RTC Component Library

Provides basic RTC component functionality. More...

Files
file	commandReplier.cpp
	Implementation of the CommandReplier class.
file	commandRequestor.cpp
	Implementation of the CommandRequestor class.
file	commandReplier.hpp
	Receive commands via MAL.
file	commandRequestor.hpp
	Send commands using MAL.
file	introspectionImpl.hpp
	Implementation of MAL commands for layer 'IntrospectionIf'.
file	loopaware.hpp
	Lifecycle Extension that makes an RTC Component 'Loopaware'.
file	loopCmdsImpl.hpp
	Implementation of MAL commands for layer 'Loopaware'.
file	malEventInjector.hpp
	Provides core functionality of an RTC Component.
file	measCmdsImpl.hpp
	Implementation of MAL commands for layer 'Measurable'.
file	measurable.hpp
	Lifecycle Extension that makes an RTC Component 'Measurable'.
file	model.hpp
	In-memory representation of the state machine model.
file	modelBuilderBase.hpp
	Base class of the ModelBuilder.
file	modelExport.hpp
	Export the state machine model in various formats.
file	modelManipulator.hpp
	Manipulate the in-memory state machine model.
file	optCmdsImpl.hpp
	Implementation of MAL commands for layer 'Optimisable'.
file	optimisable.hpp
	Lifecycle Extension that makes an RTC Component 'Optimisable'.
file	rtcCmdsImpl.hpp
	Implementation of MAL commands for layer 'RtcComponent'.
file	rtcComponent.hpp
	Lifecycle of a basic 'RtcComponent'.
file	rtcComponentArgs.hpp
	Provides argument parsing functionality of an RTC Component.
file	rtcComponentMain.hpp
	Provides core functionality of an RTC Component.
file	runnable.hpp
	Lifecycle Extension that makes an RTC Component 'Runnable'.
file	stateMachineEngine.hpp
	Wrapper around the SCXML State Machine Engine.
file	statePublisher.hpp
	Publishes the stdif state topic via MAL.
file	stateSubscriber.hpp
	Subscribes to stdif state topic via MAL.
file	stdCmdsImpl.hpp
	Implementation of MAL commands for layer 'StdComponent'.
file	stdComponent.hpp
	Lifecycle of the 'Standard Component'.
file	suspCmdsImpl.hpp
	Implementation of MAL commands for layer 'Suspendable'.
file	suspendable.hpp
	Lifecycle Extension that makes a 'Loopaware' RTC Component 'Suspendable'.
file	utils.hpp
	Various utilities for Life Cycle Extension.
file	modelExport.cpp
	Implementation of the state machine model export.
file	modelManipulator.cpp
	Implementation of the state machine ModelManiplulator class.
file	rtcComponentArgs.cpp
	Provides argument parsing functionality of an RTC Component.
file	stateMachineEngine.cpp
	Implementation of the wrapper around the rad StateMachineEngine.
file	statePublisher.cpp
	Implementation of the StatePublisher class.
file	stateSubscriber.cpp
	Implementation of the StateSubscriber class.
file	threadActivity.cpp
	Implementation of the ThreadActivity class.
file	threadActivity.hpp
	A thread-based activity class.

Classes
struct	rtctk::componentFramework::Loopaware< Super >
	Life cycle extension to make RtcComponent Loopaware. More...
struct	rtctk::componentFramework::Measurable< Super >
	Life cycle extension to make RtcComponent Measurable. More...
struct	rtctk::componentFramework::Optimisable< Super >
	Life cycle extension to make RtcComponent Optimisable. More...
struct	rtctk::componentFramework::RtcComponent
	Basic life cycle for RtcComponent. More...
struct	rtctk::componentFramework::StdComponent
	Basic life cycle for StdComponent. More...
struct	rtctk::componentFramework::Suspendable< Super >
	Life cycle extension to make Loopaware RtcComponent Suspendable. More...

Functions
void	RtcComponentMain (const rtctk::componentFramework::Args &args)
	Main entry point for user code, this method must be implemented by component developers.
template<class BL, class BLF>
void	rtctk::componentFramework::RunAsRtcComponent (const Args &args, BLF factory)
	RTC Component runner function, needed to run custom BusinessLogic as RTC Component.
template<class BL>
void	rtctk::componentFramework::RunAsRtcComponent (const Args &args)
	RTC Component runner function, needed to run custom BusinessLogic as RTC Component.

Detailed Description

Provides basic RTC component functionality.

Copyright

SPDX 2021-2025 European Southern Observatory (ESO)
SPDX LGPL-3.0-only

Function Documentation

RtcComponentMain()

void RtcComponentMain

(

const rtctk::componentFramework::Args &

args

)

Main entry point for user code, this method must be implemented by component developers.

Parameters

args	opaque arguments class to be passed on to the RTC Component runner function.

Exceptions

various

exceptions, which are caught in main

Main entry point for user code, this method must be implemented by component developers.

The blender requires two correlated DDS topics and constructs one typed shared-memory sample from them.

RunAsRtcComponent() [1/2]

template<class BL>

void rtctk::componentFramework::RunAsRtcComponent

(

const Args &

args

)

RTC Component runner function, needed to run custom BusinessLogic as RTC Component.

Template Parameters

BL,type

specification of logic class, must implement BizLogicIf.

Parameters

args	opaque arguments class to be passed on to the RTC Component class.

Exceptions

various

exceptions, which are caught in main

RunAsRtcComponent() [2/2]

template<class BL, class BLF>

void rtctk::componentFramework::RunAsRtcComponent	(	const Args &	args,
		BLF	factory )

RTC Component runner function, needed to run custom BusinessLogic as RTC Component.

This method allows the defintion of a custom business logic factory to cover cases where the Business Logic class is not constructible with default arguments only.

Template Parameters

BL,type	specification of logic class, must implement BizLogicIf.
BLF,type	specification of business logic factory class.

Parameters

args	opaque arguments class to be passed on to the RTC Component class.
factory	factory class that constructs and returns a BusinessLogic object.

Exceptions

various

exceptions, which are caught in main