ExtTrigExecutionContext.h

[詳解]

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

#include <rtm/RTC.h>

#include <coil/Mutex.h>
#include <coil/Condition.h>
#include <coil/Task.h>

#include <rtm/ExecutionContextBase.h>

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

namespace RTC
{
  class ExtTrigExecutionContext
    : public virtual POA_OpenRTM::ExtTrigExecutionContextService,
      public virtual PortableServer::RefCountServantBase,
      public RTC::ExecutionContextBase,
      public coil::Task
  {
    typedef coil::Mutex Mutex;
    typedef coil::Condition<Mutex> Condition;
    typedef coil::Guard<coil::Mutex> Guard;
  public:
    ExtTrigExecutionContext();
    
    virtual ~ExtTrigExecutionContext(void);
    
    virtual int open(void *args);

    virtual int svc(void);

    virtual int close(unsigned long flags);

    //============================================================
    // 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:
    virtual RTC::ReturnCode_t onStarted();
    // template virtual functions adding/removing component 
     virtual RTC::ReturnCode_t  
     onAddedComponent(RTC::LightweightRTObject_ptr rtobj);  
    virtual RTC::ReturnCode_t   
    onRemovedComponent(RTC::LightweightRTObject_ptr rtobj);
    virtual RTC::ReturnCode_t
    onWaitingActivated(RTC_impl::RTObjectStateMachine* comp, long int count);
    virtual RTC::ReturnCode_t
    onWaitingDeactivated(RTC_impl::RTObjectStateMachine* comp, long int count);
    virtual RTC::ReturnCode_t
    onWaitingReset(RTC_impl::RTObjectStateMachine* comp, long int count);

  private:
    bool threadRunning()
    {
      Guard guard(m_svcmutex);
      return m_svc;
    }
    RTC::Logger rtclog;

    bool m_svc;
    Mutex m_svcmutex;

    struct Worker
    {
      Worker() : cond_(mutex_), ticked_(false) {};
      Mutex mutex_;
      Condition cond_;
      bool ticked_;
    };
    // A condition variable for external triggered worker
    Worker m_worker;
  };  // class ExtTrigExecutionContext
};  // namespace RTC

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


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

#endif // RTC_EXTTRIGEXECUTIONCONTEXT_H