testcomp.cpp

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#include <rtt/TaskContext.hpp>
#include <rtt/Logger.hpp>
#include <rtt/Property.hpp>
#include <rtt/Attribute.hpp>
#include <rtt/Operation.hpp>
#include <rtt/Port.hpp>
#include <rtt/Activity.hpp>

#include <ocl/OCL.hpp>

using namespace std;
using namespace RTT;
using namespace RTT::detail; // workaround in 2.0 transition phase.
using namespace Orocos;

namespace OCL
{
    class Testcomp : public RTT::TaskContext
    {
    protected:
        RTT::Property<std::string> property;
        std::string attribute;
        std::string constant;

        RTT::OutputPort<std::string> outport;
        RTT::InputPort<std::string> bufferport;

        void null_0() {
            log(Warning) << "in: void null_0" << endlog();
        }

        std::string op_0() {
            log(Warning) << "in: std::string op_0" << endlog();
            return "inside operation_0";
        }

        bool op_1(std::string s) {
            log(Warning) << "in: bool op_1(std::string s) " << s << endlog();
            return true;
        }

        double op_2(std::string s, double d) {
            log(Warning) << "in: double op_2(std::string s, double d) " << s << d << endlog();
            return d*2;
        }

        void op_1_out(int &i) {
            log(Warning) << "in: void op_1_out(int &i) " << i << endlog();
            i = i+1;
            return;
        }

        void op_3_out(std::string &s, double &d, int &i) {
            log(Warning) << "in: void op_3_out(std::string &s, double &d, int &i) " << s << d << i << endlog();
            s = s + "-this-string-has-a-tail";
            d = d * 2;
            i = 4711;
            return;
        }

        bool op_1_out_retval(int &i) {
            log(Warning) << "in: bool op_1_out_retval(int &i) " << i << endlog();
            i = i + 1;
            return i%2;
        }

        void throw_exception()
        {
            throw std::runtime_error("Alas, its time to go.");
        }

        bool op1_uint8(unsigned char x)
        {
            if(x == 'x')
                return true;
            else
                return false;
        }


        void updateHook() {
            // log(Info) << "inside update_hook" << endlog();
        }
    public:
        OperationCaller<bool(std::string)> print;

        Testcomp(std::string name) : RTT::TaskContext(name),
              // Name, description, value
              property("the_property", "the_property Description", "Hello World"),
              attribute("Hello World"),
              constant("Hello World"),
              // Name, initial value
              outport("the_results",true),
              // Name, policy
              bufferport("the_buffer_port",ConnPolicy::buffer(13,ConnPolicy::LOCK_FREE,true) )
        {

#if 0
            // New activity with period 0.01s and priority 0.
            this->setActivity( new Activity(0, 0.01) );
#endif
            // Check if all initialisation was ok:
            assert( property.ready() );

            // Now add it to the interface:
            this->properties()->addProperty( property);

            this->addAttribute("the_attribute", attribute);
            this->addConstant("the_constant", constant);

            this->ports()->addPort( outport ).doc("dummy test port");
            this->ports()->addPort( bufferport );

            this->addOperation( "null_0", &Testcomp::null_0, this, OwnThread ).doc("'null_0' Description");
            this->addOperation( "op_0_ct", &Testcomp::op_0, this, ClientThread ).doc("'op_0_ct', ClientThread variant");
            this->addOperation( "op_0_ot", &Testcomp::op_0, this, ClientThread ).doc("'op_0_ot', OwnThread variant");
            this->addOperation( "op_1", &Testcomp::op_1, this, OwnThread).doc("'op_1' Description").arg("mes", "just any string.");
            this->addOperation( "op_2", &Testcomp::op_2, this, OwnThread).doc("'op_2' Description").arg("mes", "just any string.").arg("double", "just any double");
            this->addOperation( "op_1_out", &Testcomp::op_1_out, this, OwnThread).doc("'op_1_out' Description").arg("i", "any int");
            this->addOperation( "op_3_out", &Testcomp::op_3_out, this, OwnThread).doc("'op_3_out' Description").arg("mes", "just any string.").arg("double", "just any double").arg("i", "just any int");
            this->addOperation( "op_1_out_retval", &Testcomp::op_1_out_retval, this, OwnThread).doc("'op_1_out' Description").arg("i", "any int");

            this->addOperation( "op1_uint8", &Testcomp::op1_uint8, this, OwnThread).doc("'op1_uint8' Description").arg("x", "any char, try 'x'");

            this->addOperation( "throw", &Testcomp::throw_exception, this, ClientThread).doc("This operation throws an exception");
            this->provides("printing")
                ->addOperation( "print", &Testcomp::op_1,
                        this, OwnThread).doc("'op_1' Description").arg("mes", "just any string.");

            this->requires("print_str")->addOperationCaller(print);

#if 0
            log(Info) << "**** Starting the 'Testcomp' component ****" <<endlog();
            this->start();
#endif
        }
    };
}

#include "ocl/Component.hpp"
ORO_CREATE_COMPONENT( OCL::Testcomp )