MultilayerCompositeEC.h

Go to the documentation of this file.

// -*- C++ -*-
#ifndef RTC_MULTILAYERCOMPOSITEEC_H
#define RTC_MULTILAYERCOMPOSITEEC_H
 
 
#include <rtm/PeriodicExecutionContext.h>
#include <coil/PeriodicTask.h>
 
 
 
namespace RTC_exp
{
  class MultilayerCompositeEC
    : public virtual RTC_exp::PeriodicExecutionContext
  {
  public:
    MultilayerCompositeEC();
 
    ~MultilayerCompositeEC() override;
 
     void init(coil::Properties& props) override;
 
 
    int svc() override;
 
    RTC::ReturnCode_t bindComponent(RTC::RTObject_impl* rtc) override;
 
 
    virtual RTC_impl::RTObjectStateMachine* findComponent(RTC::LightweightRTObject_ptr comp);
    virtual void addTask(std::vector<RTC::LightweightRTObject_ptr> rtcs);
    
 
 
  protected:
      class ChildTask
      {
      public:
          ChildTask(coil::PeriodicTaskBase* task, MultilayerCompositeEC* ec);
          virtual ~ChildTask();
          void addComponent(RTC::LightweightRTObject_ptr rtc);
          void updateCompList();
          virtual int svc();
          void signal();
          void join();
          coil::TimeMeasure::Statistics getPeriodStat();
          coil::TimeMeasure::Statistics getExecStat();
          void finalize();
      private:
          std::vector<RTC::LightweightRTObject_ptr> m_rtcs;
          coil::PeriodicTaskBase* m_task;
          MultilayerCompositeEC* m_ec;
          std::vector<RTC_impl::RTObjectStateMachine*> m_comps;
          WorkerThreadCtrl m_worker;
          WorkerThreadCtrl m_signal_worker;
 
      };
 
      virtual void addRTCToTask(ChildTask* task, RTC::LightweightRTObject_ptr rtobj);
 
      std::vector<ChildTask*> m_tasklist;
      RTC_impl::RTObjectStateMachine* m_ownersm{nullptr};
 
 
  };  // class MultilayerCompositeEC
} // namespace RTC_exp
 
 
extern "C"
{
  void MultilayerCompositeECInit(RTC::Manager* manager);
}
 
#endif  // RTC_MULTILAYERCOMPOSITEEC_H