OpenHRPExecutionContext.h

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// -*- C++ -*-
#ifndef RTC_OPENHRPEXECUTIONCONTEXT_H
#define RTC_OPENHRPEXECUTIONCONTEXT_H

#include <coil/Mutex.h>
#include <coil/Guard.h>
#include <rtm/RTC.h>
#include <rtm/ExecutionContextBase.h>

#ifdef WIN32
#pragma warning( disable : 4290 )
#endif

namespace RTC
{
  class OpenHRPExecutionContext
    : public virtual POA_OpenRTM::ExtTrigExecutionContextService,
      public virtual PortableServer::RefCountServantBase,
      public RTC::ExecutionContextBase
  {
    typedef coil::Mutex Mutex;
    typedef coil::Guard<coil::Mutex> Guard;
  public:
    OpenHRPExecutionContext();

    virtual ~OpenHRPExecutionContext(void);


    //============================================================
    // ExtTrigExecutionContextService
    //============================================================
    virtual void tick()
      throw (CORBA::SystemException);
    
    //============================================================
    // ExecutionContextService
    //============================================================
    virtual CORBA::Boolean is_running(void)
      throw (CORBA::SystemException);

    virtual RTC::ReturnCode_t start(void)
      throw (CORBA::SystemException);

    virtual RTC::ReturnCode_t stop(void)
      throw (CORBA::SystemException);

    virtual CORBA::Double get_rate(void)
      throw (CORBA::SystemException);

    virtual RTC::ReturnCode_t  set_rate(CORBA::Double rate)
      throw (CORBA::SystemException);

    virtual RTC::ReturnCode_t
    activate_component(RTC::LightweightRTObject_ptr comp)
      throw (CORBA::SystemException);
    
    virtual RTC::ReturnCode_t
    deactivate_component(RTC::LightweightRTObject_ptr comp)
      throw (CORBA::SystemException);

    virtual RTC::ReturnCode_t
    reset_component(RTC::LightweightRTObject_ptr comp)
      throw (CORBA::SystemException);

    virtual RTC::LifeCycleState
    get_component_state(RTC::LightweightRTObject_ptr comp)
      throw (CORBA::SystemException);

    virtual RTC::ExecutionKind get_kind(void)
      throw (CORBA::SystemException);

    virtual RTC::ReturnCode_t add_component(RTC::LightweightRTObject_ptr comp)
      throw (CORBA::SystemException);

    virtual RTC::ReturnCode_t
    remove_component(RTC::LightweightRTObject_ptr comp)
      throw (CORBA::SystemException);

    virtual RTC::ExecutionContextProfile* get_profile(void)
      throw (CORBA::SystemException);
  protected:
    // template virtual functions adding/removing component 
    virtual RTC::ReturnCode_t
        onAddedComponent(RTC::LightweightRTObject_ptr rtobj);
    virtual RTC::ReturnCode_t
        onRemovedComponent(RTC::LightweightRTObject_ptr rtobj);
    coil::Mutex m_tickmutex;
  private:
    RTC::Logger rtclog;

    unsigned int m_count;

  };  // class OpenHRPExecutionContext
};  // namespace RTC

#ifdef WIN32
#pragma warning( default : 4290 )
#endif


extern "C"
{
  DLL_EXPORT void OpenHRPExecutionContextInit(RTC::Manager* manager);
};

#endif // RTC_OPENHRPEXECUTIONCONTEXT_H