RangeDataViewer.h
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00001 // -*- C++ -*-
00010 #ifndef NULL_COMPONENT_H
00011 #define NULL_COMPONENT_H
00012 
00013 #include <rtm/idl/BasicDataType.hh>
00014 #include <rtm/idl/InterfaceDataTypes.hh>
00015 #include <rtm/Manager.h>
00016 #include <rtm/DataFlowComponentBase.h>
00017 #include <rtm/CorbaPort.h>
00018 #include <rtm/DataInPort.h>
00019 #include <rtm/DataOutPort.h>
00020 #include <rtm/idl/BasicDataTypeSkel.h>
00021 #include <rtm/idl/InterfaceDataTypesSkel.h>
00022 #include <cv.h>
00023 #include <highgui.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 using namespace RTC;
00036 
00040 class RangeDataViewer
00041   : public RTC::DataFlowComponentBase
00042 {
00043  public:
00048   RangeDataViewer(RTC::Manager* manager);
00052   virtual ~RangeDataViewer();
00053 
00054   // The initialize action (on CREATED->ALIVE transition)
00055   // formaer rtc_init_entry()
00056   virtual RTC::ReturnCode_t onInitialize();
00057 
00058   // The finalize action (on ALIVE->END transition)
00059   // formaer rtc_exiting_entry()
00060   // virtual RTC::ReturnCode_t onFinalize();
00061 
00062   // The startup action when ExecutionContext startup
00063   // former rtc_starting_entry()
00064   // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);
00065 
00066   // The shutdown action when ExecutionContext stop
00067   // former rtc_stopping_entry()
00068   // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);
00069 
00070   // The activated action (Active state entry action)
00071   // former rtc_active_entry()
00072   virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);
00073 
00074   // The deactivated action (Active state exit action)
00075   // former rtc_active_exit()
00076   virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
00077 
00078   // The execution action that is invoked periodically
00079   // former rtc_active_do()
00080   virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);
00081 
00082   // The aborting action when main logic error occurred.
00083   // former rtc_aborting_entry()
00084   // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);
00085 
00086   // The error action in ERROR state
00087   // former rtc_error_do()
00088   // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);
00089 
00090   // The reset action that is invoked resetting
00091   // This is same but different the former rtc_init_entry()
00092   // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);
00093 
00094   // The state update action that is invoked after onExecute() action
00095   // no corresponding operation exists in OpenRTm-aist-0.2.0
00096   // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);
00097 
00098   // The action that is invoked when execution context's rate is changed
00099   // no corresponding operation exists in OpenRTm-aist-0.2.0
00100   // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);
00101 
00102 
00103  protected:
00104   // Configuration variable declaration
00105   // <rtc-template block="config_declare">
00106   
00107   // </rtc-template>
00108 
00109   RangeData m_range;
00110 
00111   // DataInPort declaration
00112   // <rtc-template block="inport_declare">
00113   InPort<RangeData> m_rangeIn;
00114   
00115   // </rtc-template>
00116 
00117   // DataOutPort declaration
00118   // <rtc-template block="outport_declare">
00119   
00120   // </rtc-template>
00121 
00122   // CORBA Port declaration
00123   // <rtc-template block="corbaport_declare">
00124   
00125   // </rtc-template>
00126 
00127   // Service declaration
00128   // <rtc-template block="service_declare">
00129   
00130   // </rtc-template>
00131 
00132   // Consumer declaration
00133   // <rtc-template block="consumer_declare">
00134   
00135   // </rtc-template>
00136 
00137  private:
00138     IplImage* m_cvImage;
00139     double m_maxRange;
00140     int dummy;
00141 };
00142 
00143 
00144 extern "C"
00145 {
00146   void RangeDataViewerInit(RTC::Manager* manager);
00147 };
00148 
00149 #endif // NULL_COMPONENT_H


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