testcomp.cpp

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#include <rtt/TaskContext.hpp>
#include <rtt/Logger.hpp>
#include <rtt/Property.hpp>
#include <rtt/Attribute.hpp>
#include <rtt/Operation.hpp>
#include <rtt/Port.hpp>
#include <rtt/Activity.hpp>

#include <ocl/OCL.hpp>

using namespace std;
using namespace RTT;
using namespace RTT::detail; // workaround in 2.0 transition phase.
using namespace Orocos;

namespace OCL
{
        class Testcomp : public RTT::TaskContext
        {
        protected:
                RTT::Property<std::string> property;
                std::string attribute;
                std::string constant;

                RTT::OutputPort<std::string> outport;
                RTT::InputPort<std::string> bufferport;

                void null_0() {
                        log(Warning) << "in: void null_0" << endlog();
                }

                std::string op_0() {
                        log(Warning) << "in: std::string op_0" << endlog();
                        return "inside operation_0";
                }

                bool op_1(std::string s) {
                        log(Warning) << "in: bool op_1(std::string s) " << s << endlog();
                        return true;
                }

                double op_2(std::string s, double d) {
                        log(Warning) << "in: double op_2(std::string s, double d) " << s << d << endlog();
                        return d*2;
                }

                void op_1_out(int &i) {
                        log(Warning) << "in: void op_1_out(int &i) " << i << endlog();
                        i = i+1;
                        return;
                }

                void op_3_out(std::string &s, double &d, int &i) {
                        log(Warning) << "in: void op_3_out(std::string &s, double &d, int &i) " << s << d << i << endlog();
                        s = s + "-this-string-has-a-tail";
                        d = d * 2;
                        i = 4711;
                        return;
                }

                bool op_1_out_retval(int &i) {
                        log(Warning) << "in: bool op_1_out_retval(int &i) " << i << endlog();
                        i = i + 1;
                        return i%2;
                }

                void throw_exception()
                {
                        throw std::runtime_error("Alas, its time to go.");
                }

                bool op1_uint8(unsigned char x)
                {
                        if(x == 'x')
                                return true;
                        else
                                return false;
                }


                void updateHook() {
                        // log(Info) << "inside update_hook" << endlog();
                }
        public:
                OperationCaller<bool(std::string)> print;

                Testcomp(std::string name) : RTT::TaskContext(name),
                          // Name, description, value
                          property("the_property", "the_property Description", "Hello World"),
                          attribute("Hello World"),
                          constant("Hello World"),
                          // Name, initial value
                          outport("the_results",true),
                          // Name, policy
                          bufferport("the_buffer_port",ConnPolicy::buffer(13,ConnPolicy::LOCK_FREE,true) )
                {

#if 0
                        // New activity with period 0.01s and priority 0.
                        this->setActivity( new Activity(0, 0.01) );
#endif
                        // Check if all initialisation was ok:
                        assert( property.ready() );

                        // Now add it to the interface:
                        this->properties()->addProperty( property);

                        this->addAttribute("the_attribute", attribute);
                        this->addConstant("the_constant", constant);

                        this->ports()->addPort( outport ).doc("dummy test port");
                        this->ports()->addPort( bufferport );

                        this->addOperation( "null_0", &Testcomp::null_0, this, OwnThread ).doc("'null_0' Description");
                        this->addOperation( "op_0_ct", &Testcomp::op_0, this, ClientThread ).doc("'op_0_ct', ClientThread variant");
                        this->addOperation( "op_0_ot", &Testcomp::op_0, this, ClientThread ).doc("'op_0_ot', OwnThread variant");
                        this->addOperation( "op_1", &Testcomp::op_1, this, OwnThread).doc("'op_1' Description").arg("mes", "just any string.");
                        this->addOperation( "op_2", &Testcomp::op_2, this, OwnThread).doc("'op_2' Description").arg("mes", "just any string.").arg("double", "just any double");
                        this->addOperation( "op_1_out", &Testcomp::op_1_out, this, OwnThread).doc("'op_1_out' Description").arg("i", "any int");
                        this->addOperation( "op_3_out", &Testcomp::op_3_out, this, OwnThread).doc("'op_3_out' Description").arg("mes", "just any string.").arg("double", "just any double").arg("i", "just any int");
                        this->addOperation( "op_1_out_retval", &Testcomp::op_1_out_retval, this, OwnThread).doc("'op_1_out' Description").arg("i", "any int");

                        this->addOperation( "op1_uint8", &Testcomp::op1_uint8, this, OwnThread).doc("'op1_uint8' Description").arg("x", "any char, try 'x'");

                        this->addOperation( "throw", &Testcomp::throw_exception, this, ClientThread).doc("This operation throws an exception");
                        this->provides("printing")
                                ->addOperation( "print", &Testcomp::op_1,
                                                this, OwnThread).doc("'op_1' Description").arg("mes", "just any string.");

                        this->requires("print_str")->addOperationCaller(print);

#if 0
                        log(Info) << "**** Starting the 'Testcomp' component ****" <<endlog();
                        this->start();
#endif
                }
        };
}

#include "ocl/Component.hpp"
ORO_CREATE_COMPONENT( OCL::Testcomp )