controltask.idl

机器人开源项目orocos的源代码

#ifndef ORO_CONTROL_TASK_IDL
#define ORO_CONTROL_TASK_IDL

/**
 * @file ControlTask.idl
 * This file defines the interface of an
 * Orocos Control Task Component.
 */

// avoid inclusion of this header since tao_idl is broken.
//#include <orbsvcs/CosPropertyService.idl>
#include "OperationInterface.idl"
#include "Attributes.idl"
#include "ScriptingAccess.idl"
#include "Services.idl"
#include "DataFlow.idl"

// // Forward declaration.
// module CosPropertyService
// {
//   interface PropertySet;
// };


module RTT
{
  module Corba
  {

    typedef sequence<string> ObjectList;

    /**
     * An Orocos TaskObject which hosts a method and command
     * interface.
     * @ingroup CompIDL
     */
    interface ControlObject
    {
      /**
       * Return the name of this object.
       */
      string getName();
    
      /**
       * Return the description of this object.
       */
      string getDescription();
    
      /**
       * Query the attributes of this interface.
       */
      AttributeInterface attributes();

      /**
       * Synchronous Method Interface.
       */
      MethodInterface methods();

      /**
       * Asynchronous Command Interface.
       */
      CommandInterface commands();

      /**
       * Get a list of all the child objects this object is connected to.
       */
      ObjectList getObjectList( );

      /**
       * Get a child object this object is connected to.
       */
      ControlObject getObject( in string name );

      /**
       * Has this object a child object with given name ?
       */
      boolean hasObject( in string name );

    };

    enum TaskState { Init, PreOperational, Stopped, Running };

    /**
     * A ControlTask is the main entry point of a distributed
     * component.
     */
    interface ControlTask : ControlObject
    {
      typedef sequence<string> ControlTaskNames;

      /**
       * Returns the current state of the component.
       */
      TaskState getTaskState();

      /**
       * Configure this component.
       */
      boolean configure();

      /**
       * Start this component.
       */
      boolean start();

      /**
       * Stop this component.
       */
      boolean stop();

      /**
       * Cleanup this component.
       */
      boolean cleanup();

      /**
       * Is this component running ?
       */
      boolean isRunning();

      /**
       * Is this component configured ?
       */
      boolean isConfigured();

      /**
       * Query the properties of this interface as a CosPropertyService::PropertySet.
       */
      //CosPropertyService::PropertySet propertySet();

      /**
       * The ScriptingAccess, for program and state machine
       * information of this Task.
       */
      ScriptingAccess scripting();

      /**
       * Access to Process-wide services.
       */
      ServiceInterface services();

      /**
       * Access to the Data Flow ports.
       */
      DataFlowInterface ports();

      /**
       * ControlTask Browsing functions.
       */

      /**
       * Get a list of all the peers this task is connected to.
       */
      ControlTaskNames getPeerList( );

      /**
       * Get a peer this task is connected to.
       */
      ControlTask getPeer( in string name );

      /**
       * Has this task a peer with given name ?
       */
      boolean hasPeer( in string name );

      /**
       * Add a one-way peer connection.
       */
      boolean addPeer( in ControlTask p, in string alias );

      /**
       * Remove a one-way peer connection.
       */
      boolean removePeer( in string name );

      /**
       * Create a two-way peer connection.
       */
      boolean connectPeers( in ControlTask p );

      /**
       * Destroy a two-way peer connection.
       */
      boolean disconnectPeers( in string name );

    };
  };
};

#endif