6 #ifndef CNOID_OPENRTM_PLUGIN_VIRTUAL_ROBOT_RTC_H_INCLUDED 7 #define CNOID_OPENRTM_PLUGIN_VIRTUAL_ROBOT_RTC_H_INCLUDED 11 #include <rtm/RTObject.h> 12 #include <rtm/Manager.h> 13 #include <rtm/DataFlowComponentBase.h> 24 static void registerFactory(RTC::Manager* manager,
const char* componentTypeName);
47 typedef std::map<std::string, OutPortHandlerPtr> OutPortHandlerMap;
48 OutPortHandlerMap outPortHandlers;
50 typedef std::map<std::string, InPortHandlerPtr> InPortHandlerMap;
51 InPortHandlerMap inPortHandlers;
54 bool createOutPortHandler(
PortInfo& portInfo);
55 bool createInPortHandler(
PortInfo& portInfo);
57 template <
class TOutPortHandler>
58 bool registerOutPortHandler(TOutPortHandler* handler) {
59 const std::string& name = handler->portName;
61 if (!addOutPort(name.c_str(), handler->outPort))
return false;
67 template <
class TOutPortHandler>
68 bool unregisterOutPortHandler(TOutPortHandler* handler) {
69 if (deleteOutPort(handler->outPort))
74 template <
class TInPortHandler>
75 bool registerInPortHandler(TInPortHandler* handler) {
76 const std::string& name = handler->portName;
78 if (!addInPort(name.c_str(), handler->inPort))
return false;
84 void updatePortObjectRefs();
86 void addConnectedRtcs(RTC::PortService_ptr portRef, RTC::RTCList& rtcList, std::set<std::string>& foundRtcNames);
PortHandlerPtr getOutPortHandler(const std::string &name)
Definition: VirtualRobotRTC.cpp:217
RTC::ReturnCode_t onInitialize()
Definition: VirtualRobotRTC.cpp:62
boost::shared_ptr< OutPortHandler > OutPortHandlerPtr
Definition: VirtualRobotPortHandler.h:66
static void registerFactory(RTC::Manager *manager, const char *componentTypeName)
Definition: VirtualRobotRTC.cpp:24
VirtualRobotRTC(RTC::Manager *manager)
Definition: VirtualRobotRTC.cpp:54
void inputDataFromSimulator(BodyRTCItem *bodyRTC)
Definition: VirtualRobotRTC.cpp:353
Definition: VirtualRobotRTC.h:21
void stop()
Definition: VirtualRobotRTC.cpp:407
void writeDataToOutPorts(double controlTime, double controlTimeStep)
Definition: VirtualRobotRTC.cpp:382
bool checkOutPortStepTime(double controlTimeStep)
Definition: VirtualRobotRTC.cpp:412
~VirtualRobotRTC()
Definition: VirtualRobotRTC.cpp:68
void readDataFromInPorts()
Definition: VirtualRobotRTC.cpp:400
boost::shared_ptr< InPortHandler > InPortHandlerPtr
Definition: VirtualRobotPortHandler.h:77
RTC::RTCList * getConnectedRtcs()
Definition: VirtualRobotRTC.cpp:280
boost::shared_ptr< PortHandler > PortHandlerPtr
Definition: VirtualRobotPortHandler.h:43
void outputDataToSimulator(const BodyPtr &body)
Definition: VirtualRobotRTC.cpp:374
Definition: BodyRTCItem.h:24
void createPorts(BridgeConf *bridgeConf)
Definition: VirtualRobotRTC.cpp:75
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
void initialize(Body *simulationBody)
Definition: VirtualRobotRTC.cpp:425
Definition: BridgeConf.h:92
Definition: BridgeConf.h:60
PortHandlerPtr getInPortHandler(const std::string &name)
Definition: VirtualRobotRTC.cpp:233