Motor.h
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00001 // -*- C++ -*-
00007 #ifndef MOTOR_H
00008 #define MOTOR_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 Motor  : public RTC::DataFlowComponentBase
00030 {
00031  public:
00032   Motor(RTC::Manager* manager);
00033   ~Motor();
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   int m_motor_id;
00088   
00089   // </rtc-template>
00090 
00091   // DataInPort declaration
00092   // <rtc-template block="inport_declare">
00093   TimedFloat m_in;
00094   InPort<TimedFloat> m_inIn;
00095 
00096   // </rtc-template>
00097 
00098   // DataOutPort declaration
00099   // <rtc-template block="outport_declare">
00100   TimedLong m_out;
00101   OutPort<TimedLong> m_outOut;
00102 
00103   // </rtc-template>
00104 
00105   // CORBA Port declaration
00106   // <rtc-template block="corbaport_declare">
00107 
00108   // </rtc-template>
00109 
00110   // Service declaration
00111   // <rtc-template block="service_declare">
00112 
00113   // </rtc-template>
00114 
00115   // Consumer declaration
00116   // <rtc-template block="consumer_declare">
00117 
00118   // </rtc-template>
00119 
00120  private:
00121 
00122 };
00123 
00124 
00125 extern "C"
00126 {
00127   DLL_EXPORT void MotorInit(RTC::Manager* manager);
00128 };
00129 
00130 #endif // MOTOR_H
00131 


openrtm_aist
Author(s): Noriaki Ando
autogenerated on Sun Mar 26 2017 03:37:16