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


openrtm_aist
Author(s): Noriaki Ando
autogenerated on Sat Jun 8 2019 18:49:06