00001
00002 #include "deployment/DeploymentComponent.hpp"
00003 #include "taskbrowser/TaskBrowser.hpp"
00004 #include <rtt/InputPort.hpp>
00005 #include <rtt/os/main.h>
00006 #include <rtt/RTT.hpp>
00007 #include <vector>
00008
00009 using namespace Orocos;
00010
00011 class MyTask
00012 : public RTT::TaskContext
00013 {
00014 public:
00015 Property<std::vector<double> > limits;
00016 InputPort<double> p1;
00017 OutputPort<double> p2;
00018 OutputPort<double> p3;
00019 Attribute<double> a;
00020
00021 MyTask(std::string n)
00022 : RTT::TaskContext(n),
00023 limits("limits","desc", std::vector<double>(2) ),
00024 p1("p1"),
00025 p2("p2"),
00026 p3("p3"),
00027 a("a")
00028 {
00029 this->properties()->addProperty( limits);
00030 this->ports()->addPort( p1 );
00031 this->ports()->addPort( p2 );
00032 this->ports()->addPort( p3 );
00033 this->addAttribute( a );
00034 limits.set()[0] = 10;
00035 limits.set()[1] = 20;
00036 }
00037 };
00038
00039 int ORO_main(int, char**)
00040 {
00041 MyTask t1("ComponentA");
00042 MyTask t2("ComponentB");
00043
00044 {
00045 DeploymentComponent dc;
00046 dc.addPeer( &t1 );
00047 dc.addPeer( &t2 );
00048 dc.kickStart("deployment.cpf");
00049 TaskBrowser tb(&dc);
00050
00051 tb.loop();
00052 }
00053 return 0;
00054 }
