controltaski.h

机器人开源项目orocos的源代码

/***************************************************************************
  tag: Peter Soetens  Wed Jan 18 14:09:48 CET 2006  ControlTaskI.h 

                        ControlTaskI.h -  description
                           -------------------
    begin                : Wed January 18 2006
    copyright            : (C) 2006 Peter Soetens
    email                : [e-mail]
 
 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU General Public                   *
 *   License as published by the Free Software Foundation;                 *
 *   version 2 of the License.                                             *
 *                                                                         *
 *   As a special exception, you may use this file as part of a free       *
 *   software library without restriction.  Specifically, if other files   *
 *   instantiate templates or use macros or inline functions from this     *
 *   file, or you compile this file and link it with other files to        *
 *   produce an executable, this file does not by itself cause the         *
 *   resulting executable to be covered by the GNU General Public          *
 *   License.  This exception does not however invalidate any other        *
 *   reasons why the executable file might be covered by the GNU General   *
 *   Public License.                                                       *
 *                                                                         *
 *   This library is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
 *   Lesser General Public License for more details.                       *
 *                                                                         *
 *   You should have received a copy of the GNU General Public             *
 *   License along with this library; if not, write to the Free Software   *
 *   Foundation, Inc., 59 Temple Place,                                    *
 *   Suite 330, Boston, MA  02111-1307  USA                                *
 *                                                                         *
 ***************************************************************************/
 
 
// -*- C++ -*-
//
// $Id$

// ****  Code generated by the The ACE ORB (TAO) IDL Compiler ****
// TAO and the TAO IDL Compiler have been developed by:
//       Center for Distributed Object Computing
//       Washington University
//       St. Louis, MO
//       USA
//       http://www.cs.wustl.edu/~schmidt/doc-center.html
// and
//       Distributed Object Computing Laboratory
//       University of California at Irvine
//       Irvine, CA
//       USA
//       http://doc.ece.uci.edu/
// and
//       Institute for Software Integrated Systems
//       Vanderbilt University
//       Nashville, TN
//       USA
//       http://www.isis.vanderbilt.edu/
//
// Information about TAO is available at:
//     http://www.cs.wustl.edu/~schmidt/TAO.html

// TAO_IDL - Generated from 
// be/be_codegen.cpp:844

#ifndef CONTROLTASKI_H_
#define CONTROLTASKI_H_

#include "../rtt-config.h"
#include "ControlTaskS.h"
#include "OperationInterfaceC.h"
#include "AttributesC.h"
#include "ScriptingAccessC.h"
#include "ServicesC.h"
#include "DataFlowC.h"
#include <orbsvcs/CosPropertyServiceC.h>
#include "../TaskContext.hpp"

#if !defined (ACE_LACKS_PRAGMA_ONCE)
#pragma once
#endif /* ACE_LACKS_PRAGMA_ONCE */

class  Orocos_ControlObject_i : public virtual POA_RTT::Corba::ControlObject, public virtual PortableServer::RefCountServantBase
{
protected:
    RTT::OperationInterface* mobj;
	::RTT::Corba::AttributeInterface_var mAttrs;
	::RTT::Corba::MethodInterface_var mMFact;
	::RTT::Corba::CommandInterface_var mCFact;
	PortableServer::POA_var mpoa;
    typedef std::map<std::string, Orocos_ControlObject_i*> CTObjMap;
    CTObjMap ctobjmap;

public:
  //Constructor 
  Orocos_ControlObject_i (RTT::OperationInterface* orig, PortableServer::POA_ptr the_poa);
  
  //Destructor 
  virtual ~Orocos_ControlObject_i (void);

    PortableServer::POA_ptr _default_POA()
    {
        return PortableServer::POA::_duplicate(mpoa);
    }

  virtual
  char * getName (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));

  virtual
  char * getDescription (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));
  
  virtual
  ::RTT::Corba::AttributeInterface_ptr attributes (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));
  
  virtual
  ::RTT::Corba::MethodInterface_ptr methods (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));
  
  virtual
  ::RTT::Corba::CommandInterface_ptr commands (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));

  virtual
  ::RTT::Corba::ObjectList* getObjectList()
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));
  
  virtual
  ::RTT::Corba::ControlObject* getObject(const char*)
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));

  virtual
  CORBA::Boolean hasObject(const char*)
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));

};

class  Orocos_ControlTask_i 
: public virtual POA_RTT::Corba::ControlTask, public virtual PortableServer::RefCountServantBase,
  public Orocos_ControlObject_i
{
protected:
    RTT::TaskContext* mtask;
	//::CosPropertyService::PropertySet_var mCosProps;
	::RTT::Corba::ScriptingAccess_var mEEFact;
	::RTT::Corba::ServiceInterface_var mService;
	::RTT::Corba::DataFlowInterface_var mDataFlow;
public:
  //Constructor 
  Orocos_ControlTask_i (RTT::TaskContext* orig, PortableServer::POA_ptr the_poa);
  
  //Destructor 
  virtual ~Orocos_ControlTask_i (void);

  void shutdownCORBA();

  virtual
  ::RTT::Corba::TaskState getTaskState (
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));
  
  virtual
  CORBA::Boolean start (
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));
  
  virtual
  CORBA::Boolean stop (
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));
  
  virtual
  CORBA::Boolean isRunning (
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));
  
  virtual
  CORBA::Boolean configure (
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));
  
  virtual
  CORBA::Boolean cleanup (
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));
  
  virtual
  CORBA::Boolean isConfigured (
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));
  
  
/*   virtual */
/*   ::CosPropertyService::PropertySet_ptr propertySet ( */
      
/*     ) */
/*     ACE_THROW_SPEC (( */
/*       CORBA::SystemException */
/*     )); */
  
  virtual
  ::RTT::Corba::ScriptingAccess_ptr scripting (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));

  virtual
  ::RTT::Corba::ServiceInterface_ptr services (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));
  
  virtual
  ::RTT::Corba::DataFlowInterface_ptr ports (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));
  
  
  virtual
  ::RTT::Corba::ControlTask::ControlTaskNames * getPeerList (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));
  
  virtual
  ::RTT::Corba::ControlTask_ptr getPeer (
      const char * name
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));
  
  virtual
  CORBA::Boolean addPeer (
      ::RTT::Corba::ControlTask_ptr p,
      const char * alias
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));
  
  virtual
  CORBA::Boolean hasPeer (
      const char * name
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));
  
  virtual
  CORBA::Boolean removePeer (
      const char * name
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));
  
  virtual
  CORBA::Boolean connectPeers (
      ::RTT::Corba::ControlTask_ptr p
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));
  
  virtual
  CORBA::Boolean disconnectPeers (
      const char * name
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));
};


#endif /* CONTROLTASKI_H_  */