Joystick.h
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00001 // -*- C++ -*-
00010 #ifndef JOYSTICK_H
00011 #define JOYSTICK_H
00012 
00013 #include <rtm/idl/BasicDataType.hh>
00014 #include <rtm/idl/ExtendedDataTypes.hh>
00015 #include <rtm/idl/InterfaceDataTypes.hh>
00016 #include <rtm/Manager.h>
00017 #include <rtm/DataFlowComponentBase.h>
00018 #include <rtm/CorbaPort.h>
00019 #include <rtm/DataInPort.h>
00020 #include <rtm/DataOutPort.h>
00021 #include <rtm/idl/BasicDataTypeSkel.h>
00022 #include <rtm/idl/ExtendedDataTypesSkel.h>
00023 #include <rtm/idl/InterfaceDataTypesSkel.h>
00024 
00025 // Service implementation headers
00026 // <rtc-template block="service_impl_h">
00027 
00028 // </rtc-template>
00029 
00030 // Service Consumer stub headers
00031 // <rtc-template block="consumer_stub_h">
00032 
00033 // </rtc-template>
00034 
00035 class joystick;
00036 
00037 using namespace RTC;
00038 
00044 class Joystick
00045   : public RTC::DataFlowComponentBase
00046 {
00047  public:
00052   Joystick(RTC::Manager* manager);
00053 
00057   virtual ~Joystick();
00058 
00059   // <rtc-template block="public_attribute">
00060   
00061   // </rtc-template>
00062 
00063   // <rtc-template block="public_operation">
00064   
00065   // </rtc-template>
00066 
00067   /***
00068    *
00069    * The initialize action (on CREATED->ALIVE transition)
00070    * formaer rtc_init_entry() 
00071    *
00072    * @return RTC::ReturnCode_t
00073    * 
00074    * 
00075    */
00076    virtual RTC::ReturnCode_t onInitialize();
00077 
00078   /***
00079    *
00080    * The finalize action (on ALIVE->END transition)
00081    * formaer rtc_exiting_entry()
00082    *
00083    * @return RTC::ReturnCode_t
00084    * 
00085    * 
00086    */
00087   // virtual RTC::ReturnCode_t onFinalize();
00088 
00089   /***
00090    *
00091    * The startup action when ExecutionContext startup
00092    * former rtc_starting_entry()
00093    *
00094    * @param ec_id target ExecutionContext Id
00095    *
00096    * @return RTC::ReturnCode_t
00097    * 
00098    * 
00099    */
00100   // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);
00101 
00102   /***
00103    *
00104    * The shutdown action when ExecutionContext stop
00105    * former rtc_stopping_entry()
00106    *
00107    * @param ec_id target ExecutionContext Id
00108    *
00109    * @return RTC::ReturnCode_t
00110    * 
00111    * 
00112    */
00113   // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);
00114 
00115   /***
00116    *
00117    * The activated action (Active state entry action)
00118    * former rtc_active_entry()
00119    *
00120    * @param ec_id target ExecutionContext Id
00121    *
00122    * @return RTC::ReturnCode_t
00123    * 
00124    * 
00125    */
00126   virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);
00127 
00128   /***
00129    *
00130    * The deactivated action (Active state exit action)
00131    * former rtc_active_exit()
00132    *
00133    * @param ec_id target ExecutionContext Id
00134    *
00135    * @return RTC::ReturnCode_t
00136    * 
00137    * 
00138    */
00139   virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
00140 
00141   /***
00142    *
00143    * The execution action that is invoked periodically
00144    * former rtc_active_do()
00145    *
00146    * @param ec_id target ExecutionContext Id
00147    *
00148    * @return RTC::ReturnCode_t
00149    * 
00150    * 
00151    */
00152   virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);
00153 
00154   /***
00155    *
00156    * The aborting action when main logic error occurred.
00157    * former rtc_aborting_entry()
00158    *
00159    * @param ec_id target ExecutionContext Id
00160    *
00161    * @return RTC::ReturnCode_t
00162    * 
00163    * 
00164    */
00165   // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);
00166 
00167   /***
00168    *
00169    * The error action in ERROR state
00170    * former rtc_error_do()
00171    *
00172    * @param ec_id target ExecutionContext Id
00173    *
00174    * @return RTC::ReturnCode_t
00175    * 
00176    * 
00177    */
00178   // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);
00179 
00180   /***
00181    *
00182    * The reset action that is invoked resetting
00183    * This is same but different the former rtc_init_entry()
00184    *
00185    * @param ec_id target ExecutionContext Id
00186    *
00187    * @return RTC::ReturnCode_t
00188    * 
00189    * 
00190    */
00191   // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);
00192   
00193   /***
00194    *
00195    * The state update action that is invoked after onExecute() action
00196    * no corresponding operation exists in OpenRTm-aist-0.2.0
00197    *
00198    * @param ec_id target ExecutionContext Id
00199    *
00200    * @return RTC::ReturnCode_t
00201    * 
00202    * 
00203    */
00204   // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);
00205 
00206   /***
00207    *
00208    * The action that is invoked when execution context's rate is changed
00209    * no corresponding operation exists in OpenRTm-aist-0.2.0
00210    *
00211    * @param ec_id target ExecutionContext Id
00212    *
00213    * @return RTC::ReturnCode_t
00214    * 
00215    * 
00216    */
00217   // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);
00218 
00219 
00220  protected:
00221   // <rtc-template block="protected_attribute">
00222   
00223   // </rtc-template>
00224 
00225   // <rtc-template block="protected_operation">
00226   
00227   // </rtc-template>
00228 
00229   // DataInPort declaration
00230   // <rtc-template block="inport_declare">
00231   
00232   // </rtc-template>
00233 
00234 
00235   // DataOutPort declaration
00236   // <rtc-template block="outport_declare">
00237   TimedFloatSeq m_axes;
00245   OutPort<TimedFloatSeq> m_axesOut;
00246   TimedBooleanSeq m_buttons;
00253   OutPort<TimedBooleanSeq> m_buttonsOut;
00254   
00255   // </rtc-template>
00256 
00257   // CORBA Port declaration
00258   // <rtc-template block="corbaport_declare">
00259   
00260   // </rtc-template>
00261 
00262   // Service declaration
00263   // <rtc-template block="service_declare">
00264   
00265   // </rtc-template>
00266 
00267   // Consumer declaration
00268   // <rtc-template block="consumer_declare">
00269   
00270   // </rtc-template>
00271 
00272  private:
00273   // <rtc-template block="private_attribute">
00274   
00275   // </rtc-template>
00276 
00277   // <rtc-template block="private_operation">
00278   
00279   // </rtc-template>
00280 
00281   joystick *m_js; 
00282   std::string m_device;
00283   unsigned int m_debugLevel;
00284 };
00285 
00286 
00287 extern "C"
00288 {
00289   DLL_EXPORT void JoystickInit(RTC::Manager* manager);
00290 };
00291 
00292 #endif // JOYSTICK_H


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:55