Viewer.h
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00001 // -*- C++ -*-
00010 #ifndef VIEWER_H
00011 #define VIEWER_H
00012 
00013 #include <rtm/idl/BasicDataType.hh>
00014 #include "hrpsys/idl/HRPDataTypes.hh"
00015 #include <rtm/Manager.h>
00016 #include <rtm/DataFlowComponentBase.h>
00017 #include <rtm/CorbaPort.h>
00018 #include <rtm/DataInPort.h>
00019 #include <rtm/DataOutPort.h>
00020 #include <rtm/idl/BasicDataTypeSkel.h>
00021 #include "hrpsys/util/LogManager.h"
00022 #include "hrpsys/util/SDLUtil.h"
00023 #include "GLscene.h"
00024 
00025 class RTCGLbody;
00026 
00027 // Service implementation headers
00028 // <rtc-template block="service_impl_h">
00029 
00030 // </rtc-template>
00031 
00032 // Service Consumer stub headers
00033 // <rtc-template block="consumer_stub_h">
00034 
00035 // </rtc-template>
00036 
00037 using namespace RTC;
00038 
00042 class Viewer
00043   : public RTC::DataFlowComponentBase
00044 {
00045  public:
00050   Viewer(RTC::Manager* manager);
00054   virtual ~Viewer();
00055 
00056   // The initialize action (on CREATED->ALIVE transition)
00057   // formaer rtc_init_entry()
00058   virtual RTC::ReturnCode_t onInitialize();
00059 
00060   // The finalize action (on ALIVE->END transition)
00061   // formaer rtc_exiting_entry()
00062   // virtual RTC::ReturnCode_t onFinalize();
00063 
00064   // The startup action when ExecutionContext startup
00065   // former rtc_starting_entry()
00066   // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);
00067 
00068   // The shutdown action when ExecutionContext stop
00069   // former rtc_stopping_entry()
00070   // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);
00071 
00072   // The activated action (Active state entry action)
00073   // former rtc_active_entry()
00074   virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);
00075 
00076   // The deactivated action (Active state exit action)
00077   // former rtc_active_exit()
00078   virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
00079 
00080   // The execution action that is invoked periodically
00081   // former rtc_active_do()
00082   virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);
00083 
00084   // The aborting action when main logic error occurred.
00085   // former rtc_aborting_entry()
00086   // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);
00087 
00088   // The error action in ERROR state
00089   // former rtc_error_do()
00090   // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);
00091 
00092   // The reset action that is invoked resetting
00093   // This is same but different the former rtc_init_entry()
00094   // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);
00095 
00096   // The state update action that is invoked after onExecute() action
00097   // no corresponding operation exists in OpenRTm-aist-0.2.0
00098   // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);
00099 
00100   // The action that is invoked when execution context's rate is changed
00101   // no corresponding operation exists in OpenRTm-aist-0.2.0
00102   // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);
00103 
00104 
00105  protected:
00106   // Configuration variable declaration
00107   // <rtc-template block="config_declare">
00108   
00109   // </rtc-template>
00110 
00111   // DataInPort declaration
00112   // <rtc-template block="inport_declare">
00113   OpenHRP::SceneState m_sceneState;
00114   InPort<OpenHRP::SceneState> m_sceneStateIn;
00115   
00116   // </rtc-template>
00117 
00118   // DataOutPort declaration
00119   // <rtc-template block="outport_declare">
00120   
00121   // </rtc-template>
00122 
00123   // CORBA Port declaration
00124   // <rtc-template block="corbaport_declare">
00125   
00126   // </rtc-template>
00127 
00128   // Service declaration
00129   // <rtc-template block="service_declare">
00130   
00131   // </rtc-template>
00132 
00133   // Consumer declaration
00134   // <rtc-template block="consumer_declare">
00135 
00136   
00137   // </rtc-template>
00138 
00139  private:
00140   GLscene m_scene;
00141   std::map<std::string, RTCGLbody *> m_bodies;
00142   std::string m_project;
00143   LogManager<OpenHRP::SceneState> m_log;
00144   SDLwindow m_window;
00145   int dummy;
00146 };
00147 
00148 
00149 extern "C"
00150 {
00151   void ViewerInit(RTC::Manager* manager);
00152 };
00153 
00154 #endif // VIEWER_H


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed May 15 2019 05:02:19