-
Notifications
You must be signed in to change notification settings - Fork 12
Expand file tree
/
Copy pathorocos_cpp.hpp
More file actions
45 lines (40 loc) · 1.89 KB
/
Copy pathorocos_cpp.hpp
File metadata and controls
45 lines (40 loc) · 1.89 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
#pragma once
#include "PkgConfigRegistry.hpp"
#include "TypeRegistry.hpp"
#include <lib_config/Bundle.hpp>
#include "OrocosCppConfig.hpp"
#include <rtt/transports/corba/TaskContextProxy.hpp>
#define DEFAULT_OROCOS_MAX_MESSAGE_SIZE 1000000000
namespace orocos_cpp {
//Harmonize namespace for simpler API usage
typedef libConfig::SingleBundle SingleBundle;
typedef std::shared_ptr<SingleBundle> SingleBundlePtr;
typedef libConfig::Bundle Bundle;
typedef std::shared_ptr<Bundle> BundlePtr;
typedef std::shared_ptr<const Bundle> BundleConstPtr;
class OrocosCpp{
public:
bool initialize(const OrocosCppConfig& config, bool quiet=true);
RTT::corba::TaskContextProxy* getTaskContext(std::string name);
/*!
* Loads all typkits required for a task model or from a package
* All typekits were loaded to properly create a TaskContextProxy for an
* task of the given model type.
* This includes the load of all typekits that are directly required and all
* depended requirements.
* @param packageOrTaskModelName The Name of a task model, e.g., "camera_usb::Task" or package (e.g. "camera_usb")
* @return Returns True if new task models were loaded. Returns False if no
* model was loaded (also if no load was required)! So the return
* value is no indicator for ther presence of the typekit. If there
* was an error during loading, std::runtime_error will be thrown.
* Thus, the termination of the function can be understood as that
* the typekit is present, regardless of the return value.
* @throws std::runtime_error if errors during loading of a typekit occur
*/
bool loadAllTypekitsForModel(std::string packageOrTaskModelName);
static std::string applyStringVariableInsertions(const std::string& cnd_yaml);
PkgConfigRegistryPtr package_registry;
TypeRegistryPtr type_registry;
BundlePtr bundle;
};
}