00001 // -*- C++ -*- 00010 #ifndef CONFIGSAMPLE_H 00011 #define CONFIGSAMPLE_H 00012 00013 #include <rtm/idl/BasicDataTypeSkel.h> 00014 #include <rtm/Manager.h> 00015 #include <rtm/DataFlowComponentBase.h> 00016 #include <rtm/CorbaPort.h> 00017 #include <rtm/DataInPort.h> 00018 #include <rtm/DataOutPort.h> 00019 00020 // Service implementation headers 00021 // <rtc-template block="service_impl_h"> 00022 00023 // </rtc-template> 00024 00025 // Service Consumer stub headers 00026 // <rtc-template block="consumer_stub_h"> 00027 00028 // </rtc-template> 00029 00030 using namespace RTC; 00031 00032 class ConfigSample 00033 : public RTC::DataFlowComponentBase 00034 { 00035 public: 00036 ConfigSample(RTC::Manager* manager); 00037 ~ConfigSample(); 00038 00039 // The initialize action (on CREATED->ALIVE transition) 00040 // formaer rtc_init_entry() 00041 virtual RTC::ReturnCode_t onInitialize(); 00042 00043 // The finalize action (on ALIVE->END transition) 00044 // formaer rtc_exiting_entry() 00045 // virtual RTC::ReturnCode_t onFinalize(); 00046 00047 // The startup action when ExecutionContext startup 00048 // former rtc_starting_entry() 00049 // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id); 00050 00051 // The shutdown action when ExecutionContext stop 00052 // former rtc_stopping_entry() 00053 // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id); 00054 00055 // The activated action (Active state entry action) 00056 // former rtc_active_entry() 00057 // virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id); 00058 00059 // The deactivated action (Active state exit action) 00060 // former rtc_active_exit() 00061 // virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id); 00062 00063 // The execution action that is invoked periodically 00064 // former rtc_active_do() 00065 virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id); 00066 00067 // The aborting action when main logic error occurred. 00068 // former rtc_aborting_entry() 00069 // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id); 00070 00071 // The error action in ERROR state 00072 // former rtc_error_do() 00073 // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id); 00074 00075 // The reset action that is invoked resetting 00076 // This is same but different the former rtc_init_entry() 00077 // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id); 00078 00079 // The state update action that is invoked after onExecute() action 00080 // no corresponding operation exists in OpenRTm-aist-0.2.0 00081 // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id); 00082 00083 // The action that is invoked when execution context's rate is changed 00084 // no corresponding operation exists in OpenRTm-aist-0.2.0 00085 // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id); 00086 00087 00088 protected: 00089 // Configuration variable declaration 00090 // <rtc-template block="config_declare"> 00091 int m_int_param0; 00092 int m_int_param1; 00093 double m_double_param0; 00094 double m_double_param1; 00095 std::string m_str_param0; 00096 std::string m_str_param1; 00097 std::vector<double> m_vector_param0; 00098 00099 // </rtc-template> 00100 00101 // DataInPort declaration 00102 // <rtc-template block="inport_declare"> 00103 00104 // </rtc-template> 00105 00106 // DataOutPort declaration 00107 // <rtc-template block="outport_declare"> 00108 00109 // </rtc-template> 00110 00111 // CORBA Port declaration 00112 // <rtc-template block="corbaport_declare"> 00113 00114 // </rtc-template> 00115 00116 // Service declaration 00117 // <rtc-template block="service_declare"> 00118 00119 // </rtc-template> 00120 00121 // Consumer declaration 00122 // <rtc-template block="consumer_declare"> 00123 00124 // </rtc-template> 00125 00126 private: 00127 00128 }; 00129 00130 00131 extern "C" 00132 { 00133 DLL_EXPORT void ConfigSampleInit(RTC::Manager* manager); 00134 }; 00135 00136 #endif // CONFIGSAMPLE_H