SoftErrorLimiter.h
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00001 // -*- C++ -*-
00010 #ifndef SOFT_ERROR_LIMITER_H
00011 #define SOFT_ERROR_LIMITER_H
00012 
00013 #include <rtm/idl/BasicDataType.hh>
00014 #include "hrpsys/idl/HRPDataTypes.hh"
00015 #include <rtm/Manager.h>
00016 #include <rtm/DataFlowComponentBase.h>
00017 #include <rtm/CorbaPort.h>
00018 #include <rtm/DataInPort.h>
00019 #include <rtm/DataOutPort.h>
00020 #include <rtm/idl/BasicDataTypeSkel.h>
00021 #include "JointLimitTable.h"
00022 
00023 // Service implementation headers
00024 // <rtc-template block="service_impl_h">
00025 #include "SoftErrorLimiterService_impl.h"
00026 #include "beep.h"
00027 
00028 // </rtc-template>
00029 
00030 // Service Consumer stub headers
00031 // <rtc-template block="consumer_stub_h">
00032 
00033 // </rtc-template>
00034 
00035 using namespace RTC;
00036 
00040 class SoftErrorLimiter
00041   : public RTC::DataFlowComponentBase
00042 {
00043  public:
00048   SoftErrorLimiter(RTC::Manager* manager);
00052   virtual ~SoftErrorLimiter();
00053 
00054   // The initialize action (on CREATED->ALIVE transition)
00055   // formaer rtc_init_entry()
00056   virtual RTC::ReturnCode_t onInitialize();
00057 
00058   // The finalize action (on ALIVE->END transition)
00059   // formaer rtc_exiting_entry()
00060   //virtual RTC::ReturnCode_t onFinalize();
00061 
00062   // The startup action when ExecutionContext startup
00063   // former rtc_starting_entry()
00064   // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);
00065 
00066   // The shutdown action when ExecutionContext stop
00067   // former rtc_stopping_entry()
00068   // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);
00069 
00070   // The activated action (Active state entry action)
00071   // former rtc_active_entry()
00072   virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);
00073 
00074   // The deactivated action (Active state exit action)
00075   // former rtc_active_exit()
00076   virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
00077 
00078   // The execution action that is invoked periodically
00079   // former rtc_active_do()
00080   virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);
00081 
00082   // The aborting action when main logic error occurred.
00083   // former rtc_aborting_entry()
00084   // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);
00085 
00086   // The error action in ERROR state
00087   // former rtc_error_do()
00088   // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);
00089 
00090   // The reset action that is invoked resetting
00091   // This is same but different the former rtc_init_entry()
00092   // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);
00093 
00094   // The state update action that is invoked after onExecute() action
00095   // no corresponding operation exists in OpenRTm-aist-0.2.0
00096   // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);
00097 
00098   // The action that is invoked when execution context's rate is changed
00099   // no corresponding operation exists in OpenRTm-aist-0.2.0
00100   // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);
00101 
00102 
00103  protected:
00104   // Configuration variable declaration
00105   // <rtc-template block="config_declare">
00106   
00107   // </rtc-template>
00108 
00109   TimedDoubleSeq m_qRef;
00110   TimedDoubleSeq m_qCurrent;
00111   OpenHRP::TimedLongSeqSeq m_servoState;
00112   TimedLongSeq m_beepCommand;
00113 
00114   // DataInPort declaration
00115   // <rtc-template block="inport_declare">
00116   InPort<TimedDoubleSeq> m_qRefIn;
00117   InPort<TimedDoubleSeq> m_qCurrentIn;
00118   InPort<OpenHRP::TimedLongSeqSeq> m_servoStateIn;
00119   
00120   // </rtc-template>
00121 
00122   // DataOutPort declaration
00123   // <rtc-template block="outport_declare">
00124   OutPort<TimedDoubleSeq> m_qOut;
00125   OutPort<OpenHRP::TimedLongSeqSeq> m_servoStateOut;
00126   OutPort<TimedLongSeq> m_beepCommandOut;
00127   
00128   // </rtc-template>
00129 
00130   // CORBA Port declaration
00131   // <rtc-template block="corbaport_declare">
00132   RTC::CorbaPort m_SoftErrorLimiterServicePort;
00133   
00134   // </rtc-template>
00135 
00136   // Service declaration
00137   // <rtc-template block="service_declare">
00138   SoftErrorLimiterService_impl m_service0;
00139   
00140   // </rtc-template>
00141 
00142   // Consumer declaration
00143   // <rtc-template block="consumer_declare">
00144   
00145   // </rtc-template>
00146 
00147  private:
00148   boost::shared_ptr<robot> m_robot;
00149   std::map<std::string, hrp::JointLimitTable> joint_limit_tables;
00150   unsigned int m_debugLevel;
00151   int dummy, position_limit_error_beep_freq, soft_limit_error_beep_freq, debug_print_freq;
00152   double dt;
00153   BeepClient bc;
00154   // Since this RTC is stable RTC, we support both direct beeping from this RTC and beepring through BeeperRTC.
00155   // If m_beepCommand is connected to BeeperRTC, is_beep_port_connected is true.
00156   bool is_beep_port_connected;
00157 };
00158 
00159 
00160 extern "C"
00161 {
00162   void SoftErrorLimiterInit(RTC::Manager* manager);
00163 };
00164 
00165 #endif // SOFT_ERROR_LIMITER_H


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:56