00001
00002 #include "deployment/DeploymentComponent.hpp"
00003 #include "taskbrowser/TaskBrowser.hpp"
00004 #include <rtt/InputPort.hpp>
00005 #include <rtt/os/main.h>
00006 #include <rtt/RTT.hpp>
00007 #include <vector>
00008
00009 using namespace Orocos;
00010
00011 class MyTask
00012 : public RTT::TaskContext
00013 {
00014 public:
00015 Property<std::vector<double> > limits;
00016 InputPort<double> p1;
00017 OutputPort<double> p2;
00018 OutputPort<double> p3;
00019 Attribute<double> a;
00020
00021 MyTask(std::string n)
00022 : RTT::TaskContext(n),
00023 limits("limits","desc", std::vector<double>(2) ),
00024 p1("p1"),
00025 p2("p2"),
00026 p3("p3"),
00027 a("a")
00028 {
00029 this->properties()->addProperty( limits);
00030 this->ports()->addPort( p1 );
00031 this->ports()->addPort( p2 );
00032 this->ports()->addPort( p3 );
00033 this->addAttribute( a );
00034 limits.set()[0] = 10;
00035 limits.set()[1] = 20;
00036 }
00037 };
00038
00039 class HelloProvider
00040 : public RTT::TaskContext
00041 {
00042 public:
00043 bool hello() {
00044 RTT::Logger::In("connectOperations Test");
00045 log(Info) << "Hello World!" << endlog();
00046 return true;
00047 }
00048
00049 HelloProvider()
00050 : RTT::TaskContext("HelloProvider")
00051 {
00052 this->provides("hello_service")->addOperation("hello", &HelloProvider::hello, this);
00053 }
00054 };
00055
00056 class HelloRequester
00057 : public RTT::TaskContext
00058 {
00059 public:
00060 RTT::OperationCaller<bool()> helloworld;
00061 HelloRequester()
00062 : RTT::TaskContext("HelloRequester"),
00063 helloworld("helloworld")
00064 {
00065 this->requires()->addOperationCaller(helloworld);
00066 }
00067 void virtual updateHook() {
00068 helloworld();
00069 }
00070 };
00071
00072 int ORO_main(int, char**)
00073 {
00074 RTT::Logger::Instance()->setLogLevel(RTT::Logger::Info);
00075
00076 MyTask t1("ComponentA");
00077 MyTask t2("ComponentB");
00078 MyTask t3("ComponentC");
00079
00080 HelloProvider p;
00081 HelloRequester r;
00082
00083 {
00084 DeploymentComponent dc;
00085 dc.addPeer( &t1 );
00086 dc.addPeer( &t2 );
00087 dc.addPeer( &t3 );
00088 dc.addPeer( &p );
00089 dc.addPeer( &r );
00090 dc.kickStart("deployment.cpf");
00091 TaskBrowser tb(&dc);
00092
00093 tb.loop();
00094 }
00095 return 0;
00096 }
