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RTComponent.idl

説明を見る。
00001 // -*- IDL -*-
00022 #ifndef __RTComponent_idl__
00023 #define __RTComponent_idl__
00024 
00025 #include "RTMBase.idl"
00026 #include "RTCInPort.idl"
00027 #include "RTCOutPort.idl"
00028 
00029 
00030 module RTM {
00031   
00047   interface RTComponent
00048   //    : NamedObject, PropertySet
00049   {
00057         readonly attribute string instance_id;
00058         
00066         readonly attribute string implementation_id;
00067         
00075         readonly attribute string description;
00076         
00084         readonly attribute string version;
00085         
00093         readonly attribute string maker;
00094         
00102         readonly attribute string category;
00103         
00111         typedef short ComponentState;
00112         
00113         /*------------------------------------------------------------
00114          * Component state definition
00115          *------------------------------------------------------------*/ 
00117     const ComponentState RTC_UNKNOWN        = 0;
00119     const ComponentState RTC_BORN           = 1;
00121         const ComponentState RTC_INITIALIZING   = 2;
00123     const ComponentState RTC_READY          = 3;
00125     const ComponentState RTC_STARTING           = 4;
00127     const ComponentState RTC_ACTIVE         = 5;
00129     const ComponentState RTC_STOPPING           = 6;
00131     const ComponentState RTC_ABORTING           = 7;
00133     const ComponentState RTC_ERROR          = 8;
00135     const ComponentState RTC_FATAL_ERROR    = 9;
00137     const ComponentState RTC_EXITING        = 10;
00138         
00146         exception IllegalTransition {};
00147         
00148         //------------------------------------------------------------
00149         // Transition operation of component activity state
00150         //------------------------------------------------------------
00166         RtmRes rtc_start() raises (IllegalTransition);
00167         
00183         RtmRes rtc_stop() raises (IllegalTransition);
00184         
00201         RtmRes rtc_reset() raises (IllegalTransition);
00202         
00217         RtmRes rtc_exit() raises (IllegalTransition);
00218         
00233         RtmRes rtc_kill();
00234         
00235         
00236         //------------------------------------------------------------
00237         // Main activity
00238         //------------------------------------------------------------
00258         RtmRes rtc_worker();
00259         
00260         
00261         //------------------------------------------------------------
00262         // Status handling
00263         //------------------------------------------------------------
00276         readonly attribute OutPort rtc_state;  // ComponentState
00277         
00278         //============================================================
00279         // InPorts and OutPorts
00280         //============================================================
00294         exception NoSuchName { string name; };
00295         
00296         //------------------------------------------------------------
00297         // Get inports and outport object reference
00298         //------------------------------------------------------------
00311         readonly attribute InPortList inports;
00312         
00329         InPort get_inport(in string name) raises (NoSuchName);
00330         
00343         readonly attribute OutPortList outports;
00344         
00361         OutPort get_outport(in string name) raises (NoSuchName);
00362         
00364         //      readonly attribute ConnectorList connectors;
00365         //      OutPort get_connector(in string name) raises (NoSuchName);
00366         
00367         
00368         //============================================================
00369         // Component profile and configuration
00370         //============================================================
00371         //      readonly attribute PropertySet rtc_settings;
00372         
00373   };
00374   
00382   typedef sequence<RTComponent> RTComponentList;
00383   
00384 };  // end of module RTM
00385 
00386 #endif // __RTComponent_idl__

OpenRTMに対してWed Apr 6 14:22:33 2005に生成されました。 doxygen 1.3.6