00001 // -*- C++ -*- 00010 #ifndef MYSERVICEPROVIDER_H 00011 #define MYSERVICEPROVIDER_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 #include "MyServiceSVC_impl.h" 00023 00024 // </rtc-template> 00025 00026 // Service Consumer stub headers 00027 // <rtc-template block="consumer_stub_h"> 00028 00029 // </rtc-template> 00030 00031 using namespace RTC; 00032 00033 class MyServiceProvider 00034 : public RTC::DataFlowComponentBase 00035 { 00036 public: 00037 MyServiceProvider(RTC::Manager* manager); 00038 ~MyServiceProvider(); 00039 00040 // The initialize action (on CREATED->ALIVE transition) 00041 // formaer rtc_init_entry() 00042 virtual RTC::ReturnCode_t onInitialize(); 00043 00044 // The finalize action (on ALIVE->END transition) 00045 // formaer rtc_exiting_entry() 00046 // virtual RTC::ReturnCode_t onFinalize(); 00047 00048 // The startup action when ExecutionContext startup 00049 // former rtc_starting_entry() 00050 // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id); 00051 00052 // The shutdown action when ExecutionContext stop 00053 // former rtc_stopping_entry() 00054 // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id); 00055 00056 // The activated action (Active state entry action) 00057 // former rtc_active_entry() 00058 // virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id); 00059 00060 // The deactivated action (Active state exit action) 00061 // former rtc_active_exit() 00062 // virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id); 00063 00064 // The execution action that is invoked periodically 00065 // former rtc_active_do() 00066 // virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id); 00067 00068 // The aborting action when main logic error occurred. 00069 // former rtc_aborting_entry() 00070 // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id); 00071 00072 // The error action in ERROR state 00073 // former rtc_error_do() 00074 // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id); 00075 00076 // The reset action that is invoked resetting 00077 // This is same but different the former rtc_init_entry() 00078 // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id); 00079 00080 // The state update action that is invoked after onExecute() action 00081 // no corresponding operation exists in OpenRTm-aist-0.2.0 00082 // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id); 00083 00084 // The action that is invoked when execution context's rate is changed 00085 // no corresponding operation exists in OpenRTm-aist-0.2.0 00086 // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id); 00087 00088 00089 protected: 00090 // DataInPort declaration 00091 // <rtc-template block="inport_declare"> 00092 00093 // </rtc-template> 00094 00095 00096 // DataOutPort declaration 00097 // <rtc-template block="outport_declare"> 00098 00099 // </rtc-template> 00100 00101 // CORBA Port declaration 00102 // <rtc-template block="corbaport_declare"> 00103 RTC::CorbaPort m_MyServicePort; 00104 00105 // </rtc-template> 00106 00107 // Service declaration 00108 // <rtc-template block="service_declare"> 00109 MyServiceSVC_impl m_myservice0; 00110 00111 // </rtc-template> 00112 00113 // Consumer declaration 00114 // <rtc-template block="consumer_declare"> 00115 00116 // </rtc-template> 00117 00118 private: 00119 00120 }; 00121 00122 00123 extern "C" 00124 { 00125 DLL_EXPORT void MyServiceProviderInit(RTC::Manager* manager); 00126 }; 00127 00128 #endif // MYSERVICEPROVIDER_H