HelloRobot.cpp
Go to the documentation of this file.00001 /*************************************************************************** 00002 tag: Ruben Smits Tue Nov 16 09:21:07 CET 2010 HelloRobot.cpp 00003 00004 HelloRobot.cpp - description 00005 ------------------- 00006 begin : Tue November 16 2010 00007 copyright : (C) 2010 Ruben Smits 00008 email : first.last@mech.kuleuven.be 00009 00010 *************************************************************************** 00011 * This library is free software; you can redistribute it and/or * 00012 * modify it under the terms of the GNU Lesser General Public * 00013 * License as published by the Free Software Foundation; either * 00014 * version 2.1 of the License, or (at your option) any later version. * 00015 * * 00016 * This library is distributed in the hope that it will be useful, * 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * 00019 * Lesser General Public License for more details. * 00020 * * 00021 * You should have received a copy of the GNU Lesser General Public * 00022 * License along with this library; if not, write to the Free Software * 00023 * Foundation, Inc., 59 Temple Place, * 00024 * Suite 330, Boston, MA 02111-1307 USA * 00025 * * 00026 ***************************************************************************/ 00027 00028 00029 #include <rtt/TaskContext.hpp> 00030 #include <rtt/Port.hpp> 00031 #include <std_msgs/Float64.h> 00032 #include <std_msgs/String.h> 00033 #include <rtt/Component.hpp> 00034 00035 using namespace RTT; 00036 00037 class HelloRobot : public RTT::TaskContext{ 00038 private: 00039 InputPort<std_msgs::Float64> inport; 00040 OutputPort<std_msgs::Float64> outport; 00041 00042 InputPort<std_msgs::String> sinport; 00043 OutputPort<std_msgs::String> soutport; 00044 00045 std::string prop_answer; 00046 double prop_counter_step; 00047 00048 double counter; 00049 00050 public: 00051 HelloRobot(const std::string& name): 00052 TaskContext(name), 00053 inport("float_in"),outport("float_out"), 00054 sinport("string_in"),soutport("string_out","Hello Robot"), 00055 prop_answer("Hello Robot"),prop_counter_step(0.01) 00056 { 00057 this->addEventPort(inport).doc("Receiving a message here will wake up this component."); 00058 this->addPort(outport).doc("Sends out 'answer'."); 00059 this->addEventPort(sinport).doc("Receiving a message here will wake up this component."); 00060 this->addPort(soutport).doc("Sends out a counter value based on 'counter_step'."); 00061 00062 this->addProperty("answer",prop_answer).doc("The text being sent out on 'string_out'."); 00063 this->addProperty("counter_step",prop_counter_step).doc("The increment for each new sample on 'float_out'"); 00064 00065 counter=0.0; 00066 } 00067 ~HelloRobot(){} 00068 private: 00069 void updateHook(){ 00070 std_msgs::Float64 fdata; 00071 std_msgs::String sdata; 00072 if(NewData==inport.read(fdata)){ 00073 log(Info)<<"Float in: "<<fdata<<endlog(); 00074 counter=fdata.data; 00075 } 00076 if(NewData==sinport.read(sdata)) 00077 log(Info)<<"String in: "<<sdata<<endlog(); 00078 counter+=prop_counter_step; 00079 fdata.data=counter; 00080 outport.write(fdata); 00081 sdata.data=prop_answer; 00082 soutport.write(sdata); 00083 } 00084 }; 00085 ORO_CREATE_COMPONENT(HelloRobot)