00001 // -*- C++ -*- 00007 #ifndef MOTOR_H 00008 #define MOTOR_H 00009 00010 #include <rtm/idl/BasicDataTypeSkel.h> 00011 #include <rtm/Manager.h> 00012 #include <rtm/DataFlowComponentBase.h> 00013 #include <rtm/CorbaPort.h> 00014 #include <rtm/DataInPort.h> 00015 #include <rtm/DataOutPort.h> 00016 00017 // Service implementation headers 00018 // <rtc-template block="service_impl_h"> 00019 00020 // </rtc-template> 00021 00022 // Service Consumer stub headers 00023 // <rtc-template block="consumer_stub_h"> 00024 00025 // </rtc-template> 00026 00027 using namespace RTC; 00028 00029 class Motor : public RTC::DataFlowComponentBase 00030 { 00031 public: 00032 Motor(RTC::Manager* manager); 00033 ~Motor(); 00034 00035 // The initialize action (on CREATED->ALIVE transition) 00036 // formaer rtc_init_entry() 00037 virtual RTC::ReturnCode_t onInitialize(); 00038 00039 // The finalize action (on ALIVE->END transition) 00040 // formaer rtc_exiting_entry() 00041 // virtual RTC::ReturnCode_t onFinalize(); 00042 00043 // The startup action when ExecutionContext startup 00044 // former rtc_starting_entry() 00045 // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id); 00046 00047 // The shutdown action when ExecutionContext stop 00048 // former rtc_stopping_entry() 00049 // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id); 00050 00051 // The activated action (Active state entry action) 00052 // former rtc_active_entry() 00053 // virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id); 00054 00055 // The deactivated action (Active state exit action) 00056 // former rtc_active_exit() 00057 // virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id); 00058 00059 // The execution action that is invoked periodically 00060 // former rtc_active_do() 00061 virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id); 00062 00063 // The aborting action when main logic error occurred. 00064 // former rtc_aborting_entry() 00065 // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id); 00066 00067 // The error action in ERROR state 00068 // former rtc_error_do() 00069 // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id); 00070 00071 // The reset action that is invoked resetting 00072 // This is same but different the former rtc_init_entry() 00073 // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id); 00074 00075 // The state update action that is invoked after onExecute() action 00076 // no corresponding operation exists in OpenRTm-aist-0.2.0 00077 // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id); 00078 00079 // The action that is invoked when execution context's rate is changed 00080 // no corresponding operation exists in OpenRTm-aist-0.2.0 00081 // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id); 00082 00083 00084 protected: 00085 // Configuration variable declaration 00086 // <rtc-template block="config_declare"> 00087 int m_motor_id; 00088 00089 // </rtc-template> 00090 00091 // DataInPort declaration 00092 // <rtc-template block="inport_declare"> 00093 TimedFloat m_in; 00094 InPort<TimedFloat> m_inIn; 00095 00096 // </rtc-template> 00097 00098 // DataOutPort declaration 00099 // <rtc-template block="outport_declare"> 00100 TimedLong m_out; 00101 OutPort<TimedLong> m_outOut; 00102 00103 // </rtc-template> 00104 00105 // CORBA Port declaration 00106 // <rtc-template block="corbaport_declare"> 00107 00108 // </rtc-template> 00109 00110 // Service declaration 00111 // <rtc-template block="service_declare"> 00112 00113 // </rtc-template> 00114 00115 // Consumer declaration 00116 // <rtc-template block="consumer_declare"> 00117 00118 // </rtc-template> 00119 00120 private: 00121 00122 }; 00123 00124 00125 extern "C" 00126 { 00127 DLL_EXPORT void MotorInit(RTC::Manager* manager); 00128 }; 00129 00130 #endif // MOTOR_H 00131