// -*- C++ -*-
/*!
 * @file  BBcont.h * @brief BBcont component * @date  $Date$ 
 *
 * $Id$ 
 */
#ifndef BBCONT_H
#define BBCONT_H

#include <rtm/idl/BasicDataTypeSkel.h>
#include <rtm/Manager.h>
#include <rtm/DataFlowComponentBase.h>
#include <rtm/CorbaPort.h>
#include <rtm/DataInPort.h>
#include <rtm/DataOutPort.h>

// Service implementation headers
// <rtc-template block="service_impl_h">

// </rtc-template>

// Service Consumer stub headers
// <rtc-template block="consumer_stub_h">

// </rtc-template>

using namespace RTC;

class BBcont  : public RTC::DataFlowComponentBase
{
 public:
  BBcont(RTC::Manager* manager);
  ~BBcont();

  // The initialize action (on CREATED->ALIVE transition)
  // formaer rtc_init_entry() 
 virtual RTC::ReturnCode_t onInitialize();

  // The finalize action (on ALIVE->END transition)
  // formaer rtc_exiting_entry()
  virtual RTC::ReturnCode_t onFinalize();

  // The startup action when ExecutionContext startup
  // former rtc_starting_entry(
  virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);

  // The shutdown action when ExecutionContext stop
  // former rtc_stopping_entry()
  virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);

  // The activated action (Active state entry action)
  // former rtc_active_entry()
  virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);

  // The deactivated action (Active state exit action)
  // former rtc_active_exit()
  virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);

  // The execution action that is invoked periodically
  // former rtc_active_do()
  virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);

  // The aborting action when main logic error occurred.
  // former rtc_aborting_entry()
  // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);

  // The error action in ERROR state
  // former rtc_error_do()
  // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);

  // The reset action that is invoked resetting
  // This is same but different the former rtc_init_entry()
  // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);
  
  // The state update action that is invoked after onExecute() action
  // no corresponding operation exists in OpenRTm-aist-0.2.0
  // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);

  // The action that is invoked when execution context's rate is changed
  // no corresponding operation exists in OpenRTm-aist-0.2.0
  // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);


 protected:
  // Configuration variable declaration
  // <rtc-template block="config_declare">
  
  // </rtc-template>

  // DataInPort declaration
  // <rtc-template block="inport_declare">
  TimedDoubleSeq m_acgyro;
  InPort<TimedDoubleSeq> m_acgyroIn;
  TimedDoubleSeq m_acaccel;
  InPort<TimedDoubleSeq> m_acaccelIn;
  TimedDoubleSeq m_acjoint;
  InPort<TimedDoubleSeq> m_acjointIn;

  // </rtc-template>

  // DataOutPort declaration
  // <rtc-template block="outport_declare">
  TimedDoubleSeq m_cmjoint;
  OutPort<TimedDoubleSeq> m_cmjointOut;
  TimedDoubleSeq m_cmspeed;
  OutPort<TimedDoubleSeq> m_cmspeedOut;
  TimedDoubleSeq m_cmaccel;
  OutPort<TimedDoubleSeq> m_cmaccelOut;
  TimedDoubleSeq m_cmforce;
  OutPort<TimedDoubleSeq> m_cmforceOut;

  // </rtc-template>

  // CORBA Port declaration
  // <rtc-template block="corbaport_declare">

  // </rtc-template>

  // Service declaration
  // <rtc-template block="service_declare">

  // </rtc-template>

  // Consumer declaration
  // <rtc-template block="consumer_declare">

  // </rtc-template>

 private:
	 int ec;
	 int state;
	 double now;

	 void CalculateInclination(void);
	 void CalculatePosition(void);
	 void DoControl(void);

	 // angle
	 double wx,wy,agx,agy,cgx,cgy,cgax,cgay,thx,thy;
	 double px,py,pvx,pvy,opx,opy;
	 double tx,ty;
};
 const double DT=0.005;


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

#endif // BBCONT_H