &amp;c_task ); assert( a_task.hasPeer( &amp;c_task.getName() ) - &amp;&amp; ! c_task.hasPeer( &amp;a_task.getName() ); + &amp; ! c_task.hasPeer( &amp;a_task.getName() ) ); // Access the interface of a Peer: Method&lt;bool(void) m = a_task.getPeer( "CTask" )->methods()->getMethod&lt;bool(void)>("aMethod"); doc/xml/orocos-task-context.xml @@ -2,11 +2,13 @@ <xsl:stylesheet xmlns:xsl="http://www.w3.org/1999/XSL/Transform" version='1.0' xmlns="http://www.w3.org/TR/xhtml1/transitional" + xmlns:str="http://xsltsl.org/string" exclude-result-prefixes="#default"> <!-- Change this to the path to where you have installed Norman Walsh's XSL stylesheets. --> <xsl:import href="/usr/share/xml/docbook/stylesheet/nwalsh/xhtml/docbook.xsl"/> +<xsl:import href="xsltsl-1.2.1/stdlib.xsl"/> <!-- These parameters are specific for the Orocos project and override doc/xsl/orocos-html.xsl @@ -1,3 +1,15 @@ +# This is a comment +prefix=@prefix@ +exec_prefix=@exec_prefix@ # defining another variable in terms of the first +libdir=@libdir@ +includedir=@includedir@ + +Name: Orocos # human-readable name +Description: Open Robot Control Software # human-readable description +Version: @PACKAGE_VERSION@ +Libs: -L${libdir} -lorocos-rtt @TARGET_LIBS@ +#Libs.private: @TARGET_LIBS@ +Cflags: -I${includedir} @TARGET_FLAGS@ # # THIS FILE IS NOT FOR INSTALLATION ! orocos-rtt.pc.in @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ActionInterface.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ActionInterface.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -34,7 +44,6 @@ /** * @defgroup CoreLibActivities Activity (thread) classes. - * @ingroup CoreLib * Activities execute functions in a thread. */ #include "SlaveActivity.hpp" src/Activities.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ActivityInterface.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/AnyDataSource.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ArgumentDescription.hpp @@ -9,29 +9,38 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * * * ***************************************************************************/ - +#include "DataSource.hpp" #ifndef ORO_ASSIGNCOMMAND_HPP #define ORO_ASSIGNCOMMAND_HPP #include "CommandInterface.hpp" -#include "DataSource.hpp" namespace RTT { src/AssignCommand.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/AsynchCommandDecorator.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/AsynchCommandDecorator.hpp @@ -1,24 +1,34 @@ /*************************************************************************** - tag: Peter Soetens Tue Dec 21 22:43:07 CET 2004 AtomicQueue.hpp + tag: Peter Soetens Wed Jan 18 14:11:39 CET 2006 AtomicQueue.hpp AtomicQueue.hpp - description ------------------- - begin : Tue December 21 2004 - copyright : (C) 2004 Peter Soetens - email : peter.soetens@mech.kuleuven.ac.be + begin : Wed January 18 2006 + copyright : (C) 2006 Peter Soetens + email : peter.soetens@mech.kuleuven.be *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -26,24 +36,24 @@ ***************************************************************************/ -#ifndef ORO_CORELIB_ATOMIC_QUEUE_HPP -#define ORO_CORELIB_ATOMIC_QUEUE_HPP - +#ifndef ORO_QUEUE_LOCK_FREE_HPP +#define ORO_QUEUE_LOCK_FREE_HPP + +#include <vector> +#include "os/oro_atomic.h" #include "os/CAS.hpp" #include "BufferPolicy.hpp" -#include <utility> -namespace RTT +namespace RTT { /** - * Create an atomic, non-blocking single ended queue (FIFO) for storing - * a pointer \a T by value. It is a - * Many Readers, Many Writers implementation - * based on the atomic Compare And Swap instruction. Any number of threads - * may access the queue concurrently. - * @warning You can not store null pointers. - * @param T The pointer type to be stored in the Queue. - * Example : AtomicQueue< A* > is a queue of pointers to A. + * A lock-free queue implementation to \a enqueue or \a dequeue + * a pointer of type \a T. + * No memory allocation is done during read or write, but the maximum number + * of threads which can access this object is defined by + * MAX_THREADS. + * @param T The pointer type to be stored in the queue. + * Example : \begincode AtomicQueue<A*> \endcode is a queue which holds values of type A. * @param ReadPolicy The Policy to block (wait) on \a empty (during dequeue) * using \a BlockingPolicy, or to return \a false, using \a NonBlockingPolicy (Default). * This does not influence partial filled queue behaviour. @@ -52,148 +62,165 @@ namespace RTT * This does not influence partial filled buffer behaviour. * @ingroup CoreLibBuffers */ - template<class T, class ReadPolicy = NonBlockingPolicy, class WritePolicy = NonBlockingPolicy> + template< class T, class ReadPolicy = NonBlockingPolicy, class WritePolicy = NonBlockingPolicy> class AtomicQueue { - //typedef _T* T; - const int _size; - typedef std::pair<T, int> C; - typedef volatile C* volatile WriteType; - typedef volatile C* volatile const ReadType; - typedef volatile C* CachePtrType; - typedef C* volatile CacheObjType; - typedef C ValueType; - typedef C* PtrType; - - /** - * The pointer to the buffer can be cached, - * the contents are volatile. - */ - CachePtrType _buf; - - /** - * A volatile pointer to a volatile cell. + public: + /** + * @brief The maximum number of threads. + * + * The number of threads which may concurrently access this buffer. */ - WriteType _wptr; + const unsigned int MAX_THREADS; - /** - * This pointer is also writable because we - * set it to zero to indicate it has been read. - */ - WriteType _rptr; + typedef T value_t; + private: + typedef std::vector<value_t> BufferType; + typedef typename BufferType::iterator Iterator; + typedef typename BufferType::const_iterator CIterator; + struct Item { + Item() { + //ATOMIC_INIT(count); + atomic_set(&count,-1); + } + mutable atomic_t count; // refcount + BufferType data; + }; - WritePolicy write_policy; - ReadPolicy read_policy; + struct StorageImpl + { + Item* items; + StorageImpl(size_t alloc) : items( new Item[alloc] ) { + } + ~StorageImpl() { + delete[] items; + } + Item& operator[](int i) { + return items[i]; + } + }; /** - * Atomic advance and wrap of the Write pointer. - * Return the old position or zero if queue is full. + * Our single storage */ - CachePtrType advance_w() + typedef StorageImpl* Storage; + + Storage newStorage(size_t alloc, size_t items, bool init = true) { - CachePtrType oldval, newval; - do { - oldval = _wptr; - newval = oldval+1; - if ( newval >= _buf+_size ) - newval -= _size; - // check for full : - if ( newval->first != 0 || newval == _rptr || newval == _rptr + _size ) - return 0; - // if ptr is unchanged, replace it with newval. - } while ( !OS::CAS( &_wptr, oldval, newval) ); - // frome here on : - // oldval is 'unique', other preempting threads - // will have a different value for oldval, as - // _wptr advances. + Storage st( new StorageImpl(alloc) ); + for (unsigned int i=0; i < alloc; ++i) { + (*st)[i].data.reserve( items ); // pre-allocate + } + // bootstrap the first queue : + if (init) { + active = &(*st)[0]; + atomic_inc( &active->count ); + } - // return the old position to write to : - return oldval; + return st; } - /** - * Atomic advance and wrap of the Read pointer. - * Return the data position or zero if queue is empty. - */ - CachePtrType advance_r() - { - CachePtrType oldval, newval; - do { - oldval = _rptr; - newval = oldval+1; - if ( newval >= _buf+_size ) - newval -= _size; - // check for empty : - if ( oldval->first == 0 ) - return 0; - // if ptr is unchanged, replace it with newval. - } while ( !OS::CAS( &_rptr, oldval, newval) ); - // frome here on : - // oldval is 'unique', other preempting threads - // will have a different value for oldval, as - // _rptr advances. - // return the old position to read from : - return oldval; + Storage bufs; + Item* volatile active; + + // each thread has one 'working' buffer, and one 'active' buffer + // lock. Thus we require to allocate twice as much buffers as threads, + // for all the locks to succeed in a worst case scenario. + inline size_t BufNum() const { + return MAX_THREADS * 2; } - // non-copyable ! - AtomicQueue( const AtomicQueue<T>& ); + WritePolicy write_policy; + ReadPolicy read_policy; + + atomic_t counter; + atomic_t dcounter; public: typedef unsigned int size_type; /** - * Create an AtomicQueue with queue size \a size. - * @param size The size of the queue, should be 1 or greater. - */ - AtomicQueue( unsigned int size ) - : _size(size+1), write_policy(size), read_policy(0) + * Create a lock-free queue wich can store \a lsize elements. + * @param lsize the capacity of the queue. + * @param threads the number of threads which may concurrently + * read or write this buffer. Defaults to ORONUM_OS_MAX_THREADS, but you + * may lower this number in case not all threads will read this buffer. + * A lower number will consume less memory. +' */ + AtomicQueue(unsigned int lsize, unsigned int threads = ORONUM_OS_MAX_THREADS ) + : MAX_THREADS( threads ), write_policy(lsize), read_policy(0) { - _buf= new C[_size]; - this->clear(); + const unsigned int BUF_NUM = BufNum(); + bufs = newStorage( BUF_NUM, lsize ); + atomic_set(&counter,0); + atomic_set(&dcounter,0); + } + + ~AtomicQueue() { + delete bufs; } - ~AtomicQueue() + size_t capacity() const { - delete[] _buf; + size_t res; + Item* orig = lockAndGetActive(); + res = orig->data.capacity(); + atomic_dec( &orig->count ); // lockAndGetActive + return res; } - /** - * Inspect if the Queue is full. - * @return true if full, false otherwise. - */ - bool isFull() const + size_t size() const { - // two cases where the queue is full : - // if wptr is one behind rptr or if wptr is at end - // and rptr at beginning. - return _wptr->first != 0 || _wptr == _rptr - 1 || _wptr == _rptr+_size - 1; + size_t res; + Item* orig = lockAndGetActive(); + res = orig->data.size(); + atomic_dec( &orig->count ); // lockAndGetActive + return res; } - + /** * Inspect if the Queue is empty. * @return true if empty, false otherwise. */ bool isEmpty() const { - // empty if nothing to read. - return _rptr->first == 0; + bool res; + Item* orig = lockAndGetActive(); + res = orig->data.empty(); + atomic_dec( &orig->count ); // lockAndGetActive + return res; } /** - * Return the maximum number of items this queue can contain. + * Inspect if the Queue is full. + * @return true if full, false otherwise. */ - size_type capacity() const + bool isFull() const { - return _size -1; + bool res; + Item* orig = lockAndGetActive(); + res = (orig->data.size() == orig->data.capacity()); + atomic_dec( &orig->count ); // lockAndGetActive + return res; } - /** - * Return the number of elements in the queue. - */ - size_type size() const + void clear() { - int c = (_wptr - _rptr); - return c >= 0 ? c : c + _size; + Item* orig(0); + Item* nextbuf(0); + int items = 0; + do { + if (orig) { + atomic_dec(&orig->count); + atomic_dec(&nextbuf->count); + } + orig = lockAndGetActive(); + items = orig->data.size(); + nextbuf = findEmptyBuf(); // find unused Item in bufs + } while ( OS::CAS(&active, orig, nextbuf ) == false ); + atomic_dec( &orig->count ); // lockAndGetActive + atomic_dec( &orig->count ); // ref count + atomic_set(&counter,0); + atomic_set(&dcounter,0); } /** @@ -203,13 +230,25 @@ namespace RTT */ bool enqueue(const T& value) { - if ( value == 0 ) - return false; + Item* orig=0; + Item* usingbuf(0); write_policy.pop(); - CachePtrType loc = advance_w(); - if ( loc == 0 ) - return false; - loc->first = value; + do { + if (orig) { + atomic_dec(&orig->count); + atomic_dec(&usingbuf->count); + } + orig = lockAndGetActive(); + if ( orig->data.size() == orig->data.capacity() ) { // check for full + atomic_dec( &orig->count ); + return false; + } + usingbuf = findEmptyBuf(); // find unused Item in bufs + usingbuf->data = orig->data; + usingbuf->data.push_back( value ); + } while ( OS::CAS(&active, orig, usingbuf ) ==false); + atomic_dec( &orig->count ); // lockAndGetActive() + atomic_dec( &orig->count ); // set queue free read_policy.push(); return true; } @@ -218,44 +257,63 @@ namespace RTT * Enqueue an item and return its 'ticket' number. * @param value The value to enqueue. * @return zero if the queue is full, the 'ticket' number otherwise. + * @deprecated <b> Do not use this function </b> */ int enqueueCounted(const T& value) { - if ( value == 0 ) - return 0; - write_policy.pop(); - CachePtrType loc = advance_w(); - if ( loc == 0 ) - return 0; - loc->first = value; - read_policy.push(); - return loc->second; + if ( enqueue( value ) ) { + atomic_inc(&counter); + return atomic_read(&counter); + } + return 0; } /** * Dequeue an item. - * @param value The value dequeued. + * @param result The value dequeued. * @return false if queue is empty, true if dequeued. */ bool dequeue( T& result ) { + Item* orig=0; + Item* usingbuf(0); read_policy.pop(); - CachePtrType loc = advance_r(); - if ( loc == 0 ) - return false; - result = loc->first; - loc->second += _size; // give the cell a new number. - loc->first = 0; // this releases the cell to write to. + do { + if (orig) { + atomic_dec(&orig->count); + atomic_dec(&usingbuf->count); + } + orig = lockAndGetActive(); + if ( orig->data.empty() ) { // check for empty + atomic_dec( &orig->count ); + return false; + } + usingbuf = findEmptyBuf(); // find unused Item in bufs + result = orig->data.front(); + CIterator it = ++(orig->data.begin()); + for ( ; it != orig->data.end(); ++it ) + usingbuf->data.push_back(*it); + //usingbuf->data.insert( usingbuf->data.end(), it, orig->data.end() ); // ALTERNATIVE. (does it allocate??) + } while ( OS::CAS(&active, orig, usingbuf ) ==false); + atomic_dec( &orig->count ); // lockAndGetActive() + atomic_dec( &orig->count ); // set queue free write_policy.push(); return true; } /** - * Return the next to be read value. + * Dequeue an item and return the same 'ticket' number when it was queued. + * @param value The value dequeued. + * @return zero if the queue is empty, the 'ticket' number otherwise. + * @deprecated <b> Do not use this function </b> */ - const T front() const + int dequeueCounted( T& result ) { - return _rptr; + if (dequeue(result) ) { + atomic_inc(&dcounter); + return atomic_read(&dcounter); + } + return 0; } /** @@ -267,56 +325,88 @@ namespace RTT template<class MPoolType> T lockfront(MPoolType& mp) const { - CachePtrType loc=0; bool was_locked = false; + Item* orig=0; + T result; do { - if (was_locked) - mp.unlock(loc->first); - loc = _rptr; - if (loc->first == 0) + if (orig) { + mp.unlock( orig->data.front() ); + atomic_dec(&orig->count); + } + orig = lockAndGetActive(); + if ( orig->data.empty() ) { // check for empty + atomic_dec( &orig->count ); //lockAndGetActive return 0; - was_locked = mp.lock(loc->first); + } + + was_locked = mp.lock( orig->data.front() ); // retry if lock failed or read moved. - } while( !was_locked || loc != _rptr ); // obstruction detection. - return loc->first; + } while( !was_locked ); + result = orig->data.front(); + atomic_dec( &orig->count ); // lockAndGetActive() + return result; } /** - * Dequeue an item and return the same 'ticket' number when it was queued. - * @param value The value dequeued. - * @return zero if the queue is empty, the 'ticket' number otherwise. + * Returns the first element of the queue. */ - int dequeueCounted( T& result ) + value_t front() const { - read_policy.pop(); - CachePtrType loc = advance_r(); - if ( loc == 0 ) - return 0; - result = loc->first; - int nr = loc->second; - loc->second += _size; // give the cell a new number. - loc->first = 0; // this releases the cell to write to. - write_policy.push(); - return nr; + Item* orig = lockAndGetActive(); + value_t ret(orig->data.front()); + atomic_dec( &orig->count ); //lockAndGetActive + return ret; } /** - * Clear all contents of the Queue and thus make it empty. + * Returns the last element of the queue. */ - void clear() + value_t back() const { - for(int i = 0 ; i != _size; ++i) { - if ( _buf[i].first != 0 ) { - _buf[i].first = 0; - } - _buf[i].second = i+1; // init the counters + Item* orig = lockAndGetActive(); + value_t ret(orig->data.back()); + atomic_dec( &orig->count ); //lockAndGetActive + return ret; + } + + private: + /** + * Item returned is guaranteed empty + */ + Item* findEmptyBuf() { + // These two functions are copy/pasted from BufferLockFree. + // If MAX_THREADS is large enough, this will always succeed : + Item* start = &(*bufs)[0]; + while( true ) { + if ( atomic_inc_and_test( &start->count ) ) + break; + atomic_dec( &start->count ); + ++start; + if (start == &(*bufs)[0] + BufNum() ) + start = &(*bufs)[0]; // in case of races, rewind } - _rptr = _buf; - _wptr = _buf; - write_policy.reset( _size - 1 ); - read_policy.reset(0); + start->data.clear(); + return start; // unique pointer across all threads + } + + /** + * Only to be used by reserve() ! + * Caller must guarantee that active points to valid memory. + */ + Item* lockAndGetActive() const { + // only operates on active's refcount. + Item* orig=0; + do { + if (orig) + atomic_dec( &orig->count ); + orig = active; + atomic_inc( &orig->count ); + // this synchronisation point is 'aggressive' (a _sufficient_ condition) + // if active is still equal to orig, the increase of orig->count is + // surely valid, since no contention (change of active) occured. + } while ( active != orig ); + return orig; } - }; } src/AtomicQueue.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/Attribute.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/Attribute.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/AttributeBase.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/AttributeRepository.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/AttributeRepository.hpp @@ -1,7 +1,46 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:12 CET 2006 BindStorage.hpp + + BindStorage.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_TASK_BIND_STORAGE_HPP #define ORO_TASK_BIND_STORAGE_HPP #include <boost/function.hpp> +#include <boost/type_traits/function_traits.hpp> #include <boost/function_types/function_type.hpp> #include <boost/function_types/function_type_arity.hpp> #include <boost/bind.hpp> src/BindStorage.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/BufferBase.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/BufferConnection.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/BufferConnectionInterface.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/BufferDataSource.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -37,7 +47,7 @@ namespace RTT /** * A Buffer is an object which is used to store (Push) and retrieve (Pop) values from. * @param T The value type stored in this buffer. - * @ingroup CoreLibBuffers + * @ingroup Ports */ template<class T> class BufferInterface : src/BufferInterface.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -60,7 +70,7 @@ namespace RTT * @param WritePolicy The Policy to block (wait) on \a full (during write), * using \a BlockingPolicy, or to return \a false, using \a NonBlockingPolicy (Default). * This does not influence partial filled buffer behaviour. - * @ingroup CoreLibBuffers + * @ingroup Ports */ template< class T, class ReadPolicy = NonBlockingPolicy, class WritePolicy = NonBlockingPolicy > class BufferLockFree src/BufferLockFree.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -43,7 +53,7 @@ namespace RTT * Implements a very simple blocking threadsafe buffer, using mutexes (locks). * * @see BufferLockFree - * @ingroup CoreLibBuffers + * @ingroup Ports */ template<class T> class BufferLocked src/BufferLocked.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/BufferPolicy.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -42,6 +52,7 @@ namespace RTT * Use connection() to access the buffer. If the port is not * connected, connection() returns null. * @param T The type of the data of the buffer. + * @ingroup Ports */ template<class T> class ReadBufferPort @@ -181,9 +192,11 @@ namespace RTT */ virtual PortInterface* antiClone() const; - virtual OperationInterface* createPortObject() { + virtual TaskObject* createPortObject() { #ifndef ORO_EMBEDDED TaskObject* to = new TaskObject( this->getName() ); + to->methods()->addMethod( method("ready",&PortInterface::ready, this), + "Check if this port is connected and ready for use."); to->methods()->addMethod(method("Pop", &ReadBufferPort<T>::Pop, this), "Pop a single value from the Buffer. Returns false if empty.", "Val", "The value returned by argument."); @@ -211,6 +224,7 @@ namespace RTT * Use connection() to access the buffer. If the port is not * connected, connection() returns null. * @param T The type of the data of the buffer. + * @ingroup Ports */ template<class T> class WriteBufferPort @@ -370,9 +384,11 @@ namespace RTT return new ReadBufferPort<T>( this->getName() ); } - virtual OperationInterface* createPortObject() { + virtual TaskObject* createPortObject() { #ifndef ORO_EMBEDDED TaskObject* to = new TaskObject( this->getName() ); + to->methods()->addMethod( method("ready",&PortInterface::ready, this), + "Check if this port is connected and ready for use."); to->methods()->addMethod(method("Push", &WriteBufferPort<T>::Push, this), "Push a single value in the Buffer. Returns false if full().", "Val", "The value."); @@ -399,6 +415,8 @@ namespace RTT * Use connection() to access the buffer. If the port is not * connected, connection() returns null. * @param T The type of the data of the buffer. + * @ingroup Ports + * @ingroup RTTComponentInterface */ template<class T> class BufferPort @@ -546,9 +564,11 @@ namespace RTT return this->clone(); } - virtual OperationInterface* createPortObject() { + virtual TaskObject* createPortObject() { #ifndef ORO_EMBEDDED TaskObject* to = new TaskObject( this->getName() ); + to->methods()->addMethod( method("ready",&PortInterface::ready, this), + "Check if this port is connected and ready for use."); to->methods()->addMethod(method("Push", &WriteBufferPort<T>::Push, this), "Push a single value in the Buffer. Returns false if full().", "Val", "The value."); src/BufferPort.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -31,8 +41,8 @@ * This file includes the common header files from the * RTT buffers package. */ -/** - * @defgroup CoreLibBufferss Data Transfer classes. +/* + * @defgroup CoreLibBuffers Data Transfer classes. * @ingroup CoreLib * Thread-safe implementations of data container objects * such as Buffers, DataObjects and Lists. src/Buffers.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/BuildType.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/CallbackInterface.hpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:06 CET 2006 Command.hpp + + Command.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_TASK_COMMAND_HPP #define ORO_TASK_COMMAND_HPP @@ -11,6 +49,12 @@ namespace RTT { /** + * @defgroup Commands Command Interface + * Asynchronous command sending. + * @ingroup RTTComponentInterface + */ + + /** * A Command is a function which can be sent to a * task for execution and be queried for its execution status. * The sending is also called the 'invocation' of the Command object. @@ -42,6 +86,8 @@ namespace RTT mycom(3, f, 9.0); @endcode * + * @ingroup RTTComponentInterface + * @ingroup Commands */ template<class CommandT> class Command src/Command.hpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:09 CET 2006 CommandBase.hpp + + CommandBase.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_COMMAND_BASE_HPP #define ORO_COMMAND_BASE_HPP src/CommandBase.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/CommandC.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/CommandC.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/CommandComposite.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/CommandCounter.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/CommandCounter.hpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:12 CET 2006 CommandDS.hpp + + CommandDS.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_TASK_COMMAND_DS_HPP #define ORO_TASK_COMMAND_DS_HPP src/CommandDS.hpp @@ -1,9 +1,49 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:10 CET 2006 CommandDSFunctors.hpp + + CommandDSFunctors.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_COMMAND_DS_FUNCTORS_HPP #define ORO_COMMAND_DS_FUNCTORS_HPP #include <boost/type_traits.hpp> #include <boost/shared_ptr.hpp> #include <boost/weak_ptr.hpp> +#include <boost/function.hpp> +#include "DataSource.hpp" namespace RTT { src/CommandDSFunctors.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/CommandDataSource.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/CommandDispatch.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/CommandDispatch.hpp @@ -1,60 +0,0 @@ -/*************************************************************************** - tag: Peter Soetens Thu Jul 15 11:21:21 CEST 2004 CommandEmitEvent.hpp - - CommandEmitEvent.hpp - description - ------------------- - begin : Thu July 15 2004 - copyright : (C) 2004 Peter Soetens - email : peter.soetens at mech.kuleuven.ac.be - - *************************************************************************** - * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * - * Lesser General Public License for more details. * - * * - * You should have received a copy of the GNU Lesser General Public * - * License along with this library; if not, write to the Free Software * - * Foundation, Inc., 59 Temple Place, * - * Suite 330, Boston, MA 02111-1307 USA * - * * - ***************************************************************************/ - -#include "CommandInterface.hpp" -#include "Event.hpp" - -namespace RTT -{ - - /** - * A command which will \a fire() an Event - * when \a execute()'ed. - */ - class CommandEmitEvent - : public CommandInterface - { - Event<void(void)>* event; - public: - /** - * Create with a nullary Event. - */ - CommandEmitEvent( Event<void(void)>* ev ) - : event(ev) {} - bool execute() - { - event->fire(); - return true; - } - - void readArguments() {} - - CommandInterface* clone() const { - return new CommandEmitEvent( event ); - } - }; -} src/CommandEmitEvent.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/CommandExecFunction.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -104,6 +114,9 @@ namespace RTT } ~CommandExecFunction() { + if ( _foo->isRunning() ) + log(Critical) << "Destroying Function running in ProgramProcessor !" << endlog(); + this->reset(); } void readArguments() @@ -140,7 +153,7 @@ namespace RTT minit->reset(); isqueued = false; //remove any old left-overs. - _proc->removeFunction( _foo.get() ); + _foo->stop(); } virtual bool sent() const { src/CommandExecFunction.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/CommandFactoryComposite.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/CommandFactoryInterface.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/CommandFunctor.hpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:11 CET 2006 CommandFunctors.hpp + + CommandFunctors.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_COMMANDFUNCTORS_HPP #define ORO_COMMANDFUNCTORS_HPP src/CommandFunctors.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/CommandIllegal.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/CommandIllegal.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/CommandInterface.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/CommandNOP.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/CommandNOP.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/CommandProcessor.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -62,6 +72,7 @@ namespace RTT * process() fails when the queue is full; step() does nothing * when the queue is empty. A subclass may install a new * command queue with for example blocking semantics. + * @ingroup Processor */ class CommandProcessor : public RunnableInterface src/CommandProcessor.hpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:10 CET 2006 CommandRepository.hpp + + CommandRepository.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_COMMAND_REPOSITORY_HPP #define ORO_COMMAND_REPOSITORY_HPP @@ -18,6 +56,7 @@ namespace RTT /** * A command repository stores a number of commands from a Task which * can be used by other tasks or from scripts. + * @ingroup Commands */ class CommandRepository : public OperationFactory<DispatchInterface*> src/CommandRepository.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/CommandString.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/CommandString.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/Common.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/CompletionProcessor.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ConditionBool.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ConditionBool.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ConditionBoolDataSource.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ConditionBoolDataSource.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ConditionBoolProperty.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ConditionBoolProperty.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ConditionCompare.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ConditionComposite.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ConditionComposite.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ConditionDSDuration.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ConditionDSDuration.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ConditionDuration.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ConditionDuration.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ConditionExpire.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ConditionFalse.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ConditionInterface.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ConditionInterface.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ConditionInvert.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ConditionOnce.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ConditionOnce.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ConditionTrue.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ConfigurationInterface.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -26,20 +36,19 @@ ***************************************************************************/ -#ifndef CONFIGURATOR_HPP -#define CONFIGURATOR_HPP +#ifndef ORO_CONFIGURATOR_HPP +#define ORO_CONFIGURATOR_HPP #include "ConfigurationInterface.hpp" -#include "NonRealTimeActivity.hpp" -#include "PreemptibleActivity.hpp" -#include "NonPreemptibleActivity.hpp" +#include "PeriodicActivity.hpp" #include "TimeService.hpp" #include "Time.hpp" namespace RTT { /** - * @brief A task which configures components. + * @brief A class which configures other objects in small steps + * spread in time. * * This is a step-wise configurator which instructs * another class to do a configuration 'step'. After @@ -47,15 +56,12 @@ namespace RTT * step and so on until an error occured or the configuration * is finished. * - * @param BaseActivity Template : The Activity formalism to use. + * @see ConfigurationInterface */ - template< class BaseActivity > class Configurator - : protected BaseActivity + : protected PeriodicActivity { public: - typedef BaseActivity Base; - /** * Creates a Configurator with configuration * period of \a period. @@ -63,20 +69,20 @@ namespace RTT * @param period The period between each configuration step. */ Configurator( double period ) - :Base( period ), target(0), status (false) + :PeriodicActivity(RTT::OS::LowestPriority, period ), mtarget(0), status (false) { } /** - * Configures <_target>. Returns when the configuration + * Configures \a target. Returns when the configuration * finished or terminated in error. So this is a blocking call, * but the Configurator itself is a non blocking task. * * @return true if the configuration finished, false otherwise. */ - bool configure( ConfigurationInterface* _target, Seconds _timeout = 0 ) + bool configure( ConfigurationInterface* target, Seconds _timeout = 0 ) { - target = _target; + mtarget = target; TimeService::ticks timestamp = TimeService::Instance()->getTicks(); this->start(); @@ -99,29 +105,29 @@ namespace RTT */ ConfigurationInterface* configTarget() const { - return target; + return mtarget; } bool initialize() { - target->configInit(); + mtarget->configInit(); return true; } void step() { - if ( !target->configStep() || target->isFinished() ) + if ( !mtarget->configStep() || mtarget->isFinished() ) this->stop(); } void finalize() { - status = target->isFinished(); - target->configCleanup(); + status = mtarget->isFinished(); + mtarget->configCleanup(); } protected: - ConfigurationInterface* target; + ConfigurationInterface* mtarget; /** * Flag to save status of the target. @@ -129,18 +135,6 @@ namespace RTT bool status; }; - /** - * A NonPreemptible Configurator. - */ - typedef Configurator<NonPreemptibleActivity> NonPreemptibleConfigurator; - /** - * A Preemptible Configurator. - */ - typedef Configurator<PreemptibleActivity> PreemptibleConfigurator; - /** - * A NonRealTime Configurator. - */ - typedef Configurator<NonRealTimeActivity> NonRealTimeConfigurator; } src/Configurator.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ConnectionC.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ConnectionC.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ConnectionFactory.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ConnectionInterface.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ConnectionInterface.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ConnectionTypes.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/CoreLib.Main.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -31,16 +41,14 @@ * Core Library. */ -/** - * @defgroup CoreLib The Core Library +/* + * @defgroup CoreLib The Core Primitives * @brief Buffers, DataObjects, Commands, NameServing, Activities, Events, Timing, Properties * * The most frequently used Core primitives in Orocos are Logger, Event, * PeriodicActivity, NonPeriodicActivity, BufferLockFree, DataObjectLockFree, TimeService, NameServer, Property, * PropertyBag, Attribute, Toolkit. * - * The Core Library is documented in <a href="../../orocos-corelib.html"> - * The Orocos CoreLib Online Manual</a> */ #include "Common.hpp" src/CoreLib.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/CoreRunnableInterface.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/DataConnection.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/DataConnectionInterface.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -39,6 +49,7 @@ namespace RTT /** * The Interface of a TaskContext which exposes its data-flow ports. + * @ingroup Ports */ class DataFlowInterface { @@ -153,6 +164,26 @@ namespace RTT return ""; } + /** + * Create a Task Object through which one can access a Port. + * This is required to access ports from the scripting interface. + * @param name The port name + */ + OperationInterface* createPortObject(const std::string& name) { + PortInterface* p = this->getPort(name); + if ( !p ) + return 0; + TaskObject* to = p->createPortObject(); + if (to) { + std::string d = this->getPortDescription(name); + if ( !d.empty() ) + to->setDescription( d ); + else + to->setDescription("(No description set for this Port)"); + } + return to; + } + /** * Get a port of a specific type. @@ -168,6 +199,7 @@ namespace RTT void clear() { ports.clear(); + descriptions.clear(); } }; src/DataFlowInterface.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/DataObjectInterfaces.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -48,12 +58,13 @@ namespace RTT * * @see DataObject * @param T The \a DataType which can be Get() or Set() with this DataObject. - * @ingroup CoreLibBuffers + * @ingroup Ports */ template <class T> - struct DataObjectInterface + class DataObjectInterface : public AssignableDataSource<T> { + public: /** * If you plan to use a reference counted DataObject, use this * type to store it and apply this->deref() to enable reference counting. @@ -144,7 +155,7 @@ namespace RTT * threadsafe implementation, and can be blocking in situations where you do not want * that. Use the DataObjectPrioritySet and DataObjectPriorityGet classes for non * blocking Set or Get operations. - * @ingroup CoreLibBuffers + * @ingroup Ports */ template<class T> class DataObjectLocked @@ -463,7 +474,7 @@ namespace RTT * Further, multiple reads may occur before, during and after * a write operation simultaneously. The buffer needs readers+2*writers * elements to be guaranteed non blocking. - * @ingroup CoreLibBuffers + * @ingroup Ports */ template<class T> class DataObjectLockFree src/DataObjectInterfaces.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -43,6 +53,7 @@ namespace RTT * Use connection() to access the data object. If the port is not * connected, connection() returns null. * @param T The type of the data of the data object. + * @ingroup Ports */ template<class T> class ReadDataPort @@ -128,11 +139,13 @@ namespace RTT virtual PortInterface* antiClone() const; - virtual OperationInterface* createPortObject() { + virtual TaskObject* createPortObject() { #ifndef ORO_EMBEDDED typedef T (ReadDataPort<T>::*GetType)(void) const; GetType get_type = &ReadDataPort<T>::Get; TaskObject* to = new TaskObject( this->getName() ); + to->methods()->addMethod( method("ready",&PortInterface::ready, this), + "Check if this port is connected and ready for use."); to->methods()->addMethod( method("Get",get_type, this), "Get the current value of this Read Data Port"); return to; @@ -154,6 +167,7 @@ namespace RTT * Use connection() to access the data object. If the port is not * connected, connection() returns null. * @param T The type of the data of the Data Object. + * @ingroup Ports */ template<class T> class WriteDataPort @@ -247,9 +261,11 @@ namespace RTT ConnectionInterface::shared_ptr createConnection(ConnectionTypes::ConnectionType con_type); - virtual OperationInterface* createPortObject() { + virtual TaskObject* createPortObject() { #ifndef ORO_EMBEDDED TaskObject* to = new TaskObject( this->getName() ); + to->methods()->addMethod( method("ready",&PortInterface::ready, this), + "Check if this port is connected and ready for use."); to->methods()->addMethod( method("Set",&WriteDataPort<T>::Set, this), "Set the current value of this Write Data Port", "Value", "The new value."); @@ -271,6 +287,8 @@ namespace RTT /** * A data port which can be used as a reader and as a writer. + * @ingroup Ports + * @ingroup RTTComponentInterface */ template<class T> class DataPort @@ -373,11 +391,13 @@ namespace RTT return this->clone(); } - virtual OperationInterface* createPortObject() { + virtual TaskObject* createPortObject() { #ifndef ORO_EMBEDDED typedef T (DataPort<T>::*GetType)(void) const; GetType get_type = &DataPort<T>::Get; TaskObject* to = new TaskObject( this->getName() ); + to->methods()->addMethod( method("ready",&PortInterface::ready, this), + "Check if this port is connected and ready for use."); to->methods()->addMethod( method("Get", get_type, this), "Get the current value of this Data Port"); to->methods()->addMethod( method("Set",&DataPort<T>::Set, this), src/DataPort.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/DataSource.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/DataSource.hpp @@ -12,6 +12,7 @@ #include "corba/CorbaConversion.hpp" #endif + namespace RTT { src/DataSource.inl @@ -9,28 +9,37 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * * * ***************************************************************************/ - +#include "DataSource.hpp" + #ifndef DATASOURCE_ADAPTOR_HPP #define DATASOURCE_ADAPTOR_HPP -#include "DataSource.hpp" - namespace RTT { namespace detail { src/DataSourceAdaptor.hpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:11 CET 2006 DataSourceArgsCommand.hpp + + DataSourceArgsCommand.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_DATASOURCE_ARGS_COMMAND_HPP #define ORO_DATASOURCE_ARGS_COMMAND_HPP src/DataSourceArgsCommand.hpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:05 CET 2006 DataSourceArgsEvent.hpp + + DataSourceArgsEvent.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_DATASOURCE_ARGS_EVENT_HPP #define ORO_DATASOURCE_ARGS_EVENT_HPP src/DataSourceArgsEvent.hpp @@ -1,9 +1,47 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:04 CET 2006 DataSourceArgsMethod.hpp + + DataSourceArgsMethod.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_DATASOURCE_ARGS_METHOD_HPP #define ORO_DATASOURCE_ARGS_METHOD_HPP #include "DataSource.hpp" -#include "LocalMethod.hpp" #include "FunctorDataSource.hpp" +#include <boost/function.hpp> namespace RTT { src/DataSourceArgsMethod.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/DataSourceBase.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/DataSourceCommand.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/DataSourceCommand.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/DataSourceCondition.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/DataSourceCondition.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/DataSourceGenerator.hpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:13 CET 2006 DataSourceStorage.hpp + + DataSourceStorage.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_TASK_DATASOURCE_STORAGE_HPP #define ORO_TASK_DATASOURCE_STORAGE_HPP src/DataSourceStorage.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/DataSourceTime.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/DataSourceTypeInfo.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/DataSources.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -32,6 +42,7 @@ #include "DataSource.hpp" #include "DataSourceAdaptor.hpp" #include "AssignCommand.hpp" +#include <vector> namespace RTT { @@ -536,6 +547,82 @@ namespace RTT } }; + /** + * A generic N-arity composite DataSource. It collects data sources of the same type + * and passes the values found on to \a function by means of a std::vector. + * @param function Is a struct which defines value_t operator()(const std::vector<arg_t>&), + * where \a value_t is defined as \a function::result_type + * and \a arg_t is defined as \a function::argument_type. + */ + template<typename function> + class NArityDataSource + : public DataSource<typename function::result_type> + { + typedef typename function::result_type value_t; + typedef typename function::argument_type arg_t; + mutable std::vector<arg_t> margs; + std::vector<typename DataSource<arg_t>::shared_ptr > mdsargs; + function fun; + public: + typedef boost::intrusive_ptr<NArityDataSource<function> > shared_ptr; + + /** + * Create a DataSource which returns the return value of a function + * \a f. + */ + NArityDataSource( function f = function() ) + : fun( f ) + { + } + + /** + * Create a DataSource which returns the return value of a function + * \a f. + */ + NArityDataSource( function f, const std::vector<typename DataSource<arg_t>::shared_ptr >& dsargs ) + : margs( dsargs.size() ), mdsargs(dsargs), fun( f ) + { + } + + void add( typename DataSource<arg_t>::shared_ptr ds ) { + mdsargs.push_back(ds); + margs.push_back( ds->value() ); + } + + virtual value_t get() const + { + assert( mdsargs.size() == margs.size() ); + for( unsigned int i=0; i !=mdsargs.size(); ++i) + margs[i] = mdsargs[i]->get(); + return fun( margs ); + } + + virtual value_t value() const + { + assert( mdsargs.size() == margs.size() ); + for( unsigned int i=0; i !=mdsargs.size(); ++i) + margs[i] = mdsargs[i]->value(); + return fun( margs ); // fun is allowed to return margs directly. + } + + virtual void reset() + { + for( unsigned int i=0; i !=mdsargs.size(); ++i) + mdsargs[i]->reset(); + } + + virtual NArityDataSource<function>* clone() const + { + return new NArityDataSource<function>(fun, mdsargs); + } + + virtual NArityDataSource<function>* copy( std::map<const DataSourceBase*, DataSourceBase*>& alreadyCloned ) const { + std::vector<typename DataSource<arg_t>::shared_ptr > newargs( mdsargs.size() ); + for( unsigned int i=0; i !=mdsargs.size(); ++i) + newargs[i] = mdsargs[i]->copy(alreadyCloned); + return new NArityDataSource<function>( fun, newargs ); + } + }; } #include "DataSources.inl" src/DataSources.hpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:04 CET 2006 DispatchAction.hpp + + DispatchAction.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_DISPATCH_ACTION_HPP #define ORO_DISPATCH_ACTION_HPP src/DispatchAction.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/DispatchInterface.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/EdgeCondition.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/EdgeCondition.hpp @@ -56,6 +56,7 @@ namespace RTT * event to call a function 'void foo(int x, double y)'; * @see The Orocos CoreLib manual for usage. * @ingroup CoreLibEvents + * @ingroup RTTComponentInterface */ template< typename SignatureT // function type R (T1, T2, ..., TN) src/Event.hpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:05:56 CET 2006 EventBase.hpp + + EventBase.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_CORELIB_EVENT_BASE_HPP #define ORO_CORELIB_EVENT_BASE_HPP src/EventBase.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/EventC.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/EventC.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -36,6 +46,7 @@ #include "boost/function_types/function_type_arity.hpp" #include "boost/function_types/function_type_parameter.hpp" #include "DataSource.hpp" +#include "DataSources.hpp" namespace RTT { namespace detail { src/EventCallBack.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/EventDrivenActivity.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/EventDrivenActivity.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/EventHook.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/EventProcessor.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -461,6 +471,7 @@ namespace RTT * * @see CompletionProcessor * @ingroup CoreLibEvents + * @ingroup Processor */ class EventProcessor : public RunnableInterface src/EventProcessor.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/EventService.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/EventService.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -33,8 +43,8 @@ */ /** - * @defgroup CoreLibEvents Event classes. - * @ingroup CoreLib + * @defgroup CoreLibEvents Event Interface. + * @ingroup RTTComponentInterface * Events (publish/subscribe) allow callback functions to be executed synchronously * (in the same thread) or asynchronously (in a separate thread). */ src/Events.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/Exceptions.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -26,20 +36,11 @@ ***************************************************************************/ /** - * @defgroup Tasks Component Building - * @brief Task Infrastructure, Program Script Loaders and Parsers, Hierarchical State Machines, - * Asynchronous Command Processing, Online Task Browsing. - * - * It is meant to group all packages for executing user commands - * in a realtime system. It currently contains the %Task Infrastructure, %Program %Parser and - * The %Program %Processor. - * - * Key classes are GenericTaskContext, ProgramLoader, PropertyLoader and TaskBrowser. + * @defgroup CompModel Component Model + * @brief The RTT Component model is built around the TaskContext class. * - * The packages are documented in the - * <a href="../../orocos-task-context.html"> - * Online %Task %Infrastructure Manual</a>, the * <a href="../../orocos-program-parser.html"> - * Online %Program %Parser Manual</a> and the <a href="../../orocos-program-processor.html"> - * Online %Program %Processor Manual</a>. - * + * The approach allows application builders to specify the interface of + * a component and the functionality. The component interface can be built + * by using the @ref RTTComponentInterface classes, while the implementation + * (algorithm) is being run by the @ref Processor classes. */ src/Execution.hpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:06 CET 2006 ExecutionAccess.hpp + + ExecutionAccess.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_EXECUTION_ACCESS_HPP #define ORO_EXECUTION_ACCESS_HPP src/ExecutionAccess.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ExecutionEngine.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -74,6 +84,7 @@ namespace RTT * behaviour. Use TaskCore::setExecutionEngine in order to * install a new ExecutionEngine in a component. All Members of * this class are protected and thus accessible in a subclass. + * @ingroup Processor */ class ExecutionEngine : public RunnableInterface src/ExecutionEngine.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/FactoryExceptions.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/FactoryExceptions.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -106,7 +116,7 @@ namespace RTT this->handleUnload(); } - void FunctionGraph::setProgramTask(ProgramTask* mytask) + void FunctionGraph::setProgramTask(TaskContext* mytask) { context = mytask; } src/FunctionGraph.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -38,7 +48,7 @@ namespace RTT { class FunctionGraph; typedef boost::shared_ptr<FunctionGraph> FunctionGraphPtr; - class ProgramTask; + class TaskContext; /** * This class represents a function. It has @@ -103,7 +113,7 @@ namespace RTT virtual void handleUnload(); - ProgramTask* context; + TaskContext* context; public: /** * Create a FunctionGraph with a given name. @@ -117,7 +127,7 @@ namespace RTT ~FunctionGraph(); - void setProgramTask(ProgramTask* mytask); + void setProgramTask(TaskContext* mytask); /** * To be called after a function is constructed. src/FunctionGraph.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/FunctionGraphBuilder.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/FunctionGraphBuilder.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/FunctorDataSource.hpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:05:59 CET 2006 FunctorFactory.hpp + + FunctorFactory.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_RTT_FUNCTOR_FACTORY_HPP #define ORO_RTT_FUNCTOR_FACTORY_HPP src/FunctorFactory.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/GraphCopier.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/Handle.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/Handle.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ListLockFree.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ListLockFree.hpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:10 CET 2006 LocalCommand.hpp + + LocalCommand.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_LOCAL_COMMAND_HPP #define ORO_LOCAL_COMMAND_HPP src/LocalCommand.hpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:05:56 CET 2006 LocalEvent.hpp + + LocalEvent.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_CORELIB_LOCAL_EVENT_HPP #define ORO_CORELIB_LOCAL_EVENT_HPP src/LocalEvent.hpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:05 CET 2006 LocalMethod.hpp + + LocalMethod.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_LOCAL_METHOD_HPP #define ORO_LOCAL_METHOD_HPP src/LocalMethod.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/Logger.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/Logger.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/Marshaller.hpp @@ -13,10 +13,10 @@ namespace RTT OperationInterface* obj = parent->getObject("marshalling"); if (!obj) obj = new TaskObject("marshalling","Read and write Properties to a file."); - obj->methods()->addMethod(method("readProperties",&MarshallingAccess::readProperties, this), + obj->methods()->addMethod(method("updateProperties",&MarshallingAccess::updateProperties, this), "Read some Properties from a file.", "Filename","The file to read the Properties from."); - obj->methods()->addMethod(method("readAllProperties",&MarshallingAccess::readAllProperties, this), + obj->methods()->addMethod(method("readProperties",&MarshallingAccess::readProperties, this), "Read all Properties from a file.", "Filename","The file to read the Properties from."); obj->methods()->addMethod(method("readProperty",&MarshallingAccess::readProperty, this), @@ -24,10 +24,10 @@ namespace RTT "Name", "The name of (or the path to) the property to read.", "Filename","The file to read the Properties from."); - obj->methods()->addMethod(method("writeProperties",&MarshallingAccess::writeProperties, this), + obj->methods()->addMethod(method("updateFile",&MarshallingAccess::updateFile, this), "Write some Properties to a file.", "Filename","The file to write the Properties to."); - obj->methods()->addMethod(method("writeAllProperties",&MarshallingAccess::writeAllProperties, this), + obj->methods()->addMethod(method("writeProperties",&MarshallingAccess::writeProperties, this), "Write all Properties to a file.", "Filename","The file to write the Properties to."); obj->methods()->addMethod(method("writeProperty",&MarshallingAccess::writeProperty, this), @@ -40,22 +40,22 @@ namespace RTT bool MarshallingAccess::readProperties(const std::string& filename) const { PropertyLoader pl; - return pl.configure( filename, mparent, false); // not all + return pl.configure( filename, mparent, true); // all } - bool MarshallingAccess::readAllProperties(const std::string& filename) const + bool MarshallingAccess::updateProperties(const std::string& filename) const { PropertyLoader pl; - return pl.configure( filename, mparent, true); // all + return pl.configure( filename, mparent, false); // not all } bool MarshallingAccess::writeProperties(const std::string& filename) const { PropertyLoader pl; - return pl.save( filename, mparent, false); // all + return pl.save( filename, mparent, true); } - bool MarshallingAccess::writeAllProperties(const std::string& filename) const + bool MarshallingAccess::updateFile(const std::string& filename) const { PropertyLoader pl; - return pl.save( filename, mparent, true); // + return pl.save( filename, mparent, false); } bool MarshallingAccess::readProperty(const std::string& name, const std::string& filename) { src/MarshallingAccess.cpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:11 CET 2006 MarshallingAccess.hpp + + MarshallingAccess.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_MARSHALLING_ACCESS_HPP #define ORO_MARSHALLING_ACCESS_HPP @@ -20,8 +58,9 @@ namespace RTT MarshallingAccess(TaskContext* parent); /** - * Read the XML cpf file and 'refresh' the matching properties of the TaskContext. - * There may be more properties in the file than properties in the TaskContext. + * Read the property file and 'refresh' \b all the properties of the TaskContext. + * There may be more properties in the file than properties in the TaskContext, + * but all properties of the TaskContext must be present in \a filename. * In case a type mismatch occurs, this method will fail and update no properties. * @param filename The file to read from. * @return true on success, false on error, consult Logger output for messages. @@ -29,14 +68,15 @@ namespace RTT bool readProperties(const std::string& filename) const; /** - * Read the XML cpf file and 'refresh' \b all properties of the TaskContext. + * Read the property file and 'refresh' \b some properties of the TaskContext. * There may be more properties in the file than properties in the TaskContext, - * but all properties of the TaskContext must be present in the file. + * and some may be missing in the file. This method will update 'as much as possible' + * properties. * In case a type mismatch occurs, this method will fail and update no properties. * @param filename The file to read all the properties from. * @return true on success, false on error, consult Logger output for messages. */ - bool readAllProperties(const std::string& filename) const; + bool updateProperties(const std::string& filename) const; /** * Read a single property from a file. The name may be a 'path' like @@ -49,8 +89,7 @@ namespace RTT bool readProperty(const std::string& name,const std::string& filename); /** - * Write the XML cpf file with the properties of a TaskContext, update - * only properties present in the file. + * Write the property file with the properties of a TaskContext. * The file is first read in, the resulting tree is updated with the task's * properties and then written to disk again. This allows to share files * between tasks. @@ -60,14 +99,15 @@ namespace RTT bool writeProperties(const std::string& filename) const; /** - * Write the XML cpf file with all the properties of a TaskContext, add - * new entries in the file if necessary. + * Write the property file with the properties of a TaskContext, which + * are already present in \a filename. + * No new entries are created in the file, only existing ones are updated. * The file is first read in, the resulting tree is updated with the task's - * properties, new entries are added if missing and then written to disk again. + * properties, and then written to disk again. * @param filename The file to read from and write to. * @return true on success, false on error, consult Logger output for messages. */ - bool writeAllProperties(const std::string& filename) const; + bool updateFile(const std::string& filename) const; /** * Write a single property to a file. The name may be a 'path' like src/MarshallingAccess.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/MemberFactoryInterface.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/MemoryPool.hpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:07 CET 2006 Method.hpp + + Method.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_TASK_METHOD_HPP #define ORO_TASK_METHOD_HPP @@ -7,9 +45,16 @@ #include "MethodBase.hpp" #include "LocalMethod.hpp" #include "ActionInterface.hpp" +#include "Logger.hpp" namespace RTT { + /** + * @defgroup Methods Method Interface + * Invoking synchronous methods. + * @ingroup RTTComponentInterface + */ + /** * A method which executes a function. @@ -19,6 +64,8 @@ namespace RTT Method<double(int, double)> mymeth("name", &Class::foo, &c); double result = mymeth( 3, 1.9); @endcode + * @ingroup RTTComponentInterface + * @ingroup Methods */ template<class FunctionT> class Method src/Method.hpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:11 CET 2006 MethodBase.hpp + + MethodBase.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_METHOD_BASE_HPP #define ORO_METHOD_BASE_HPP src/MethodBase.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/MethodC.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/MethodC.hpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:08 CET 2006 MethodRepository.hpp + + MethodRepository.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_METHOD_REPOSITORY_HPP #define ORO_METHOD_REPOSITORY_HPP @@ -14,6 +52,7 @@ namespace RTT /** * This class allows storage and retrieval of Method objects. * + * @ingroup Methods */ class MethodRepository : public OperationFactory<DataSourceBase*> src/MethodRepository.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/MultiVector.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/MultiVector.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/MultiVectorComposition.hpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:05:59 CET 2006 NA.hpp + + NA.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_NA_HPP #define ORO_NA_HPP src/NA.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/NameServer.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -46,28 +56,28 @@ namespace RTT { typedef std::string NameType; // to hold a reference to the nameserver - // call_traits< NameServer<T> >::reference _nameserver; - NameServer<T>* _nameserver; + // call_traits< NameServer<T> >::reference mnameserver; + NameServer<T>* mnameserver; - // to hold the name - NameType _name; + // to hold the object + T mobj; public: NameServerRegistrator() - : _nameserver( 0 ) + : mnameserver( 0 ) {} NameServerRegistrator( typename boost::call_traits< NameServer< T > >::reference nameserver, const NameType& name, typename boost::call_traits<T>::const_reference object ) - : _nameserver( &nameserver ), _name( name ) + : mnameserver( &nameserver ), mobj( object ) { - _nameserver->registerObject( object, _name ); + mnameserver->registerObject( object, name ); } ~NameServerRegistrator() { - if ( _nameserver != 0 ) - _nameserver->unregisterName( _name ); + if ( mnameserver != 0 ) + mnameserver->unregisterObject( mobj ); } }; src/NameServerRegistrator.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/NonPeriodicActivity.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/NonPeriodicActivity.hpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:07 CET 2006 OperationFactory.hpp + + OperationFactory.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_OPERATION_FACTORY_HPP #define ORO_OPERATION_FACTORY_HPP src/OperationFactory.hpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:09 CET 2006 OperationInterface.hpp + + OperationInterface.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_OPERATION_INTERFACE_HPP #define ORO_OPERATION_INTERFACE_HPP @@ -30,8 +68,8 @@ namespace RTT class TaskObject : public OperationInterface { - const std::string mname; - const std::string mdescription; + std::string mname; + std::string mdescription; CommandRepository mcommands; @@ -45,6 +83,8 @@ namespace RTT const std::string& getDescription() const { return mdescription; } + void setDescription(const std::string& d) { mdescription = d;} + virtual CommandRepository* commands() { return &mcommands; } virtual MethodRepository* methods() { return &mmethods;} src/OperationInterface.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/OperatorTypes.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -59,10 +69,6 @@ namespace RTT return reg; reg.reset( new OperatorRepository() ); -#ifdef OROCFG_CORELIB_GEOMETRY_TOOLKIT_IMPORT - Toolkit::Import( RealTimeToolkit ); -#endif - return reg; } src/Operators.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/Operators.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -26,15 +36,10 @@ ***************************************************************************/ /** - * @mainpage Orocos Online API Documentation + * @mainpage RTT Online API Documentation * * @section intro Introduction - * This is the Online API documentation of all available - * packages in Orocos. Not necessarily all files listed - * here are installed on your system. The Orocos - * Documentation web page on the main site contains links - * to individual packages (which still contains cross - * references to others). + * This is the Online API documentation of the Orocos Real-Time Toolkit. * * @section recom Recommendation * It is easiest to browse the classes by modules, to not @@ -45,7 +50,7 @@ * * You will most likely also need to read the <a href="http://www.orocos.org/documentation.html">online manuals</a>. * - * @section corelib Orocos Real-Time Toolkit (RTT) + * @section corelib Real-Time Toolkit classes (RTT) * The classes in the RTT namespace form the application * independent control services * which defines the portable framework using the five parts of a Component interface: @@ -54,31 +59,15 @@ * A Control Component is run by a RTT::PeriodicActivity or RTT::NonPeriodicActivity and inherits * from a RTT::TaskContext. The RTT::ExecutionEngine is the heart of each component * which contains the application code, reacts to events, processes commands etc. - * Scripting is enabled by the RTT::ProgramLoader, XML can be read by - * the RTT::PropertyLoader. Many other classes are available as well. - * The <a href="../../orocos-manual.html">Orocos Software Manual</a> introduces these classes. + * Scripting is enabled by the RTT::ScriptingAccess, XML can be read by + * the RTT::MarshallingAccess. Many other classes are available as well. * * @section devdrivers Hardware Access and Device Drivers * Orocos has an abstraction layer and some utility classes to easily - * access your devices from within Orocos and allow you to reuse Orocos - * infrastructure. - * @subsection comedi Comedi Device Communication - * We have implemented LXRT and GNU/Linux C++ wrappers for Comedi devices, - * which will use automatically the correct interface, depending - * on the target you build for. See the RTT namespace with - * classes RTT::ComediSubDeviceAOut, RTT::ComediEncoder, - * RTT::ComediSubDeviceDIn, etc. They express the comedi library as - * an Orocos device API, which allows you to use them in other - * classes which need I/O. - * @subsection can CANOpen Device Communication - * The RTT::CAN namespace contains device independent - * implementations for realtime CAN communication using a RTT::CAN::CANPieController - * and device driver. Device implementations - * are available for some Beckhoff modules. - * @subsection dev_integration Device Driver Integration - * If you want to integrate your existing device drivers with Orocos, - * they need to be wrapped to the Orocos Device API in order - * to be used with existing implementations. You can take a look at the - * device drivers package to find some examples. + * access your devices from within your applications and allow you to reuse Orocos + * infrastructure. The Device Interface headers can be found in rtt/dev. * + * The device drivers are not implemented by the RTT, but provided by components. + * See the Orocos Components Library (OCL) documentation for a list of supported + * devices and examples. */ src/Orocos.Main.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/PeriodicActivity.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/PeriodicActivity.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -75,18 +85,30 @@ namespace RTT other->disconnect(); return false; } - // if here, both were readers. + + // if here, both were readers or both refused to create a connection. Logger::In in("PortInterface::connectTo"); - log(Warning) << "User requests to connect two Read ports. Creating a temporary default Writer." << endlog(); + log(Warning) << "Creating a temporary default Writer." << endlog(); // create a writer: PortInterface* aclone = other->antiClone(); // clumsy way of working: ci = aclone->createConnection(); - // a writer must create a connection. - assert( ci ); + // this can still fail + if (!ci) { + delete aclone; + aclone = this->antiClone(); + ci = aclone->createConnection(); + if (!ci) { + log(Warning) <<"Complete failure to connect read ports. Neither port wants to create a connection."<< endlog(); + delete aclone; + return false; + } + } ci->removeWriter(aclone); delete aclone; + // finally a connection object ! + if ( this->connectTo( ci ) ) return ci->connect(); // failed (type mismatch), cleanup. @@ -106,7 +128,7 @@ namespace RTT return ConnectionInterface::shared_ptr(); } - OperationInterface* PortInterface::createPortObject() { + TaskObject* PortInterface::createPortObject() { return 0; } src/PortInterface.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -146,7 +156,7 @@ namespace RTT * Create accessor Object for this Port, for addition to a * TaskContext Object interface. */ - virtual OperationInterface* createPortObject(); + virtual TaskObject* createPortObject(); }; src/PortInterface.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -29,6 +39,14 @@ #ifndef ORO_EXECUTION_PORTS_HPP #define ORO_EXECUTION_PORTS_HPP +/** + * @defgroup Ports Data Transfer Ports + * The data flow between components is realised by Ports which are + * connected. Ports can be buffered or unbuffered, read-only, write-only + * or read-write. + * @ingroup RTTComponentInterface + */ + #include "DataPort.hpp" #include "BufferPort.hpp" src/Ports.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/Processor.Main.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ProgramExceptions.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ProgramInterface.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ProgramInterface.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -167,7 +177,8 @@ namespace RTT foo = 0; f_it = find(f_it, funcs.end(), foo ); } - // 2. execute all present + // 2. execute all present: DO NOT REMOVE/NULLIFY an element of funcs in other functions ! + // use it->stop() to remove an item from this list. for(std::vector<ProgramInterface*>::iterator it = funcs.begin(); it != funcs.end(); ++it ) if ( *it ) @@ -183,8 +194,10 @@ namespace RTT { if (this->getActivity() && this->getActivity()->isRunning() && f) { f->setProgramProcessor(this); - if ( f->start() == false) + if ( f->start() == false) { + f->setProgramProcessor(0); return false; + } int result = f_queue->enqueue( f ); // signal work is to be done: this->getActivity()->trigger(); @@ -195,10 +208,11 @@ namespace RTT bool ProgramProcessor::removeFunction( ProgramInterface* f ) { + // we can not remove it from the queue, as step() may be accessing this pointer. std::vector<ProgramInterface*>::iterator f_it = find(funcs.begin(), funcs.end(), f ); if ( f_it != funcs.end() ) { - f->setProgramProcessor(0); - *f_it = 0; + f->stop(); + this->getActivity()->trigger(); return true; } return false; src/ProgramProcessor.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -64,6 +74,7 @@ namespace RTT * If you want to change this * policy, subclass the ProgramProcessor and override the virtual * functions, such as step(). + * @ingroup Processor */ class ProgramProcessor : public RunnableInterface src/ProgramProcessor.hpp @@ -1,67 +0,0 @@ -/*************************************************************************** - tag: Peter Soetens Wed Jan 18 14:11:40 CET 2006 ProgramTask.hpp - - ProgramTask.hpp - description - ------------------- - begin : Wed January 18 2006 - copyright : (C) 2006 Peter Soetens - email : peter.soetens@mech.kuleuven.be - - *************************************************************************** - * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * - * Lesser General Public License for more details. * - * * - * You should have received a copy of the GNU Lesser General Public * - * License along with this library; if not, write to the Free Software * - * Foundation, Inc., 59 Temple Place, * - * Suite 330, Boston, MA 02111-1307 USA * - * * - ***************************************************************************/ - - - -#ifndef PROGRAM_TASK_HPP -#define PROGRAM_TASK_HPP - -#include "TaskContext.hpp" -#include "ProgramInterface.hpp" -#include "DataSources.hpp" - -namespace RTT -{ - - /** - * @brief This class represents a program as a task in - * the Orocos TaskContext system. - */ - class ProgramTask - : public TaskContext - { - ValueDataSource<ProgramInterfaceWPtr>::shared_ptr program; - public: - /** - * By constructing this object, a program is added to a taskcontext - * as a TaskContext, with its commands and methods. - */ - ProgramTask( ProgramInterfacePtr, ExecutionEngine* ee = 0 ); - - ~ProgramTask(); - - /** - * Returns the Program of this task. - */ - ProgramInterfacePtr getProgram() const { return program->get().lock(); } - - }; -} - -#endif - - src/ProgramTask.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -33,11 +43,12 @@ */ /** - * @defgroup CoreLibProperties Property (name-value) classes. - * @ingroup CoreLib + * @defgroup CoreLibProperties Property Interface + * @ingroup RTTComponentInterface * Properties can be hierarchically stored and be * introspected for their type and contents. Properties can * be (de-)serialised using Marshallers and Demarshallers. + * */ #include "Property.hpp" src/Properties.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -86,4 +96,9 @@ namespace RTT { pbi->introspect( *this ); } + void PropertyIntrospection::introspect(PropertyBase* p ) + { + p->identify( this ); + } + } src/Property.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -66,6 +76,7 @@ namespace RTT * * @param T The type of the data contained within the Property. * @ingroup CoreLibProperties + * @ingroup RTTComponentInterface */ template<typename T> class Property src/Property.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -268,19 +278,11 @@ namespace RTT bool updateProperties(PropertyBag& target, const PropertyBag& source) { // check type consistency... - // this was probably intended to convert old xml formats to new ones. - // but deleting in target seems just very wrong... -#if 0 - if ( target.getType() != source.getType() ) { - // if different types, discard the old contents and - // put in the new contents... - // update type info... - // delete old type contents... - flattenPropertyBag(target); - deleteProperties(target); - // now continue 'updating' + // if the target is typed, it is replaced by source. + if ( !(target.getType() == "" || target.getType() == "type_less") ) { + log(Debug) << "Rebuilding typed PropertyBag."<<endlog(); + deletePropertyBag(target); } -#endif target.setType( source.getType() ); @@ -395,6 +397,69 @@ namespace RTT return false; // failure } + bool refreshProperty(PropertyBag& target, const PropertyBag& source, const std::string& name, const std::string& separator) + { + Logger::In in("refreshProperty"); + // this code has been copied&modified from findProperty(). + PropertyBase* source_walker; + PropertyBase* target_walker; + std::string token; + std::string::size_type start = 0; + if ( separator.length() != 0 && name.find(separator) == 0 ) // detect 'root' attribute + start = separator.length(); + std::string::size_type len = name.find(separator, start); + if (len != std::string::npos) { + token = name.substr(start,len-start); + start = len + separator.length(); // reset start to next token. + if ( start >= name.length() ) + start = std::string::npos; + } + else { + token = name.substr(start); + start = std::string::npos; // do not look further. + } + source_walker = source.find(token); + target_walker = target.find(token); + if (source_walker != 0 ) + { + if ( target_walker == 0 ) { + log(Error) << "Property '"<<source_walker->getName()<<"' was not found in target !"<<endlog(); + return false; + } + Property<PropertyBag>* source_walker_bag; + Property<PropertyBag>* target_walker_bag; + source_walker_bag = dynamic_cast<Property<PropertyBag>*>(source_walker); + target_walker_bag = dynamic_cast<Property<PropertyBag>*>(target_walker); + if ( source_walker_bag != 0 && start != std::string::npos ) { + if ( target_walker_bag == 0 ) { + log(Error) << "Property '"<<target_walker->getName()<<"' is not a PropertyBag !"<<endlog(); + return false; + } + return refreshProperty( target_walker_bag->value(), source_walker_bag->rvalue(), name.substr( start ), separator );// a bag so search recursively + } + else { + // found it, refresh ! + if (target_walker->refresh(source_walker) == false ) { + // try composition: + if ( target_walker->getTypeInfo()->composeType( source_walker->getDataSource(), target_walker->getDataSource() ) == false ) { + log(Error) << "Could not refresh nor compose Property " + << target_walker->getType() << " "<< target_walker->getName() + << ": type mismatch, can not refresh with type " + << source_walker->getType() << Logger::endl; + } + } + log(Debug) << "Found Property '"<<target_walker->getName() <<"': refresh done." << endlog(); + return true; + } + } else { + // error wrong path, not present in source ! + log(Error) << "Property '"<< token <<"' is not present in the source PropertyBag !"<<endlog(); + return false; + } + // not reached. + return false; // failure + } + void deleteProperties(PropertyBag& target) { //recursive delete. src/PropertyBag.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -268,7 +278,7 @@ namespace RTT std::string type; }; - /** + /* * @defgroup BagOperations Recursive Property Bag Operations. * These functions operate recursively on the contents of bags, * possibly modifying, deleting or creating new Property objects @@ -285,9 +295,10 @@ namespace RTT * \a separator indicating the path in the bag to a property, * omitting the name of the \a bag itself. * @param separator The token to separate properties in the \a path, - * Defaults to "::". + * Defaults to ".". + * @ingroup CoreLibProperties */ - PropertyBase* findProperty(const PropertyBag& bag, const std::string& path, const std::string& separator = std::string("::") ); + PropertyBase* findProperty(const PropertyBag& bag, const std::string& path, const std::string& separator = std::string(".") ); /** * This function refreshes the values of the properties in one PropertyBag with @@ -300,6 +311,7 @@ namespace RTT * @param strict Set to true if each property of \a target must be updated with a property * or \a source. If a property from \a target is not present in \a source, this function * returns false. + * @ingroup CoreLibProperties */ bool refreshProperties(const PropertyBag& target, const PropertyBag& source, bool strict=false); @@ -308,6 +320,7 @@ namespace RTT * @param target The bag in which a property with name source->getName() can be found. * @param source A property which contains a new value for a property with the same * name in \a target. + * @ingroup CoreLibProperties */ bool refreshProperty(const PropertyBag& target, const PropertyBase& source); @@ -319,6 +332,7 @@ namespace RTT * * @param target The bag in which the properties must be copied. * @param source The bag containing properties for \a target. + * @ingroup CoreLibProperties */ bool copyProperties(PropertyBag& target, const PropertyBag& source); @@ -331,6 +345,7 @@ namespace RTT * Use copyProperties if you want complete duplication. * @param target The bag in which the properties must be updated. * @param source The bag containing new values, descriptions or properties for \a target. + * @ingroup CoreLibProperties */ bool updateProperties(PropertyBag& target, const PropertyBag& source); @@ -346,8 +361,24 @@ namespace RTT * @param path The path to a property in \a source (or in a sub-bag of \a source), * which must be created or updated in \a target. * @param separator The token to separate properties in the \a path, + * @ingroup CoreLibProperties */ - bool updateProperty(PropertyBag& target, const PropertyBag& source, const std::string& path, const std::string& separator = "::"); + bool updateProperty(PropertyBag& target, const PropertyBag& source, const std::string& path, const std::string& separator = "."); + + /** + * This function refreshes (recursively) the values of a single Property object of one Bag with the + * property of another bag. + * It will \b not create a new Property instances if the Property + * is not present in the target and hence fail in that case. + * + * @param target The bag in which the property exists and must be refreshed. + * @param source The bag containing \a prop as one of its children. + * @param path The path to a property in \a source (or in a sub-bag of \a source), + * which must be created or updated in \a target. + * @param separator The token to separate properties in the \a path, + * @ingroup CoreLibProperties + */ + bool refreshProperty(PropertyBag& target, const PropertyBag& source, const std::string& path, const std::string& separator = "."); /** * This function iterates over a PropertyBag and deletes all Property objects in @@ -355,6 +386,7 @@ namespace RTT * * @post All objects in this bag are deleted and no elements reside in the bag * anymore. + * @ingroup CoreLibProperties */ void deleteProperties(PropertyBag& target); @@ -363,6 +395,7 @@ namespace RTT * * @post All objects in this bag (and possible subbags) are deleted and no elements reside in the bag * anymore. + * @ingroup CoreLibProperties */ void deletePropertyBag(PropertyBag& target); @@ -373,8 +406,9 @@ namespace RTT * in that bag is also a bag, the same operation is performed recursively. * So any bag in \a target will show up at the * root of \a target with the path prefixed. + * @ingroup CoreLibProperties */ - void flattenPropertyBag(PropertyBag& target, const std::string& separator="::"); + void flattenPropertyBag(PropertyBag& target, const std::string& separator="."); /** * @} src/PropertyBag.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/PropertyBagIntrospector.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/PropertyBagIntrospector.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/PropertyBase.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/PropertyBase.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/PropertyCommands.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -29,11 +39,14 @@ #define PI_PROPERTYINTROSPECTION_HPP #include <string> -#include "Property.hpp" -#include "Logger.hpp" namespace RTT { + class PropertyBase; + class PropertyBag; + + template<class T> + class Property; /** * A simple introspection interface to visit PropertyBags. @@ -78,10 +91,7 @@ namespace RTT : public PropertyBagVisitor { protected: - virtual void introspect(PropertyBase* p ) - { - p->identify( this ); - } + virtual void introspect(PropertyBase* p ); public: virtual ~PropertyIntrospection() @@ -130,17 +140,9 @@ namespace RTT * @see TemplateTypeInfo */ template< class T > - void introspect(Property<T> &v ) - { - Property<PropertyBag> res(v.getName(), v.getDescription() ); - if ( v.getTypeInfo()->decomposeType( v.getDataSource(), res.value() ) ) { - this->introspect( res ); - deletePropertyBag( res.value() ); - }else - Logger::log() << Logger::Warning<< "Could not decompose "<< v.getName() << Logger::endl; - // drop. - } + void introspect(Property<T> &v ); }; } - #endif + +#include "PropertyIntrospection.inl" src/PropertyIntrospection.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -203,7 +213,7 @@ bool PropertyLoader::configure(const std::string& filename, TaskContext* task, c PropertyBag propbag; if ( demarshaller->deserialize( propbag ) ) { - failure = !updateProperty( *(task->properties()), propbag, name ); + failure = !refreshProperty( *(task->properties()), propbag, name ); } else { src/PropertyLoader.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/PropertyLoader.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/PropertySequence.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/PropertySequence.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/RTT.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ReadInterface.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -138,6 +148,64 @@ namespace RTT return *(ptr); } }; + + /** + * See NArityDataSource which requires a function object like + * this one. + */ + struct array_varargs_ctor + { + typedef const std::vector<double>& result_type; + typedef double argument_type; + result_type operator()( const std::vector<double>& args ) const + { + return args; + } + }; + + /** + * Helper DataSource for constructing arrays with a variable number of + * parameters. + */ + typedef NArityDataSource<array_varargs_ctor> ArrayDataSource; + + /** + * Constructs an array with \a n elements, which are given upon + * construction time. + */ + struct ArrayBuilder + : public TypeBuilder + { + virtual DataSourceBase::shared_ptr build(const std::vector<DataSourceBase::shared_ptr>& args) const { + if (args.size() == 0 ) + return DataSourceBase::shared_ptr(); + ArrayDataSource::shared_ptr vds = new ArrayDataSource(); + for(unsigned int i=0; i != args.size(); ++i) { + DataSource<double>::shared_ptr dsd = AdaptDataSource<double>()( args[i] ); + if (dsd) + vds->add( dsd ); + else + return DataSourceBase::shared_ptr(); + } + return vds; + } + + }; + + struct array_ctor2 + : public std::binary_function<int, double, const std::vector<double>&> + { + typedef const std::vector<double>& (Signature)( int, double ); + mutable boost::shared_ptr< std::vector<double> > ptr; + array_ctor2() + : ptr( new std::vector<double>() ) {} + const std::vector<double>& operator()( int size, double value ) const + { + ptr->resize( size ); + ptr->assign( size, value ); + return *(ptr); + } + }; #endif struct string_ctor @@ -208,6 +276,8 @@ namespace RTT #ifndef ORO_EMBEDDED ti->type("array")->addConstructor( newConstructor( array_ctor() ) ); + ti->type("array")->addConstructor( newConstructor( array_ctor2() ) ); + ti->type("array")->addConstructor( new ArrayBuilder() ); // var number of args #endif ti->type("string")->addConstructor( newConstructor( string_ctor() ) ); return true; src/RealTimeToolkit.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/RealTimeToolkit.hpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:09 CET 2006 RemoteCommand.hpp + + RemoteCommand.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_REMOTE_COMMAND_HPP #define ORO_REMOTE_COMMAND_HPP @@ -6,6 +44,7 @@ #include "DispatchInterface.hpp" #include "CommandProcessor.hpp" #include "CommandFunctors.hpp" +#include "CommandBase.hpp" #include "DataSourceStorage.hpp" #include "Invoker.hpp" src/RemoteCommand.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/RunnableInterface.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ScriptingAccess.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/ScriptingAccess.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/Signal.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/SimulationActivity.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/SimulationActivity.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/SimulationThread.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/SimulationThread.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/SingleList.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/SlaveActivity.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/SlaveActivity.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/SortedList.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/StateDescription.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/StateDescription.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/StateInterface.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/StateMachine.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/StateMachine.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/StateMachineProcessor.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -53,6 +63,7 @@ namespace RTT * If you want to change this policy, subclass the * StateMachineProcessor and override the virtual functions, such * as step(). + * @ingroup Processor */ class StateMachineProcessor : public RunnableInterface src/StateMachineProcessor.hpp @@ -1,79 +0,0 @@ -/*************************************************************************** - tag: Peter Soetens Wed Jan 18 14:11:40 CET 2006 StateMachineTask.hpp - - StateMachineTask.hpp - description - ------------------- - begin : Wed January 18 2006 - copyright : (C) 2006 Peter Soetens - email : peter.soetens@mech.kuleuven.be - - *************************************************************************** - * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * - * Lesser General Public License for more details. * - * * - * You should have received a copy of the GNU Lesser General Public * - * License along with this library; if not, write to the Free Software * - * Foundation, Inc., 59 Temple Place, * - * Suite 330, Boston, MA 02111-1307 USA * - * * - ***************************************************************************/ - - - -#ifndef STATEMACHINE_TASK_HPP -#define STATEMACHINE_TASK_HPP - -#include "TaskContext.hpp" -#include "StateMachine.hpp" - -namespace RTT -{ - class StateMachineTask; - typedef boost::shared_ptr<StateMachineTask> StateMachineTaskPtr; - - /** - * @brief This class represents a stateMachine as a task in - * the Orocos TaskContext system. - */ - class StateMachineTask - : public TaskContext - { - //boost::weak_ptr<StateMachine> sm; - // used when state machines are copied. - // functions have a similar mechanism - ValueDataSource< StateMachineWPtr >::shared_ptr _this; - //VariableDataSource<StateMachineTask*> _this; - bool true_gen() const; - - void createCommandFactory(); - void createMethodFactory(); - - public: - StateMachineTask* copy(StateMachinePtr newsc, std::map<const DataSourceBase*, DataSourceBase*>& replacements, bool instantiate ); - - /** - * By constructing this object, a stateMachine is added to a taskcontext - * as a TaskContext, with its commands and methods. - */ - StateMachineTask(StateMachinePtr statemachine, ExecutionEngine* ee=0); - - ~StateMachineTask(); - - /** - * Returns the StateMachine of this task. - */ - StateMachinePtr getStateMachine() const { return _this->get().lock(); } - - }; -} - -#endif - - src/StateMachineTask.hpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:05:56 CET 2006 Subscriber.hpp + + Subscriber.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_CORELIB_SUBSCRIBER_BASE_HPP #define ORO_CORELIB_SUBSCRIBER_BASE_HPP src/Subscriber.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -148,12 +158,10 @@ namespace RTT for (DataFlowInterface::Ports::iterator it = myports.begin(); it != myports.end(); ++it) { - if ( this->getObject( (*it)->getName() ) == 0 ) { - // Add the port to the method interface. - OperationInterface* ms = (*it)->createPortObject(); - if ( ms ) - this->addObject( ms ); - } + // Add the port to the method interface. + OperationInterface* ms = this->ports()->createPortObject((*it)->getName()); + if ( ms ) + this->addObject( ms ); } } src/TaskContext.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/TaskContext.hpp @@ -1,18 +1,58 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:05 CET 2006 TaskContexts.hpp -/** - * @file TaskContexts.hpp - * This file includes the common header files from the - * RTT task context package. - */ + TaskContexts.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + /** - * @defgroup RTTComponentInterface Task Context interface classes. - * @ingroup RTTComponent + * @file TaskContexts.hpp * The TaskContext class is the fundamental building block for * creating Orocos components. This header includes the TaskContext * header and the header for each interface primitive. */ +/** + * @defgroup RTTComponentInterface Task Context Interface + * @ingroup CompModel + * The TaskContext can be 'decorated' with a number of interface classes. + * Each interface class serves a specific type of communication in + * a control application. Being it configuration, data communication or + * execution of functionality. + */ + #include "TaskContext.hpp" #include "Command.hpp" #include "Method.hpp" src/TaskContexts.hpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:07 CET 2006 TaskCore.hpp + + TaskCore.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_TASK_CORE_HPP #define ORO_TASK_CORE_HPP @@ -56,10 +94,10 @@ namespace RTT /** * Function where the user must insert his 'application' code. - * When the ExecutionEngine's Task is a PeriodicTask, this + * When the ExecutionEngine's Activity is a PeriodicActivity, this * function is called by the ExecutionEngine in each periodic * step after all command, event,... processors. When it's Task is a - * TaskNonPeriodic, this function is called after an Event or + * NonPeriodicActivity, this function is called after an Event or * Command is received and executed. It should not loop * forever, since no commands or events are processed when * this function executes. The default implementation is an src/TaskCore.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/TemplateTypeInfo.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -32,7 +42,6 @@ /** * @defgroup CoreLibTime Time measurement classes. - * @ingroup CoreLib * Time measurement and time keeping. */ src/Time.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/TimerInterface.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/TimerLockFree.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/TimerLockFree.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/TimerOneShot.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/TimerOneShot.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/TimerSequencer.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/TimerSequencer.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/TimerThread.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -50,7 +60,7 @@ namespace RTT /** * TimerThread objects are reference counted such that - * when the last PeriodicTask which uses it is deleted, + * when the last PeriodicActivity which uses it is deleted, * the thread is deleted as well. */ typedef boost::shared_ptr<TimerThread> TimerThreadPtr; src/TimerThread.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/Toolkit.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/Toolkit.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/TryCommand.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/TryCommand.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/TypeInfoName.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/TypeStream.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/TypeStream.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -70,6 +80,9 @@ namespace RTT { namespace RTT { + using namespace std; + using namespace detail; + AttributeBase* TypeInfo::buildVariable(std::string name, int ) const { return this->buildVariable(name); } src/Types.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/Types.hpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:07 CET 2006 UnMember.hpp + + UnMember.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_UN_MEMBER_HPP #define ORO_UN_MEMBER_HPP @@ -8,6 +46,7 @@ #include <boost/mpl/vector.hpp> #include <boost/mpl/back.hpp> #include <boost/mpl/int.hpp> +#include <boost/type_traits.hpp> #include <boost/function_types/function_type.hpp> #include <boost/function_types/function_type_signature.hpp> src/UnMember.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/VectorComposition.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/VectorComposition.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/VertexNode.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/VertexNode.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/WriteInterface.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/corba/ActionProxy.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/corba/ActionProxy.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/corba/ApplicationServer.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/corba/ApplicationServer.hpp @@ -10,6 +10,7 @@ module RTT /** * Exposes both attributes and properties * of a task as Expression objects. + * @ingroup CompIDL */ interface AttributeInterface { src/corba/Attributes.idl @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/corba/AttributesI.h @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/corba/CORBAExpression.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/corba/CommandProxy.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/corba/CommandProxy.hpp @@ -30,6 +30,7 @@ module RTT /** * An Orocos TaskObject which hosts a method and command * interface. + * @ingroup CompIDL */ interface ControlObject { @@ -65,6 +66,21 @@ module RTT typedef sequence<string> ControlTaskNames; /** + * Start this component. + */ + boolean start(); + + /** + * Stop this component. + */ + boolean stop(); + + /** + * Is this component running ? + */ + boolean isRunning(); + + /** * Query the properties of this interface as a CosPropertyService::PropertySet. */ CosPropertyService::PropertySet propertySet(); src/corba/ControlTask.idl @@ -138,6 +138,34 @@ Orocos_ControlTask_i::~Orocos_ControlTask_i (void) { } +CORBA::Boolean Orocos_ControlTask_i::start ( + ) + ACE_THROW_SPEC (( + CORBA::SystemException + )) +{ + return mtask->start(); +} + +CORBA::Boolean Orocos_ControlTask_i::stop ( + ) + ACE_THROW_SPEC (( + CORBA::SystemException + )) +{ + return mtask->stop(); +} + +CORBA::Boolean Orocos_ControlTask_i::isRunning ( + ) + ACE_THROW_SPEC (( + CORBA::SystemException + )) +{ + return mtask->isRunning(); +} + + ::CosPropertyService::PropertySet_ptr Orocos_ControlTask_i::propertySet ( ) @@ -254,12 +282,24 @@ Orocos_ControlTask_i::~Orocos_ControlTask_i (void) )) { std::string pname(name); + // detect 'this': + if ( pname == "this" ) + return this->_this(); + + // Cache other objects OperationInterface* task = mtask->getObject( pname ); if ( task ) { - // create or lookup new server for this object. - Orocos_ControlObject_i* ret = new Orocos_ControlObject_i(task, mpoa.in() ); + // do caching.... + Orocos_ControlObject_i* ret; + if ( ctobjmap[pname] == 0 ) { + // create or lookup new server for this object. + ctobjmap[pname] = new Orocos_ControlObject_i(task, mpoa.in() ); + } + ret = ctobjmap[pname]; return ret->_this(); } + // clear cache if possible. + ctobjmap.erase( pname ); return 0; } src/corba/ControlTaskI.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -137,6 +147,7 @@ protected: ::RTT::Corba::ScriptingAccess_var mEEFact; ::RTT::Corba::ServiceInterface_var mService; ::RTT::Corba::DataFlowInterface_var mDataFlow; + std::map<std::string, Orocos_ControlObject_i*> ctobjmap; public: //Constructor Orocos_ControlTask_i (RTT::TaskContext* orig, PortableServer::POA_ptr the_poa); @@ -145,6 +156,28 @@ public: virtual ~Orocos_ControlTask_i (void); void shutdownCORBA(); + + virtual + CORBA::Boolean start ( + ) + ACE_THROW_SPEC (( + CORBA::SystemException + )); + + virtual + CORBA::Boolean stop ( + ) + ACE_THROW_SPEC (( + CORBA::SystemException + )); + + virtual + CORBA::Boolean isRunning ( + ) + ACE_THROW_SPEC (( + CORBA::SystemException + )); + virtual ::CosPropertyService::PropertySet_ptr propertySet ( src/corba/ControlTaskI.h @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -379,6 +389,24 @@ namespace RTT return 0; } + bool ControlTaskProxy::start() { + if (mtask) + return mtask-start(); + return false; + } + + bool ControlTaskProxy::stop() { + if (mtask) + return mtask-stop(); + return false; + } + + bool ControlTaskProxy::isRunning() const { + if (mtask) + return mtask->isRunning(); + return false; + } + bool ControlTaskProxy::executeCommand( CommandInterface* c) { return false; src/corba/ControlTaskProxy.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -57,6 +67,7 @@ namespace RTT * This class manages the access of remote TaskContext Corba Servers * and a Corba Object Request Broker (Orb) which connects to these * servers. + * @ingroup CompIDL */ class ControlTaskProxy : public TaskContext, @@ -125,6 +136,12 @@ namespace RTT */ Corba::ControlTask_ptr server() const; + virtual bool start(); + + virtual bool stop(); + + virtual bool isRunning() const; + virtual bool executeCommand( CommandInterface* c); virtual int queueCommand( CommandInterface* c); src/corba/ControlTaskProxy.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/corba/ControlTaskServer.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -44,6 +54,7 @@ namespace RTT * This class manages the creation of TaskContext Corba Servers * and a Corba Object Request Broker (Orb) which executes the servers. * The Orb may be run from the main thread or in its own thread. + * @ingroup CompIDL */ class ControlTaskServer : public ApplicationServer src/corba/ControlTaskServer.hpp @@ -1,3 +1,46 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:17 CET 2006 Corba.hpp + + Corba.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + + +/** + * @defgroup CompIDL Component IDL and Corba Setup + * IDL interface of Orocos Components and setup classes + */ namespace RTT { src/corba/Corba.hpp @@ -1 +1,39 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:20 CET 2006 CorbaBuffer.cpp + + CorbaBuffer.cpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #include "CorbaBuffer.hpp" src/corba/CorbaBuffer.cpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:18 CET 2006 CorbaBuffer.hpp + + CorbaBuffer.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_CORBA_BUFFER_HPP #define ORO_CORBA_BUFFER_HPP src/corba/CorbaBuffer.hpp @@ -1 +1,39 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:21 CET 2006 CorbaBufferProxy.cpp + + CorbaBufferProxy.cpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #include "CorbaBufferProxy.hpp" src/corba/CorbaBufferProxy.cpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:20 CET 2006 CorbaBufferProxy.hpp + + CorbaBufferProxy.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_CORBA_BUFFER_PROXY_HPP #define ORO_CORBA_BUFFER_PROXY_HPP src/corba/CorbaBufferProxy.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/corba/CorbaCommandFactory.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/corba/CorbaConversion.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/corba/CorbaConversion.hpp @@ -1 +1,39 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:21 CET 2006 CorbaDataObject.cpp + + CorbaDataObject.cpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #include "CorbaDataObject.hpp" src/corba/CorbaDataObject.cpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:19 CET 2006 CorbaDataObject.hpp + + CorbaDataObject.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_CORBA_DATAOBJECT_HPP #define ORO_CORBA_DATAOBJECT_HPP src/corba/CorbaDataObject.hpp @@ -1 +1,39 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:21 CET 2006 CorbaDataObjectProxy.cpp + + CorbaDataObjectProxy.cpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #include "CorbaDataObjectProxy.hpp" src/corba/CorbaDataObjectProxy.cpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:19 CET 2006 CorbaDataObjectProxy.hpp + + CorbaDataObjectProxy.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_CORBA_DATAOBJECTPROXY_HPP #define ORO_CORBA_DATAOBJECTPROXY_HPP src/corba/CorbaDataObjectProxy.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/corba/CorbaMethodFactory.hpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:19 CET 2006 CorbaPort.hpp + + CorbaPort.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_CORBA_PORT_HPP #define ORO_CORBA_PORT_HPP src/corba/CorbaPort.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/corba/CosPropertyServiceI.h @@ -13,6 +13,7 @@ module RTT /** * A buffer consists of an event channel and * some query methods for reading the buffer's state. + * @ingroup CompIDL */ interface BufferChannel { @@ -41,6 +42,7 @@ module RTT * of a ControlTask object. Data ports are exported as * assignable expressions (Set/Get). Buffer ports are * exported as buffer channels. + * @ingroup CompIDL */ interface DataFlowInterface { @@ -71,6 +73,15 @@ module RTT BufferChannel createBufferChannel(in string port_name); /** + * Creates a read-only data object which represents the status + * of a Data or Buffer Channel connection. For a DataChannel, it returns the + * current value, for a BufferChannel, it returns the value of + * the front() element. + * If the port is not connected, nill is returned. + */ + Expression createDataObject(in string port_name); + + /** * Check if a port will read from or write to a Channel. */ PortType getPortType(in string port_name); src/corba/DataFlow.idl @@ -89,19 +89,22 @@ RTT_Corba_DataFlowInterface_i::~RTT_Corba_DataFlowInterface_i (void) ci = p->connection(); } - assert(ci); + if ( !ci ) { + RTT::log() << "Failed to create Data Connection for Port: "<< port_name <<endlog(Error); + return 0; + } - RTT::log(Info) << "Creating new channel." << endlog(); CORBA::Object_var ret = ci->toChannel(); if ( CORBA::is_nil( ret ) ) { - RTT::log() << "Could not create DataChannel for Port "<< port_name <<endlog(Error); + RTT::log() << "Could not create DataChannel for Port: "<< port_name <<endlog(Error); return 0; } ::RTT::Corba::AssignableExpression_var ec = ::RTT::Corba::AssignableExpression::_narrow( ret.in() ); if ( ec.in() ) return ec._retn(); - RTT::log() << "Could not create DataChannel for Port "<< port_name <<endlog(Error); + + RTT::log() << "Could not create DataChannel for Port (try BufferChannel ?): "<< port_name <<endlog(Error); return 0; } @@ -123,16 +126,56 @@ RTT_Corba_DataFlowInterface_i::~RTT_Corba_DataFlowInterface_i (void) } else { ci = p->connection(); } + + if ( !ci ) { + RTT::log() << "Failed to create Buffer Connection for Port: "<< port_name <<endlog(Error); + return 0; + } CORBA::Object_var ret = ci->toChannel(); + if ( CORBA::is_nil( ret ) ) { + RTT::log() << "Could not create BufferChannel for Port: "<< port_name <<endlog(Error); + return 0; + } ::RTT::Corba::BufferChannel_var ec = ::RTT::Corba::BufferChannel::_narrow( ret.in() ); if ( ec.in() ) return ec._retn(); - RTT::log() << "Could not create BufferChannel for Port "<< port_name <<endlog(Error); + RTT::log() << "Could not create BufferChannel for Port (try DataChannel?): "<< port_name <<endlog(Error); return 0; } +::RTT::Corba::Expression_ptr RTT_Corba_DataFlowInterface_i::createDataObject ( + const char * port_name + ) + ACE_THROW_SPEC (( + CORBA::SystemException + )) +{ + RTT::Logger::In in("createDataObject"); + // Add your implementation here + PortInterface* p = mdf->getPort(port_name); + if ( p == 0) { + RTT::log() << "No such Port: "<< port_name <<endlog(Error); + return 0; + } + ConnectionInterface::shared_ptr ci; + if ( p->connected() == false) { + RTT::log() << "Can not create DataObject for unconnected Port: "<< port_name <<endlog(Error); + return 0; + } else { + ci = p->connection(); + } + + ::RTT::Corba::Expression_var ret = ci->getDataSource()->server(0); + if ( CORBA::is_nil( ret ) ) { + RTT::log() << "Could not create DataObject for connected Port: "<< port_name <<endlog(Error); + return 0; + } + return ret._retn(); +} + + ::RTT::Corba::DataFlowInterface::PortType RTT_Corba_DataFlowInterface_i::getPortType ( const char * port_name ) src/corba/DataFlowI.cpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:20 CET 2006 DataFlowI.h + + DataFlowI.h - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + // -*- C++ -*- // // $Id$ @@ -207,6 +245,14 @@ public: )); virtual + ::RTT::Corba::Expression_ptr createDataObject ( + const char * port_name + ) + ACE_THROW_SPEC (( + CORBA::SystemException + )); + + virtual ::RTT::Corba::DataFlowInterface::PortType getPortType ( const char * port_name ) src/corba/DataFlowI.h @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/corba/ExpressionProxy.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/corba/ExpressionProxy.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/corba/ExpressionServer.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/corba/ExpressionServer.hpp @@ -1,41 +0,0 @@ -#ifndef ORO_GEOMETRY_IDL -#define ORO_GEOMETRY_IDL - -module RTT -{ - module Corba - { - - typedef sequence<double,3> Vector; - typedef Vector Position; - - typedef sequence<Vector,3> Rotation; - - struct Frame - { - Rotation m; - Position p; - }; - - struct Twist - { - Vector vel; - Vector rot; - }; - - struct Wrench - { - Vector force; - Vector torque; - }; - - typedef sequence<double> JacCol; - - /** - * J[row][col] layout. - */ - typedef sequence<JacCol> Jacobian; - }; -}; - -#endif src/corba/Geometry.idl @@ -1,191 +0,0 @@ -/*************************************************************************** - tag: Peter Soetens Mon Jun 26 13:25:58 CEST 2006 GeometryConversion.hpp - - GeometryConversion.hpp - description - ------------------- - begin : Mon June 26 2006 - copyright : (C) 2006 Peter Soetens - email : peter.soetens@fmtc.be - - *************************************************************************** - * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * - * * - * This library is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * - * Lesser General Public License for more details. * - * * - * You should have received a copy of the GNU Lesser General Public * - * License along with this library; if not, write to the Free Software * - * Foundation, Inc., 59 Temple Place, * - * Suite 330, Boston, MA 02111-1307 USA * - * * - ***************************************************************************/ - - -#ifndef ORO_GEOMETRY_ANYCONVERSION_HPP -#define ORO_GEOMETRY_ANYCONVERSION_HPP - -#include "CorbaConversion.hpp" -#include "GeometryC.h" - -namespace RTT -{ - - template<> - struct AnyConversion<ORO_Geometry::Vector> - { - typedef ORO_Geometry::Vector& StdType; - typedef Corba::Vector CorbaType; - - static bool update(const CORBA::Any& any, StdType tp) { - CorbaType* at; - // at is shallow copy of 'any', so do not delete it. - if (any >>= at ) { - for(size_t i =0; i != 3; ++i) - tp[i] = (*at)[i]; - return true; - } - return false; - } - - static CORBA::Any_ptr createAny( const ORO_Geometry::Vector& tp ) { - CorbaType ta; - for(size_t i =0; i != 3; ++i) - ta[i] = tp[i]; - CORBA::Any_ptr any = new CORBA::Any(); - *any <<= ta; - return any; - } - }; - - template<> - struct AnyConversion<ORO_Geometry::Rotation> - { - typedef ORO_Geometry::Rotation& StdType; - typedef Corba::Rotation CorbaType; - - static bool update(const CORBA::Any& any, StdType tp) { - CorbaType* at; - // at is shallow copy of 'any', so do not delete it. - if (any >>= at ) { - for(size_t i =0; i != 3; ++i) - for (size_t j=0; j != 3; ++j ) - tp(i,j) = (*at)[i][j]; - return true; - } - return false; - } - - static CORBA::Any_ptr createAny( const ORO_Geometry::Rotation& tp ) { - CorbaType ta; - for(size_t i =0; i != 3; ++i) - for (size_t j=0; j != 3; ++j ) - ta[i][j] = tp(i,j); - CORBA::Any_ptr any = new CORBA::Any(); - *any <<= ta; - return any; - } - }; - - template<> - struct AnyConversion<ORO_Geometry::Frame> - { - typedef ORO_Geometry::Frame& StdType; - typedef Corba::Frame CorbaType; - - static bool update(const CORBA::Any& any, StdType tp) { - CorbaType* at; - // at is shallow copy of 'any', so do not delete it. - if (any >>= at ) { - for(size_t i =0; i != 3; ++i) { - tp.p[i] = at->p[i]; - for (size_t j=0; j != 3; ++j ) - tp.M(i,j) = at->m[i][j]; - } - return true; - } - return false; - } - - static CORBA::Any_ptr createAny( const ORO_Geometry::Frame& tp ) { - CorbaType ta; - for(size_t i =0; i != 3; ++i) { - ta.p[i] = tp.p[i]; - for (size_t j=0; j != 3; ++j ) - ta.m[i][j] = tp.M(i,j); - } - CORBA::Any_ptr any = new CORBA::Any(); - *any <<= ta; - return any; - } - }; - - template<> - struct AnyConversion<ORO_Geometry::Twist> - { - typedef ORO_Geometry::Twist& StdType; - typedef Corba::Twist CorbaType; - - static bool update(const CORBA::Any& any, StdType tp) { - CorbaType* at; - // at is shallow copy of 'any', so do not delete it. - if (any >>= at ) { - for(size_t i =0; i != 3; ++i) { - tp.vel[i] = at->vel[i]; - tp.rot[i] = at->rot[i]; - } - return true; - } - return false; - } - - static CORBA::Any_ptr createAny( const ORO_Geometry::Twist& tp ) { - CorbaType ta; - for(size_t i =0; i != 3; ++i) { - ta.vel[i] = tp.vel[i]; - ta.rot[i] = tp.rot[i]; - } - CORBA::Any_ptr any = new CORBA::Any(); - *any <<= ta; - return any; - } - }; - - template<> - struct AnyConversion<ORO_Geometry::Wrench> - { - typedef ORO_Geometry::Wrench& StdType; - typedef Corba::Wrench CorbaType; - - static bool update(const CORBA::Any& any, StdType tp) { - CorbaType* at; - // at is shallow copy of 'any', so do not delete it. - if (any >>= at ) { - for(size_t i =0; i != 3; ++i) { - tp.force[i] = at->force[i]; - tp.torque[i] = at->torque[i]; - } - return true; - } - return false; - } - - static CORBA::Any_ptr createAny( const ORO_Geometry::Wrench& tp ) { - CorbaType ta; - for(size_t i =0; i != 3; ++i) { - ta.force[i] = tp.force[i]; - ta.torque[i] = tp.torque[i]; - } - CORBA::Any_ptr any = new CORBA::Any(); - *any <<= ta; - return any; - } - }; - -} - -#endif src/corba/GeometryConversion.hpp @@ -32,6 +32,7 @@ module RTT /** * A Method interface delivers objects which contain expressions. + * @ingroup CompIDL */ interface MethodInterface { @@ -77,6 +78,7 @@ module RTT /** * A Command interface delivers objects which contain asynchronous commands. + * @ingroup CompIDL */ interface CommandInterface { src/corba/OperationInterface.idl @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/corba/OperationInterfaceI.h @@ -25,6 +25,7 @@ module RTT /** * An expression is an object which returns a value. + * @ingroup CompIDL */ interface Expression { @@ -61,6 +62,11 @@ module RTT string getTypeName(); /** + * Return the result of value() as a text string. + */ + string toString(); + + /** * Call this method to free this object. */ void destroyExpression(); @@ -70,6 +76,7 @@ module RTT * An expression of which the result can be set to * a value. An simple example is an expression consisting of * only a variable. + * @ingroup CompIDL */ interface AssignableExpression : Expression { @@ -119,6 +126,7 @@ module RTT /** * A method is both an Expression and an Action. + * @ingroup CompIDL */ interface Method : Expression, Action { @@ -128,6 +136,7 @@ module RTT * A command consists of an action to be * executed remotely and a condition, to be * evaluated remotely. + * @ingroup CompIDL */ interface Command { src/corba/Operations.idl @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -147,6 +157,17 @@ public: } virtual + char * toString ( + + ) + ACE_THROW_SPEC (( + CORBA::SystemException + )) { + std::string result = morig->toString(); + return CORBA::string_dup( result.c_str() ); + } + + virtual char * getTypeName ( ) @@ -243,6 +264,18 @@ public: } virtual + char * toString ( + + ) + ACE_THROW_SPEC (( + CORBA::SystemException + )) { + std::string result = morig->toString(); + return CORBA::string_dup( result.c_str() ); + } + + + virtual char * getTypeName ( ) @@ -267,14 +300,14 @@ class Orocos_Expression_i<void> public virtual PortableServer::RefCountServantBase { protected: - RTT::DataSource<void>::const_ptr morig; + RTT::DataSource<void>::shared_ptr morig; PortableServer::POA_var mpoa; public: typedef void SourceType; typedef void ResultType; // Constructor - Orocos_Expression_i (RTT::DataSource<void>::const_ptr orig, PortableServer::POA_ptr the_poa) + Orocos_Expression_i (RTT::DataSource<void>::shared_ptr orig, PortableServer::POA_ptr the_poa) : morig( orig ), mpoa( PortableServer::POA::_duplicate(the_poa) ) {} @@ -329,6 +362,17 @@ public: } virtual + char * toString ( + + ) + ACE_THROW_SPEC (( + CORBA::SystemException + )) { + std::string result = morig->toString(); + return CORBA::string_dup( result.c_str() ); + } + + virtual char * getTypeName ( ) @@ -432,6 +476,17 @@ public: } virtual + char * toString ( + + ) + ACE_THROW_SPEC (( + CORBA::SystemException + )) { + std::string result = massign->toString(); + return CORBA::string_dup( result.c_str() ); + } + + virtual char * getTypeName ( ) @@ -491,7 +546,7 @@ class Orocos_Expression_i<bool> public virtual PortableServer::RefCountServantBase { protected: - RTT::DataSource<bool>::const_ptr morig; + RTT::DataSource<bool>::shared_ptr morig; RTT::DataSource<bool>::value_t last_value; PortableServer::POA_var mpoa; public: @@ -499,7 +554,7 @@ public: typedef bool ResultType; // Constructor - Orocos_Expression_i (RTT::DataSource<bool>::const_ptr orig, PortableServer::POA_ptr the_poa) + Orocos_Expression_i (RTT::DataSource<bool>::shared_ptr orig, PortableServer::POA_ptr the_poa) : morig( orig ), last_value(), mpoa( PortableServer::POA::_duplicate(the_poa) ) {} @@ -554,6 +609,17 @@ public: } virtual + char * toString ( + + ) + ACE_THROW_SPEC (( + CORBA::SystemException + )) { + std::string result = morig->toString(); + return CORBA::string_dup( result.c_str() ); + } + + virtual char * getTypeName ( ) @@ -650,6 +716,17 @@ public: } virtual + char * toString ( + + ) + ACE_THROW_SPEC (( + CORBA::SystemException + )) { + std::string result = massign->toString(); + return CORBA::string_dup( result.c_str() ); + } + + virtual char * getTypeName ( ) src/corba/OperationsI.h @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:20 CET 2006 POAUtility.cpp + + POAUtility.cpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #include "POAUtility.h" src/corba/POAUtility.cpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:17 CET 2006 POAUtility.h + + POAUtility.h - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef RTT_CORBA_POAUTILITY_H_ #define RTT_CORBA_POAUTILITY_H_ src/corba/POAUtility.h @@ -11,6 +11,7 @@ module RTT /** * This interface provides easy access to * a task's programs and state machines. + * @ingroup CompIDL */ interface ScriptingAccess { src/corba/ScriptingAccess.idl @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/corba/ScriptingAccessI.h @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -42,7 +52,7 @@ namespace RTT { } - int ScriptingAccessProxy::execute( string code ) { + int ScriptingAccessProxy::execute( const string& code ) { return msa->execute( code.c_str() ); } src/corba/ScriptingAccessProxy.cpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -55,7 +65,7 @@ namespace RTT using ScriptingAccess::loadPrograms; using ScriptingAccess::loadStateMachines; - virtual int execute( std::string code ); + virtual int execute( const std::string& code ); virtual CommandC getCommand( int ticket ); virtual bool hasProgram( std::string name) const; src/corba/ScriptingAccessProxy.hpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:18 CET 2006 Services.hpp + + Services.hpp - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_CORBA_SERVICES_HPP #define ORO_CORBA_SERVICES_HPP src/corba/Services.hpp @@ -1,3 +1,41 @@ +/*************************************************************************** + tag: FMTC do nov 2 13:06:18 CET 2006 ServicesI.h + + ServicesI.h - description + ------------------- + begin : do november 02 2006 + copyright : (C) 2006 FMTC + email : peter.soetens@fmtc.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + #ifndef ORO_CORBA_SERVICES_I_HPP #define ORO_CORBA_SERVICES_I_HPP src/corba/ServicesI.h @@ -10,16 +10,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -51,6 +61,7 @@ namespace RTT * * Unit (MU) : Unit of what is actually read on the analog channel (e.g. Volt) * + * @ingroup DeviceInterface */ template < class T> class AnalogInInterface src/dev/AnalogInInterface.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -40,6 +50,7 @@ namespace RTT * * @param InputType The type (int, unsigned int, double,...) * in which data is sent to the board. + * @ingroup DeviceInterface */ template< class InputType > class AnalogInput src/dev/AnalogInput.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -51,6 +61,7 @@ namespace RTT * * Measurement Unit (MU) : Unit of what is actually read on the analog channel (e.g. Volt) * + * @ingroup DeviceInterface */ template < class T> class AnalogOutInterface src/dev/AnalogOutInterface.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -40,6 +50,7 @@ namespace RTT * * @param OutputType The type (int, unsigned int, double,...) * in which data is sent to the board. + * @ingroup DeviceInterface */ template< class OutputType > class AnalogOutput src/dev/AnalogOutput.hpp @@ -1,15 +1,25 @@ /*************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * src/dev/AxisInterface.cpp @@ -42,6 +42,7 @@ namespace RTT /** * The AxisInterface represents an axis from a control * point of view + * @ingroup DeviceInterface */ class AxisInterface { src/dev/AxisInterface.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -34,6 +44,7 @@ namespace RTT * @brief A class which will calibrate a sensor. It is * useful for making 'calibration' objects. * @see SensorInterface + * @ingroup DeviceInterface */ class CalibrationInterface { src/dev/CalibrationInterface.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -26,15 +36,15 @@ ***************************************************************************/ /** - * @defgroup DeviceInterface Abstract Device Interfaces + * @defgroup DeviceInterface Device Interfaces * @brief Abstraction APIs for hardware devices ('cards') such as IO, counters, * but also logical devices like Encoders and generic Sensors. * * The Orocos Device Interface classes are DigitalInInterface, DigitalOutInterface, * AnalogInInterface, AnalogOutInterface, SensorInterface, EncoderInterface,... * - * Only header files are found in this package, and NameServer functionality. + * Only header files are found in this package. In order to decouple device creation + * and device location, some classes have been extended with a (process-local) nameserver. + * See the NameServer class. * - * The device interfaces are documented in <a href="../../orocos-device-interface.html"> - * The Orocos Device Interface Online Manual</a> */ src/dev/DeviceInterface.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -39,6 +49,7 @@ namespace RTT * maximum of 32 bits can be read at once. When there are N * bits, the bits are numbered from Zero to N-1. * @see TemplateDigitalIn + * @ingroup DeviceInterface */ class DigitalInInterface : private NameServerRegistrator<DigitalInInterface*> src/dev/DigitalInInterface.hpp @@ -9,16 +9,26 @@ *************************************************************************** * This library is free software; you can redistribute it and/or * - * modify it under the terms of the GNU Lesser General Public * - * License as published by the Free Software Foundation; either * - * version 2.1 of the License, or (at your option) any later version. * + * modify it under the terms of the GNU General Public * + * License as published by the Free Software Foundation; * + * version 2 of the License. * + * * + * As a special exception, you may use this file as part of a free * + * software library without restriction. Specifically, if other files * + * instantiate templates or use macros or inline functions from this * + * file, or you compile this file and link it with other files to * + * produce an executable, this file does not by itself cause the * + * resulting executable to be covered by the GNU General Public * + * License. This exception does not however invalidate any other * + * reasons why the executable file might be covered by the GNU General * + * Public License. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * * Lesser General Public License for more details. * * * - * You should have received a copy of the GNU Lesser General Public * + * You should have received a copy of the GNU General Public * * License along with this library; if not, write to the Free Software * * Foundation, Inc., 59 Temple Place, * * Suite 330, Boston, MA 02111-1307 USA * @@ -38,6 +48,7 @@ namespace RTT * or as a 'virtual' switch in which case the on/off state is stored * in an external boolean variable supplied to the constructor. * @see also DigitalOutput + * @ingroup DeviceInterface */ class DigitalInput { src/dev/DigitalInput.hpp @@ -9,16 +9,26 @@ ***********************************************************