Joystick.h

Go to the documentation of this file.

// -*- C++ -*-
#ifndef JOYSTICK_H
#define JOYSTICK_H

#include <rtm/idl/BasicDataType.hh>
#include <rtm/idl/ExtendedDataTypes.hh>
#include <rtm/idl/InterfaceDataTypes.hh>
#include <rtm/Manager.h>
#include <rtm/DataFlowComponentBase.h>
#include <rtm/CorbaPort.h>
#include <rtm/DataInPort.h>
#include <rtm/DataOutPort.h>
#include <rtm/idl/BasicDataTypeSkel.h>
#include <rtm/idl/ExtendedDataTypesSkel.h>
#include <rtm/idl/InterfaceDataTypesSkel.h>

// Service implementation headers
// <rtc-template block="service_impl_h">

// </rtc-template>

// Service Consumer stub headers
// <rtc-template block="consumer_stub_h">

// </rtc-template>

class joystick;

using namespace RTC;

class Joystick
  : public RTC::DataFlowComponentBase
{
 public:
  Joystick(RTC::Manager* manager);

  virtual ~Joystick();

  // <rtc-template block="public_attribute">
  
  // </rtc-template>

  // <rtc-template block="public_operation">
  
  // </rtc-template>

  /***
   *
   * The initialize action (on CREATED->ALIVE transition)
   * formaer rtc_init_entry() 
   *
   * @return RTC::ReturnCode_t
   * 
   * 
   */
   virtual RTC::ReturnCode_t onInitialize();

  /***
   *
   * The finalize action (on ALIVE->END transition)
   * formaer rtc_exiting_entry()
   *
   * @return RTC::ReturnCode_t
   * 
   * 
   */
  // virtual RTC::ReturnCode_t onFinalize();

  /***
   *
   * The startup action when ExecutionContext startup
   * former rtc_starting_entry()
   *
   * @param ec_id target ExecutionContext Id
   *
   * @return RTC::ReturnCode_t
   * 
   * 
   */
  // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);

  /***
   *
   * The shutdown action when ExecutionContext stop
   * former rtc_stopping_entry()
   *
   * @param ec_id target ExecutionContext Id
   *
   * @return RTC::ReturnCode_t
   * 
   * 
   */
  // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);

  /***
   *
   * The activated action (Active state entry action)
   * former rtc_active_entry()
   *
   * @param ec_id target ExecutionContext Id
   *
   * @return RTC::ReturnCode_t
   * 
   * 
   */
  virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);

  /***
   *
   * The deactivated action (Active state exit action)
   * former rtc_active_exit()
   *
   * @param ec_id target ExecutionContext Id
   *
   * @return RTC::ReturnCode_t
   * 
   * 
   */
  virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);

  /***
   *
   * The execution action that is invoked periodically
   * former rtc_active_do()
   *
   * @param ec_id target ExecutionContext Id
   *
   * @return RTC::ReturnCode_t
   * 
   * 
   */
  virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);

  /***
   *
   * The aborting action when main logic error occurred.
   * former rtc_aborting_entry()
   *
   * @param ec_id target ExecutionContext Id
   *
   * @return RTC::ReturnCode_t
   * 
   * 
   */
  // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);

  /***
   *
   * The error action in ERROR state
   * former rtc_error_do()
   *
   * @param ec_id target ExecutionContext Id
   *
   * @return RTC::ReturnCode_t
   * 
   * 
   */
  // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);

  /***
   *
   * The reset action that is invoked resetting
   * This is same but different the former rtc_init_entry()
   *
   * @param ec_id target ExecutionContext Id
   *
   * @return RTC::ReturnCode_t
   * 
   * 
   */
  // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);
  
  /***
   *
   * The state update action that is invoked after onExecute() action
   * no corresponding operation exists in OpenRTm-aist-0.2.0
   *
   * @param ec_id target ExecutionContext Id
   *
   * @return RTC::ReturnCode_t
   * 
   * 
   */
  // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);

  /***
   *
   * The action that is invoked when execution context's rate is changed
   * no corresponding operation exists in OpenRTm-aist-0.2.0
   *
   * @param ec_id target ExecutionContext Id
   *
   * @return RTC::ReturnCode_t
   * 
   * 
   */
  // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);


 protected:
  // <rtc-template block="protected_attribute">
  
  // </rtc-template>

  // <rtc-template block="protected_operation">
  
  // </rtc-template>

  // DataInPort declaration
  // <rtc-template block="inport_declare">
  
  // </rtc-template>


  // DataOutPort declaration
  // <rtc-template block="outport_declare">
  TimedFloatSeq m_axes;
  OutPort<TimedFloatSeq> m_axesOut;
  TimedBooleanSeq m_buttons;
  OutPort<TimedBooleanSeq> m_buttonsOut;
  
  // </rtc-template>

  // CORBA Port declaration
  // <rtc-template block="corbaport_declare">
  
  // </rtc-template>

  // Service declaration
  // <rtc-template block="service_declare">
  
  // </rtc-template>

  // Consumer declaration
  // <rtc-template block="consumer_declare">
  
  // </rtc-template>

 private:
  // <rtc-template block="private_attribute">
  
  // </rtc-template>

  // <rtc-template block="private_operation">
  
  // </rtc-template>

  joystick *m_js; 
  std::string m_device;
  unsigned int m_debugLevel;
};


extern "C"
{
  DLL_EXPORT void JoystickInit(RTC::Manager* manager);
};

#endif // JOYSTICK_H