Motor.h
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1 // -*- C++ -*-
7 #ifndef MOTOR_H
8 #define MOTOR_H
9 
10 #include <rtm/idl/BasicDataTypeSkel.h>
11 #include <rtm/Manager.h>
13 #include <rtm/CorbaPort.h>
14 #include <rtm/DataInPort.h>
15 #include <rtm/DataOutPort.h>
16 
17 // Service implementation headers
18 // <rtc-template block="service_impl_h">
19 
20 // </rtc-template>
21 
22 // Service Consumer stub headers
23 // <rtc-template block="consumer_stub_h">
24 
25 // </rtc-template>
26 
27 using namespace RTC;
28 
30 {
31  public:
33  ~Motor();
34 
35  // The initialize action (on CREATED->ALIVE transition)
36  // formaer rtc_init_entry()
37  virtual RTC::ReturnCode_t onInitialize();
38 
39  // The finalize action (on ALIVE->END transition)
40  // formaer rtc_exiting_entry()
41  // virtual RTC::ReturnCode_t onFinalize();
42 
43  // The startup action when ExecutionContext startup
44  // former rtc_starting_entry()
45  // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);
46 
47  // The shutdown action when ExecutionContext stop
48  // former rtc_stopping_entry()
49  // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);
50 
51  // The activated action (Active state entry action)
52  // former rtc_active_entry()
53  // virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);
54 
55  // The deactivated action (Active state exit action)
56  // former rtc_active_exit()
57  // virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
58 
59  // The execution action that is invoked periodically
60  // former rtc_active_do()
61  virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);
62 
63  // The aborting action when main logic error occurred.
64  // former rtc_aborting_entry()
65  // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);
66 
67  // The error action in ERROR state
68  // former rtc_error_do()
69  // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);
70 
71  // The reset action that is invoked resetting
72  // This is same but different the former rtc_init_entry()
73  // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);
74 
75  // The state update action that is invoked after onExecute() action
76  // no corresponding operation exists in OpenRTm-aist-0.2.0
77  // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);
78 
79  // The action that is invoked when execution context's rate is changed
80  // no corresponding operation exists in OpenRTm-aist-0.2.0
81  // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);
82 
83 
84  protected:
85  // Configuration variable declaration
86  // <rtc-template block="config_declare">
88 
89  // </rtc-template>
90 
91  // DataInPort declaration
92  // <rtc-template block="inport_declare">
93  TimedFloat m_in;
95 
96  // </rtc-template>
97 
98  // DataOutPort declaration
99  // <rtc-template block="outport_declare">
100  TimedLong m_out;
102 
103  // </rtc-template>
104 
105  // CORBA Port declaration
106  // <rtc-template block="corbaport_declare">
107 
108  // </rtc-template>
109 
110  // Service declaration
111  // <rtc-template block="service_declare">
112 
113  // </rtc-template>
114 
115  // Consumer declaration
116  // <rtc-template block="consumer_declare">
117 
118  // </rtc-template>
119 
120  private:
121 
122 };
123 
124 
125 extern "C"
126 {
128 };
129 
130 #endif // MOTOR_H
131 
RT-Component.
InPort< TimedFloat > m_inIn
Definition: Motor.h:94
DataFlowComponentBase class.
ReturnCode_t
Definition: doil.h:53
OutPort< TimedLong > m_outOut
Definition: Motor.h:101
TimedFloat m_in
Definition: Motor.h:93
Manager class.
Definition: Manager.h:80
Base class of OutPort.
CorbaPort class.
RTComponent manager class.
ExecutionContextHandle_t UniqueId
Base class of InPort.
#define DLL_EXPORT
Definition: PluginC.cpp:8
DLL_EXPORT void MotorInit(RTC::Manager *manager)
Definition: Motor.cpp:154
Definition: Motor.h:29
int m_motor_id
Definition: Motor.h:87
TimedLong m_out
Definition: Motor.h:100


openrtm_aist
Author(s): Noriaki Ando
autogenerated on Mon Feb 28 2022 23:00:43