Controller.h
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00001 // -*- C++ -*-
00007 #ifndef CONTROLLER_H
00008 #define CONTROLLER_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 // Service implementation headers
00018 // <rtc-template block="service_impl_h">
00019 
00020 // </rtc-template>
00021 
00022 // Service Consumer stub headers
00023 // <rtc-template block="consumer_stub_h">
00024 
00025 // </rtc-template>
00026 
00027 using namespace RTC;
00028 
00029 class Controller  : public RTC::DataFlowComponentBase
00030 {
00031  public:
00032   Controller(RTC::Manager* manager);
00033   ~Controller();
00034 
00035   // The initialize action (on CREATED->ALIVE transition)
00036   // formaer rtc_init_entry() 
00037  virtual RTC::ReturnCode_t onInitialize();
00038 
00039   // The finalize action (on ALIVE->END transition)
00040   // formaer rtc_exiting_entry()
00041   // virtual RTC::ReturnCode_t onFinalize();
00042 
00043   // The startup action when ExecutionContext startup
00044   // former rtc_starting_entry()
00045   // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);
00046 
00047   // The shutdown action when ExecutionContext stop
00048   // former rtc_stopping_entry()
00049   // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);
00050 
00051   // The activated action (Active state entry action)
00052   // former rtc_active_entry()
00053   // virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);
00054 
00055   // The deactivated action (Active state exit action)
00056   // former rtc_active_exit()
00057   // virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
00058 
00059   // The execution action that is invoked periodically
00060   // former rtc_active_do()
00061   virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);
00062 
00063   // The aborting action when main logic error occurred.
00064   // former rtc_aborting_entry()
00065   // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);
00066 
00067   // The error action in ERROR state
00068   // former rtc_error_do()
00069   // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);
00070 
00071   // The reset action that is invoked resetting
00072   // This is same but different the former rtc_init_entry()
00073   // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);
00074   
00075   // The state update action that is invoked after onExecute() action
00076   // no corresponding operation exists in OpenRTm-aist-0.2.0
00077   // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);
00078 
00079   // The action that is invoked when execution context's rate is changed
00080   // no corresponding operation exists in OpenRTm-aist-0.2.0
00081   // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);
00082 
00083 
00084  protected:
00085   // Configuration variable declaration
00086   // <rtc-template block="config_declare">
00087   
00088   // </rtc-template>
00089 
00090   // DataInPort declaration
00091   // <rtc-template block="inport_declare">
00092   TimedFloat m_in;
00093   InPort<TimedFloat> m_inIn;
00094 
00095   // </rtc-template>
00096 
00097   // DataOutPort declaration
00098   // <rtc-template block="outport_declare">
00099   TimedFloat m_out;
00100   OutPort<TimedFloat> m_outOut;
00101 
00102   // </rtc-template>
00103 
00104   // CORBA Port declaration
00105   // <rtc-template block="corbaport_declare">
00106 
00107   // </rtc-template>
00108 
00109   // Service declaration
00110   // <rtc-template block="service_declare">
00111 
00112   // </rtc-template>
00113 
00114   // Consumer declaration
00115   // <rtc-template block="consumer_declare">
00116 
00117   // </rtc-template>
00118 
00119  private:
00120 
00121 };
00122 
00123 
00124 extern "C"
00125 {
00126   DLL_EXPORT void ControllerInit(RTC::Manager* manager);
00127 };
00128 
00129 #endif // CONTROLLER_H
00130 


openrtm_aist
Author(s): Noriaki Ando
autogenerated on Thu Aug 27 2015 14:16:37