00001 // -*- C++ -*- 00007 #ifndef SENSOR_H 00008 #define SENSOR_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 Sensor : public RTC::DataFlowComponentBase 00030 { 00031 public: 00032 Sensor(RTC::Manager* manager); 00033 ~Sensor(); 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 TimedLong m_in; 00093 InPort<TimedLong> 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 SensorInit(RTC::Manager* manager); 00127 }; 00128 00129 #endif // SENSOR_H 00130