RTSample.h
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1 // -*- C++ -*-
7 #ifndef RTSAMPLE_H
8 #define RTSAMPLE_H
9 
10 #include <rtm/idl/BasicDataTypeSkel.h>
11 #include <rtm/Manager.h>
13 #include <rtm/CorbaPort.h>
14 #include <rtm/DataInPort.h>
15 #include <rtm/DataOutPort.h>
16 
17 #include <coil/TimeMeasure.h>
18 
19 // Service implementation headers
20 // <rtc-template block="service_impl_h">
21 
22 // </rtc-template>
23 
24 // Service Consumer stub headers
25 // <rtc-template block="consumer_stub_h">
26 
27 // </rtc-template>
28 
29 using namespace RTC;
30 
32 {
33  public:
35  ~RTSample();
36 
37  // The initialize action (on CREATED->ALIVE transition)
38  // formaer rtc_init_entry()
39  virtual RTC::ReturnCode_t onInitialize();
40 
41  // The finalize action (on ALIVE->END transition)
42  // formaer rtc_exiting_entry()
43  // virtual RTC::ReturnCode_t onFinalize();
44 
45  // The startup action when ExecutionContext startup
46  // former rtc_starting_entry()
47  // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);
48 
49  // The shutdown action when ExecutionContext stop
50  // former rtc_stopping_entry()
51  // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);
52 
53  // The activated action (Active state entry action)
54  // former rtc_active_entry()
55  virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);
56 
57  // The deactivated action (Active state exit action)
58  // former rtc_active_exit()
59  virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
60 
61  // The execution action that is invoked periodically
62  // former rtc_active_do()
63  virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);
64 
65  // The aborting action when main logic error occurred.
66  // former rtc_aborting_entry()
67  // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);
68 
69  // The error action in ERROR state
70  // former rtc_error_do()
71  // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);
72 
73  // The reset action that is invoked resetting
74  // This is same but different the former rtc_init_entry()
75  // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);
76 
77  // The state update action that is invoked after onExecute() action
78  // no corresponding operation exists in OpenRTm-aist-0.2.0
79  // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);
80 
81  // The action that is invoked when execution context's rate is changed
82  // no corresponding operation exists in OpenRTm-aist-0.2.0
83  // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);
84 
85 
86  protected:
87  // Configuration variable declaration
88  // <rtc-template block="config_declare">
89 
90  // </rtc-template>
91 
92  // DataInPort declaration
93  // <rtc-template block="inport_declare">
94 
95  // </rtc-template>
96 
97  // DataOutPort declaration
98  // <rtc-template block="outport_declare">
99 
100  // </rtc-template>
101 
102  // CORBA Port declaration
103  // <rtc-template block="corbaport_declare">
104 
105  // </rtc-template>
106 
107  // Service declaration
108  // <rtc-template block="service_declare">
109 
110  // </rtc-template>
111 
112  // Consumer declaration
113  // <rtc-template block="consumer_declare">
114 
115  // </rtc-template>
116 
117  private:
119 
120 };
121 
122 
123 extern "C"
124 {
126 };
127 
128 #endif // RTSAMPLE_H
129 
RT-Component.
DataFlowComponentBase class.
ReturnCode_t
Definition: doil.h:53
Manager class.
Definition: Manager.h:80
Base class of OutPort.
coil::TimeMeasure m_tm
Definition: RTSample.h:118
CorbaPort class.
RTComponent manager class.
DLL_EXPORT void RTSampleInit(RTC::Manager *manager)
Definition: RTSample.cpp:159
ExecutionContextHandle_t UniqueId
Base class of InPort.
#define DLL_EXPORT
Definition: PluginC.cpp:8
TimeMeasure class.
Definition: TimeMeasure.h:49


openrtm_aist
Author(s): Noriaki Ando
autogenerated on Thu Jun 6 2019 19:26:00