server/PathPlanner/PathPlanner.cpp
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1 // -*- C++ -*-
7 #include "PathPlanner.h"
8 
9 // Module specification
10 // <rtc-template block="module_spec">
11 static const char* path_spec[] =
12  {
13  "implementation_id", "Path",
14  "type_name", "Path",
15  "description", "Path Planner Component",
16  "version", "0.1",
17  "vendor", "S-cubed, Inc.",
18  "category", "Generic",
19  "activity_type", "SPORADIC",
20  "kind", "DataFlowComponent",
21  "max_instance", "10",
22  "language", "C++",
23  "lang_type", "compile",
24  // Configuration variables
25  "conf.default.NameServer", "localhost",
26  ""
27  };
28 // </rtc-template>
29 
31  // <rtc-template block="initializer">
32  : RTC::DataFlowComponentBase(manager),
33  m_PathPort("Path")
34 
35  // </rtc-template>
36 {
37  // Registration: InPort/OutPort/Service
38  // <rtc-template block="registration">
39  // Set InPort buffers
40 
41  // Set OutPort buffer
42 
43  // Set service provider to Ports
44  m_PathPort.registerProvider("Path", "PathPlanner", m_Path);
45 
46  // Set service consumers to Ports
47 
48  // Set CORBA Service Ports
50 
51  // </rtc-template>
52 
53 }
54 
56 {
57 }
58 
59 
60 RTC::ReturnCode_t Path::onInitialize()
61 {
62  // <rtc-template block="bind_config">
63  // Bind variables and configuration variable
64  bindParameter("NameServer", m_NameServer, "localhost");
66 
67  // </rtc-template>
68  return RTC::RTC_OK;
69 }
70 
71 
72 /*
73 RTC::ReturnCode_t Path::onFinalize()
74 {
75  return RTC::RTC_OK;
76 }
77 */
78 /*
79 RTC::ReturnCode_t Path::onStartup(RTC::UniqueId ec_id)
80 {
81  return RTC::RTC_OK;
82 }
83 */
84 /*
85 RTC::ReturnCode_t Path::onShutdown(RTC::UniqueId ec_id)
86 {
87  return RTC::RTC_OK;
88 }
89 */
90 /*
91 RTC::ReturnCode_t Path::onActivated(RTC::UniqueId ec_id)
92 {
93  return RTC::RTC_OK;
94 }
95 */
96 /*
97 RTC::ReturnCode_t Path::onDeactivated(RTC::UniqueId ec_id)
98 {
99  return RTC::RTC_OK;
100 }
101 */
102 /*
103 RTC::ReturnCode_t Path::onExecute(RTC::UniqueId ec_id)
104 {
105  return RTC::RTC_OK;
106 }
107 */
108 /*
109 RTC::ReturnCode_t Path::onAborting(RTC::UniqueId ec_id)
110 {
111  return RTC::RTC_OK;
112 }
113 */
114 /*
115 RTC::ReturnCode_t Path::onError(RTC::UniqueId ec_id)
116 {
117  return RTC::RTC_OK;
118 }
119 */
120 /*
121 RTC::ReturnCode_t Path::onReset(RTC::UniqueId ec_id)
122 {
123  return RTC::RTC_OK;
124 }
125 */
126 /*
127 RTC::ReturnCode_t Path::onStateUpdate(RTC::UniqueId ec_id)
128 {
129  return RTC::RTC_OK;
130 }
131 */
132 /*
133 RTC::ReturnCode_t Path::onRateChanged(RTC::UniqueId ec_id)
134 {
135  return RTC::RTC_OK;
136 }
137 */
138 
139 
140 extern "C"
141 {
142 
143  void PathInit(RTC::Manager* manager)
144  {
146  manager->registerFactory(profile,
147  RTC::Create<Path>,
148  RTC::Delete<Path>);
149  }
150 
151 };
152 
153 
154 
png_infop png_charpp int png_charpp profile
Definition: png.h:2382
RTC::CorbaPort m_PathPort
void registerPort(PortBase &port)
void PathInit(RTC::Manager *manager)
static const char * path_spec[]
virtual RTC::ReturnCode_t onInitialize()
bool bindParameter(const char *param_name, VarType &var, const char *def_val, bool(*trans)(VarType &, const char *)=coil::stringTo)
Path(RTC::Manager *manager)
OpenHRP_PathPlannerSVC_impl m_Path
std::string m_NameServer
bool registerFactory(coil::Properties &profile, RtcNewFunc new_func, RtcDeleteFunc delete_func)
void setNameServer(std::string nameServer)
bool registerProvider(const char *instance_name, const char *type_name, PortableServer::RefCountServantBase &provider)


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Sep 8 2022 02:24:04