public ReturnCode_t DeactivateComponent(LightweightRTObject comp)
{
_executor.Dispose();
_state = LifeCycleState.INACTIVE_STATE;
_component.OnDeactivated(0);
return ReturnCode_t.RTC_OK;
}
public ReturnCode_t reset_component(LightweightRTObject comp)
{
var mock = comp as RTObjectMock;
if (mock.State == LifeCycleState.ERROR_STATE)
{
mock.State = LifeCycleState.INACTIVE_STATE;
return ReturnCode_t.RTC_OK;
}
else
{
return ReturnCode_t.PRECONDITION_NOT_MET;
}
}
public ReturnCode_t ActivateComponent(LightweightRTObject comp)
{
Observable.Start(() =>
{
_state = LifeCycleState.ACTIVE_STATE;
_component.OnActivated(0);
}, ExecutionContextScheduler)
.Subscribe(_ =>
{
_executor = Observable
.Interval(_timeSpan, ExecutionContextScheduler)
.Subscribe(__ => _component.OnExecute(0));
});
return ReturnCode_t.RTC_OK;
}
public LightweightRTObjectAdapter(LightweightRTObject target)
{
_target = target;
}
public LifeCycleState GetComponentState(LightweightRTObject comp)
{
return _state;
}
public ReturnCode_t AddComponent(LightweightRTObject comp)
{
_component = (DataFlowComponent)comp;
return ReturnCode_t.RTC_OK;
}
public ReturnCode_t ResetComponent(LightweightRTObject comp)
{
throw new NotImplementedException();
}
public ReturnCode_t RemoveComponent(LightweightRTObject comp)
{
_component = null;
return ReturnCode_t.RTC_OK;
}
public LifeCycleState get_component_state(LightweightRTObject comp)
{
var mock = comp as RTObjectMock;
return mock.State;
}