OpenRTM-aist » OpenRTM-aist (Java)

package RTMExamples.SimpleSdoService;

import RTC.ReturnCode_t;

import jp.go.aist.rtm.RTC.DataFlowComponentBase;

import jp.go.aist.rtm.RTC.Manager;

import org.omg.CORBA.portable.OutputStream;

public class SdoServiceConsumerImpl  extends DataFlowComponentBase {

  public SdoServiceConsumerImpl(Manager manager) {

    super(manager);

    // <rtc-template block="initializer">

    // </rtc-template>

    // Registration: InPort/OutPort/Service

    // <rtc-template block="registration">

    // Set OutPort buffer

    // Set service provider to Ports

    // Set service consumers to Ports

    // Set CORBA Service Ports

    // </rtc-template>

  }

  // The initialize action (on CREATED->ALIVE transition)

  // formaer rtc_init_entry() 

  @Override

  protected ReturnCode_t onInitialize() {

    return super.onInitialize();

  }

  // The finalize action (on ALIVE->END transition)

  // formaer rtc_exiting_entry()

//  @Override

//  protected ReturnCode_t onFinalize() {

//    return super.onFinalize();

//  }

  //

  // The startup action when ExecutionContext startup

  // former rtc_starting_entry()

//  @Override

//  protected ReturnCode_t onStartup(int ec_id) {

//    return super.onStartup(ec_id);

//  }

  //

  // The shutdown action when ExecutionContext stop

  // former rtc_stopping_entry()

//  @Override

//  protected ReturnCode_t onShutdown(int ec_id) {

//    return super.onShutdown(ec_id);

//  }

  //

  // The activated action (Active state entry action)

  // former rtc_active_entry()

//  @Override

//  protected ReturnCode_t onActivated(int ec_id) {

//    return super.onActivated(ec_id);

//  }

  //

  // The deactivated action (Active state exit action)

  // former rtc_active_exit()

//  @Override

//  protected ReturnCode_t onDeactivated(int ec_id) {

//    return super.onDeactivated(ec_id);

//  }

  //

  // The execution action that is invoked periodically

  // former rtc_active_do()

  @Override

  protected ReturnCode_t onExecute(int ec_id) {

    try {

      Thread.sleep(1);

    } catch (InterruptedException e) {

      e.printStackTrace();

    }

    return super.onExecute(ec_id);

  }

  //

  // The aborting action when main logic error occurred.

  // former rtc_aborting_entry()

//  @Override

//  public ReturnCode_t onAborting(int ec_id) {

//    return super.onAborting(ec_id);

//  }

  //

  // The error action in ERROR state

  // former rtc_error_do()

//  @Override

//  public ReturnCode_t onError(int ec_id) {

//    return super.onError(ec_id);

//  }

  //

  // The reset action that is invoked resetting

  // This is same but different the former rtc_init_entry()

//  @Override

//  protected ReturnCode_t onReset(int ec_id) {

//    return super.onReset(ec_id);

//  }

//  

  // The state update action that is invoked after onExecute() action

  // no corresponding operation exists in OpenRTm-aist-0.2.0

//  @Override

//  protected ReturnCode_t onStateUpdate(int ec_id) {

//    return super.onStateUpdate(ec_id);

//  }

  //

  // The action that is invoked when execution context's rate is changed

  // no corresponding operation exists in OpenRTm-aist-0.2.0

//  @Override

//  protected ReturnCode_t onRateChanged(int ec_id) {

//    return super.onRateChanged(ec_id);

//  }

//

  // DataInPort declaration

  // <rtc-template block="inport_declare">

  // </rtc-template>

  // DataOutPort declaration

  // <rtc-template block="outport_declare">

  // </rtc-template>

  // CORBA Port declaration

  // <rtc-template block="corbaport_declare">

  // </rtc-template>

  // Service declaration

  // <rtc-template block="service_declare">

  // </rtc-template>

  // Consumer declaration

  // <rtc-template block="consumer_declare">

  // </rtc-template>

}