00001 // -*- mode: c++; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*- 00002 /* 00003 * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc. 00004 * All rights reserved. This program is made available under the terms of the 00005 * Eclipse Public License v1.0 which accompanies this distribution, and is 00006 * available at http://www.eclipse.org/legal/epl-v10.html 00007 * Contributors: 00008 * National Institute of Advanced Industrial Science and Technology (AIST) 00009 * General Robotix Inc. 00010 */ 00019 #ifndef SAMPLECRAWLER_H 00020 #define SAMPLECRAWLER_H 00021 #define DOF (2) 00022 00023 #include <rtm/idl/BasicDataType.hh> 00024 #include <rtm/Manager.h> 00025 #include <rtm/DataFlowComponentBase.h> 00026 #include <rtm/CorbaPort.h> 00027 #include <rtm/DataInPort.h> 00028 #include <rtm/DataOutPort.h> 00029 #include <rtm/idl/BasicDataTypeSkel.h> 00030 00031 // Service implementation headers 00032 // <rtc-template block="service_impl_h"> 00033 00034 // </rtc-template> 00035 00036 // Service Consumer stub headers 00037 // <rtc-template block="consumer_stub_h"> 00038 00039 // </rtc-template> 00040 00041 using namespace RTC; 00042 00043 class SampleCrawler 00044 : public RTC::DataFlowComponentBase 00045 { 00046 public: 00047 SampleCrawler(RTC::Manager* manager); 00048 ~SampleCrawler(); 00049 00050 // The initialize action (on CREATED->ALIVE transition) 00051 // formaer rtc_init_entry() 00052 virtual RTC::ReturnCode_t onInitialize(); 00053 00054 // The finalize action (on ALIVE->END transition) 00055 // formaer rtc_exiting_entry() 00056 //virtual RTC::ReturnCode_t onFinalize(); 00057 00058 // The startup action when ExecutionContext startup 00059 // former rtc_starting_entry() 00060 //virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id); 00061 00062 // The shutdown action when ExecutionContext stop 00063 // former rtc_stopping_entry() 00064 //virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id); 00065 00066 // The activated action (Active state entry action) 00067 // former rtc_active_entry() 00068 virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id); 00069 00070 // The deactivated action (Active state exit action) 00071 // former rtc_active_exit() 00072 virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id); 00073 00074 // The execution action that is invoked periodically 00075 // former rtc_active_do() 00076 virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id); 00077 00078 // The aborting action when main logic error occurred. 00079 // former rtc_aborting_entry() 00080 //virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id); 00081 00082 // The error action in ERROR state 00083 // former rtc_error_do() 00084 //virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id); 00085 00086 // The reset action that is invoked resetting 00087 // This is same but different the former rtc_init_entry() 00088 //virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id); 00089 00090 // The state update action that is invoked after onExecute() action 00091 // no corresponding operation exists in OpenRTm-aist-0.2.0 00092 //virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id); 00093 00094 // The action that is invoked when execution context's rate is changed 00095 // no corresponding operation exists in OpenRTm-aist-0.2.0 00096 //virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id); 00097 00098 00099 protected: 00100 // Configuration variable declaration 00101 // <rtc-template block="config_declare"> 00102 00103 // </rtc-template> 00104 00105 // DataInPort declaration 00106 // <rtc-template block="inport_declare"> 00107 00108 // </rtc-template> 00109 00110 // DataOutPort declaration 00111 // <rtc-template block="outport_declare"> 00112 TimedDoubleSeq m_torque; 00113 OutPort<TimedDoubleSeq> m_torqueOut; 00114 00115 // </rtc-template> 00116 00117 // CORBA Port declaration 00118 // <rtc-template block="corbaport_declare"> 00119 00120 // </rtc-template> 00121 00122 // Service declaration 00123 // <rtc-template block="service_declare"> 00124 00125 // </rtc-template> 00126 00127 // Consumer declaration 00128 // <rtc-template block="consumer_declare"> 00129 00130 // </rtc-template> 00131 00132 private: 00133 int cnt; 00134 int dummy; 00135 }; 00136 00137 00138 extern "C" 00139 { 00140 DLL_EXPORT void SampleCrawlerInit(RTC::Manager* manager); 00141 }; 00142 00143 #endif // SAMPLECRAWLER_H