main.cpp
Go to the documentation of this file.00001 #include <boost/bind.hpp> 00002 #include <timer/TimerComponent.hpp> 00003 #include <taskbrowser/TaskBrowser.hpp> 00004 00005 #include <rtt/Activity.hpp> 00006 #include <rtt/InputPort.hpp> 00007 #include <iostream> 00008 #include <rtt/os/main.h> 00009 00010 using namespace std; 00011 using namespace Orocos; 00012 using namespace RTT; 00013 00014 class TestTaskContext 00015 : public RTT::TaskContext 00016 { 00017 InputPort<os::Timer::TimerId> receiver; 00018 public: 00019 TestTaskContext(std::string name) 00020 : RTT::TaskContext(name, PreOperational), 00021 receiver("TimerIn") 00022 { 00023 ports()->addEventPort( receiver ); 00024 } 00025 00026 bool configureHook() 00027 { 00028 if ( receiver.connected() ) 00029 log(Info) << this->getName() <<" starts listening for timeout events." << endlog(); 00030 return receiver.connected(); 00031 } 00032 00033 void updateHook() 00034 { 00035 os::Timer::TimerId id; 00036 if (receiver.read(id) == NewData) 00037 log(Info) << this->getName() <<" detects timeout for timer " << id << endlog(); 00038 } 00039 }; 00040 00041 int ORO_main( int argc, char** argv) 00042 { 00043 // Set log level more verbose than default, 00044 // such that we can see output : 00045 if ( RTT::Logger::log().getLogLevel() < RTT::Logger::Info ) { 00046 RTT::Logger::log().setLogLevel( RTT::Logger::Info ); 00047 log(Info) << argv[0] 00048 << " manually raises LogLevel to 'Info' (5). See also file 'orocos.log'."<<endlog(); 00049 } 00050 00051 00052 TimerComponent tcomp("Timer"); 00053 tcomp.setActivity( new RTT::Activity(ORO_SCHED_RT, os::HighestPriority, 0.0) ); 00054 00055 TestTaskContext gtc("Peer"); 00056 gtc.setActivity( new RTT::Activity(ORO_SCHED_RT, os::HighestPriority, 0.1) ); 00057 00058 gtc.ports()->getPort("TimerIn")->connectTo( tcomp.ports()->getPort("timeout")); 00059 00060 TaskBrowser tb( >c ); 00061 00062 gtc.configure(); 00063 gtc.start(); 00064 gtc.addPeer( &tcomp ); 00065 tcomp.configure(); 00066 tcomp.start(); 00067 00068 cout <<endl<< " This demo allows testing the TimerComponent." << endl; 00069 cout << " Use 'Timer.arm(0, 1.5)' to arm timer '0' to end over 1.5 seconds. " <<endl; 00070 cout << " 32 timers are initially available (0..31)." <<endl; 00071 cout << " Other methods (type 'this') are available as well."<<endl; 00072 00073 tb.loop(); 00074 00075 tcomp.stop(); 00076 gtc.stop(); 00077 00078 return 0; 00079 } 00080