ncmain.cpp
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00001 #include <iostream>
00002 
00003 #include <rtt/os/main.h>
00004 #include <reporting/NetcdfReporting.hpp>
00005 #include <taskbrowser/TaskBrowser.hpp>
00006 
00007 #include <rtt/extras/SlaveActivity.hpp>
00008 #include <rtt/Activity.hpp>
00009 #include <rtt/Port.hpp>
00010 
00011 using namespace std;
00012 using namespace Orocos;
00013 using namespace RTT;
00014 
00015 class TestTaskContext
00016     : public TaskContext
00017 {
00018     Property<string> hello;
00019     OutputPort<char> cwport;
00020     OutputPort<short> swport;
00021     OutputPort<int> iwport;
00022     OutputPort<float> fwport;
00023     OutputPort<std::vector<double> > dwport;
00024     InputPort<char> crport;
00025     InputPort<short> srport;
00026     InputPort<int> irport;
00027     InputPort<float> frport;
00028     InputPort<double> drport;  
00029     int i;
00030 public:
00031     TestTaskContext(std::string name)
00032         : TaskContext(name),
00033           hello("Hello", "The hello thing", "World"),
00034           cwport("cw_port", 'a'),
00035           swport("sw_port", 1),
00036           iwport("iw_port", 0),
00037           fwport("fw_port", 0.0),
00038           dwport("dw_port"),
00039           crport("cr_port"),
00040           srport("sr_port"),
00041           irport("ir_port"),
00042           frport("fr_port"),
00043           drport("dr_port"), i(0)
00044     { 
00045         this->properties()->addProperty( hello );
00046         this->ports()->addPort( cwport );
00047         this->ports()->addPort( swport );
00048         this->ports()->addPort( iwport );
00049         this->ports()->addPort( fwport );
00050         this->ports()->addPort( dwport );
00051         this->ports()->addPort( crport );
00052         this->ports()->addPort( srport );
00053         this->ports()->addPort( irport );
00054         this->ports()->addPort( frport );
00055         this->ports()->addPort( drport );
00056         // write initial value.
00057         std::vector<double> init(10, 5.4528);
00058         dwport.write( init );
00059     }
00060 
00061     void updateHook() {
00062         cwport.write(i);
00063         swport.write(i);
00064         iwport.write(i);
00065         fwport.write(i);
00066         dwport.write( std::vector<double>(10,i) );
00067         ++i;
00068     }
00069 };
00070 
00071 int ORO_main( int argc, char** argv)
00072 {
00073     // Set log level more verbose than default,
00074     // such that we can see output :
00075     if ( Logger::log().getLogLevel() < Logger::Info ) {
00076         Logger::log().setLogLevel( Logger::Info );
00077         log(Info) << argv[0] 
00078       << " manually raises LogLevel to 'Info' (5). See also file 'orocos.log'."<<endlog();
00079     }
00080 
00081 
00082     NetcdfReporting rc("Reporting");
00083     rc.setPeriod(0.01);
00084     TestTaskContext gtc("MyPeer");
00085     gtc.setPeriod(0.005);
00086     TestTaskContext gtc2("MyPeer2");
00087     gtc.setPeriod(0.02);
00088 
00089     TestTaskContext gtc3("MyPeer3");
00090     gtc.setPeriod(0.01);
00091 
00092     rc.addPeer( &gtc );
00093     rc.addPeer( &gtc2 );
00094     rc.addPeer( &gtc3 );
00095     gtc.connectPeers( &gtc2 );
00096 
00097     TaskBrowser tb( &rc );
00098 
00099     cout <<endl<< "  This demo allows reporting of 3 Components at 100Hz, 200Hz and 50Hz." << endl;
00100     cout << "  Use 'reportComponent(\"MyPeer\")' and/or 'reportComponent(\"MyPeer2\")'" <<endl;
00101     cout << "  Then invoke 'start()' and 'stop()'" <<endl;
00102     cout << "  Other methods (type 'this') are available as well."<<endl;
00103         
00104     tb.loop();
00105 
00106     return 0;
00107 }
00108 


ocl
Author(s): OCL Development Team
autogenerated on Mon Oct 6 2014 03:16:37