OpenHRPExecutionContext.h

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// -*- C++ -*-
#ifndef RTC_OPENHRPEXECUTIONCONTEXT_H
#define RTC_OPENHRPEXECUTIONCONTEXT_H
 
#include <mutex>
#include <rtm/RTC.h>
#include <rtm/ExecutionContextBase.h>
 
namespace RTC
{
  class OpenHRPExecutionContext
    : public virtual POA_OpenRTM::ExtTrigExecutionContextService,
      public virtual PortableServer::RefCountServantBase,
      public RTC::ExecutionContextBase
  {
  public:
    OpenHRPExecutionContext();
 
    ~OpenHRPExecutionContext() override;
 
 
    //============================================================
    // ExtTrigExecutionContextService
    //============================================================
    void tick() override;
 
    //============================================================
    // ExecutionContextService
    //============================================================
    CORBA::Boolean is_running() override;
 
    RTC::ReturnCode_t start() override;
 
    RTC::ReturnCode_t stop() override;
 
    CORBA::Double get_rate() override;
 
    RTC::ReturnCode_t  set_rate(CORBA::Double rate) override;
 
    RTC::ReturnCode_t
    activate_component(RTC::LightweightRTObject_ptr comp) override;
 
    RTC::ReturnCode_t
    deactivate_component(RTC::LightweightRTObject_ptr comp) override;
 
    RTC::ReturnCode_t
    reset_component(RTC::LightweightRTObject_ptr comp) override;
 
    RTC::LifeCycleState
    get_component_state(RTC::LightweightRTObject_ptr comp) override;
 
    RTC::ExecutionKind get_kind() override;
 
    RTC::ReturnCode_t add_component(RTC::LightweightRTObject_ptr comp) override;
 
    RTC::ReturnCode_t
    remove_component(RTC::LightweightRTObject_ptr comp) override;
 
    RTC::ExecutionContextProfile* get_profile() override;
  protected:
    // template virtual functions adding/removing component
    RTC::ReturnCode_t
        onAddedComponent(RTC::LightweightRTObject_ptr rtobj) override;
    RTC::ReturnCode_t
        onRemovedComponent(RTC::LightweightRTObject_ptr rtobj) override;
    std::mutex m_tickmutex;
  private:
    RTC::Logger rtclog{"exttrig_sync_ec"};
  };  // class OpenHRPExecutionContext
} // namespace RTC
 
 
extern "C"
{
  void OpenHRPExecutionContextInit(RTC::Manager* manager);
}
 
#endif  // RTC_OPENHRPEXECUTIONCONTEXT_H