HiroStateHolder.h
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00001 // -*- C++ -*-
00007 #ifndef HIROSTATECONVERTER_H
00008 #define HIROSTATECONVERTER_H
00009 
00010 #include <rtm/idl/BasicDataTypeSkel.h>
00011 #include <rtm/Manager.h>
00012 #include <rtm/DataFlowComponentBase.h>
00013 #include <rtm/CorbaPort.h>
00014 #include <rtm/DataInPort.h>
00015 #include <rtm/DataOutPort.h>
00016 
00017 #include <rtm/idl/ExtendedDataTypesSkel.h>
00018 #include "JointDataTypesSkel.h"
00019 
00020 // Service implementation headers
00021 // <rtc-template block="service_impl_h">
00022 
00023 // </rtc-template>
00024 
00025 // Service Consumer stub headers
00026 // <rtc-template block="consumer_stub_h">
00027 
00028 // </rtc-template>
00029 
00030 using namespace RTC;
00031 
00032 class HiroStateHolder  : public RTC::DataFlowComponentBase
00033 {
00034  public:
00035   HiroStateHolder(RTC::Manager* manager);
00036   ~HiroStateHolder();
00037 
00038   // The initialize action (on CREATED->ALIVE transition)
00039   // formaer rtc_init_entry() 
00040  virtual RTC::ReturnCode_t onInitialize();
00041 
00042   // The finalize action (on ALIVE->END transition)
00043   // formaer rtc_exiting_entry()
00044   // virtual RTC::ReturnCode_t onFinalize();
00045 
00046   // The startup action when ExecutionContext startup
00047   // former rtc_starting_entry()
00048   // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);
00049 
00050   // The shutdown action when ExecutionContext stop
00051   // former rtc_stopping_entry()
00052   // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);
00053 
00054   // The activated action (Active state entry action)
00055   // former rtc_active_entry()
00056   // virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);
00057 
00058   // The deactivated action (Active state exit action)
00059   // former rtc_active_exit()
00060   // virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
00061 
00062   // The execution action that is invoked periodically
00063   // former rtc_active_do()
00064    virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);
00065 
00066   // The aborting action when main logic error occurred.
00067   // former rtc_aborting_entry()
00068   // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);
00069 
00070   // The error action in ERROR state
00071   // former rtc_error_do()
00072   // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);
00073 
00074   // The reset action that is invoked resetting
00075   // This is same but different the former rtc_init_entry()
00076   // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);
00077   
00078   // The state update action that is invoked after onExecute() action
00079   // no corresponding operation exists in OpenRTm-aist-0.2.0
00080   // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);
00081 
00082   // The action that is invoked when execution context's rate is changed
00083   // no corresponding operation exists in OpenRTm-aist-0.2.0
00084   // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);
00085 
00086 
00087  protected:
00088   // Configuration variable declaration
00089   // <rtc-template block="config_declare">
00090   
00091   // </rtc-template>
00092 
00093   // DataInPort declaration
00094   // <rtc-template block="inport_declare">
00095   TimedJointData m_jointData;
00096   InPort<TimedJointData> m_jointDataIn;
00097   TimedDoubleSeq m_basePos;
00098   InPort<TimedDoubleSeq> m_basePosIn;
00099   TimedDoubleSeq m_baseRpy;
00100   InPort<TimedDoubleSeq> m_baseRpyIn;
00101 
00102   // </rtc-template>
00103 
00104   // DataOutPort declaration
00105   // <rtc-template block="outport_declare">
00106   TimedDoubleSeq m_angle;
00107   OutPort<TimedDoubleSeq> m_angleOut;
00108   TimedDoubleSeq m_rsangle;
00109   OutPort<TimedDoubleSeq> m_rsangleOut;
00110   TimedDoubleSeq m_mcangle;
00111   OutPort<TimedDoubleSeq> m_mcangleOut;
00112   TimedDoubleSeq m_rsrfsensor;
00113   OutPort<TimedDoubleSeq> m_rsrfsensorOut;
00114   TimedDoubleSeq m_rslfsensor;
00115   OutPort<TimedDoubleSeq> m_rslfsensorOut;
00116   TimedDoubleSeq m_rsrhsensor;
00117   OutPort<TimedDoubleSeq> m_rsrhsensorOut;
00118   TimedDoubleSeq m_rslhsensor;
00119   OutPort<TimedDoubleSeq> m_rslhsensorOut;
00120   TimedDoubleSeq m_gsensor;
00121   OutPort<TimedDoubleSeq> m_gsensorOut;
00122   TimedDoubleSeq m_gyrometer;
00123   OutPort<TimedDoubleSeq> m_gyrometerOut;
00124   TimedPose3D m_pose;
00125   OutPort<TimedPose3D> m_poseOut;
00126 
00127   // </rtc-template>
00128 
00129   // CORBA Port declaration
00130   // <rtc-template block="corbaport_declare">
00131 
00132   // </rtc-template>
00133 
00134   // Service declaration
00135   // <rtc-template block="service_declare">
00136 
00137   // </rtc-template>
00138 
00139   // Consumer declaration
00140   // <rtc-template block="consumer_declare">
00141 
00142   // </rtc-template>
00143 
00144  private:
00145 
00146 };
00147 
00148 
00149 extern "C"
00150 {
00151   DLL_EXPORT void HiroStateHolderInit(RTC::Manager* manager);
00152 };
00153 
00154 #endif // HIROSTATECONVERTER_H
00155 
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hironx_ros_bridge
Author(s): k-okada
autogenerated on Thu Jun 27 2013 14:58:35