Part 1 Without the plugin

This is a work in progress

This part creates components that use your custom type, and demonstrates that Orocos does not know anything about these types.

Files

To build

cd /path/to/plugins
mkdir build
cd build
cmake .. -DOROCOS_TARGET=macosx -DENABLE_CORBA=OFF
make

For other operating systems substitute the appopriate value for "macosx" when setting OROCOS_TARGET (e.g. "gnulinux").

Tested in Mac OS X Leopard 10.5.7.

To run

In a shell

cd /path/to/plugins/build
./no-toolkit

This starts a test case that uses an OCL taskbrowser to show two components: send and recv. If you issue a "ls" or "ls Send" command, you will get output similar to the following:

 Data Flow Ports: 
 RW(C)   unknown_t ptime          = (unknown_t)
 RW(C)   unknown_t timeDuration   = (unknown_t)

Each component has two ports, named ptime and time_duration. Notice that both ports are connected "(C)", but that Orocos considers each an unknown type with unknown value.

Part 2 Toolkit plugin will build a toolkit plugin that allows Orocos to understand these types.