00001 // -*- C++ -*- 00010 #ifndef GUIJOYSTICK_H 00011 #define GUIJOYSTICK_H 00012 00013 #include <rtm/Manager.h> 00014 #include <rtm/DataFlowComponentBase.h> 00015 #include <rtm/CorbaPort.h> 00016 #include <rtm/DataInPort.h> 00017 #include <rtm/DataOutPort.h> 00018 #include <rtm/idl/BasicDataTypeSkel.h> 00019 00020 #include <gtk/gtk.h> 00021 00022 // Service implementation headers 00023 // <rtc-template block="service_impl_h"> 00024 00025 // </rtc-template> 00026 00027 // Service Consumer stub headers 00028 // <rtc-template block="consumer_stub_h"> 00029 #include "MyDataTypeStub.h" 00030 00031 // </rtc-template> 00032 00033 using namespace RTC; 00034 00035 00036 class GuiJoystick 00037 : public RTC::DataFlowComponentBase 00038 { 00039 public: 00040 GuiJoystick(RTC::Manager* manager); 00041 ~GuiJoystick(); 00042 00043 // <rtc-template block="public_attribute"> 00044 00045 // </rtc-template> 00046 00047 // <rtc-template block="public_operation"> 00048 00049 // </rtc-template> 00050 00051 // The initialize action (on CREATED->ALIVE transition) 00052 // formaer rtc_init_entry() 00053 virtual RTC::ReturnCode_t onInitialize(); 00054 00055 // The finalize action (on ALIVE->END transition) 00056 // formaer rtc_exiting_entry() 00057 // virtual RTC::ReturnCode_t onFinalize(); 00058 00059 // The startup action when ExecutionContext startup 00060 // former rtc_starting_entry() 00061 // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id); 00062 00063 // The shutdown action when ExecutionContext stop 00064 // former rtc_stopping_entry() 00065 // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id); 00066 00067 // The activated action (Active state entry action) 00068 // former rtc_active_entry() 00069 virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id); 00070 00071 // The deactivated action (Active state exit action) 00072 // former rtc_active_exit() 00073 virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id); 00074 00075 // The execution action that is invoked periodically 00076 // former rtc_active_do() 00077 virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id); 00078 00079 // The aborting action when main logic error occurred. 00080 // former rtc_aborting_entry() 00081 // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id); 00082 00083 // The error action in ERROR state 00084 // former rtc_error_do() 00085 // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id); 00086 00087 // The reset action that is invoked resetting 00088 // This is same but different the former rtc_init_entry() 00089 // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id); 00090 00091 // The state update action that is invoked after onExecute() action 00092 // no corresponding operation exists in OpenRTm-aist-0.2.0 00093 // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id); 00094 00095 // The action that is invoked when execution context's rate is changed 00096 // no corresponding operation exists in OpenRTm-aist-0.2.0 00097 // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id); 00098 00099 00100 protected: 00101 // <rtc-template block="protected_attribute"> 00102 00103 // </rtc-template> 00104 00105 // <rtc-template block="protected_operation"> 00106 00107 // </rtc-template> 00108 00109 // Configuration variable declaration 00110 // <rtc-template block="config_declare"> 00111 double m_horizon_gain; 00112 double m_vertical_gain; 00113 // </rtc-template> 00114 00115 // DataInPort declaration 00116 // <rtc-template block="inport_declare"> 00117 00118 // </rtc-template> 00119 00120 00121 // DataOutPort declaration 00122 // <rtc-template block="outport_declare"> 00123 TimedDouble m_Vertical; 00124 OutPort<TimedDouble> m_VerticalOut; 00125 TimedDouble m_Horizon; 00126 OutPort<TimedDouble> m_HorizonOut; 00127 TimedVelocity m_Velocity; 00128 OutPort<TimedVelocity> m_VelocityOut; 00129 00130 // </rtc-template> 00131 00132 // CORBA Port declaration 00133 // <rtc-template block="corbaport_declare"> 00134 00135 // </rtc-template> 00136 00137 // Service declaration 00138 // <rtc-template block="service_declare"> 00139 00140 // </rtc-template> 00141 00142 // Consumer declaration 00143 // <rtc-template block="consumer_declare"> 00144 00145 // </rtc-template> 00146 00147 private: 00148 int dummy; 00149 // <rtc-template block="private_attribute"> 00150 GtkWidget *window1; 00151 00152 // </rtc-template> 00153 00154 // <rtc-template block="private_operation"> 00155 00156 // </rtc-template> 00157 00158 }; 00159 00160 00161 extern "C" 00162 { 00163 void GuiJoystickInit(RTC::Manager* manager); 00164 }; 00165 00166 #endif // GUIJOYSTICK_H