jp.go.aist.rtm.RTC

Class PreFsmActionListener

java.lang.Object

jp.go.aist.rtm.RTC.PreFsmActionListener

All Implemented Interfaces:

java.util.Observer

public abstract class PreFsmActionListener
extends java.lang.Object
implements java.util.Observer

PreFsmActionListener class

PreFsmActionListener class is a base class for the listener objects which realize callback to hook FSM related pre-actions. To hook execution just before a FSM action, the callback object should be defined as follows, and set to RTObject through appropriate callback set function.

 class MyListener extends PreFsmActionListener {
 
   public String m_name;
   public MyListener(final String name) {
       m_namei = name;
   }

   public void operator()(final String state_name)
   {
     System.out.println("Listner name:  " + m_name);
     System.out.println("Current state: " + state_name);
   };
 };
 

The listener class defined above is set to RTObject as follows.

 protected ReturnCode_t onInitialize() {
 
     addPreFsmActionListener(PRE_ON_STATE_CHANGE,
                             new MyListener("init listener"));
    :
    :
    :
 };
 

The first argument "PRE_ON_STATE_CHANGE" specifies callback hook point, and the following values are available. Not all the callback points are implemented. It depends on the FSM implementations.

• - PRE_ON_INIT: just before "init" action
• - PRE_ON_ENTRY: just before "entry" action
• - PRE_ON_DO: just before "do" action
• - PRE_ON_EXIT: just before "exit" action
• - PRE_ON_STATE_CHANGE: just before state transition action

The second argument is a pointers to the listener object. The third argument is a flag for automatic object destruction. When "true" is given to the third argument, the given object in second argument is automatically destructed with RTObject. In the "false " case, the ownership of the object is left in the caller side, and then destruction of the object must be done by users' responsibility. It is good for setting "true" as third argument, if the listener object life span is equals to the RTObject's life cycle. On the otehr hand, if callbacks are required to set/unset depending on its situation, the third argument could be "false". In that case, listener objects pointers must be stored to member variables, and set/unset of the listener objects shoud be paerformed throguh RTObject_impl::addPreFsmActionListener()/removePreFsmActionListener() functions.

Constructor Summary

Constructors

Constructor and Description
PreFsmActionListener()

Method Summary

Modifier and Type	Method and Description
abstract void	operator(java.lang.String exec_handle) Virtual Callback function
void	update(java.util.Observable o, java.lang.Object obj)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

PreFsmActionListener

public PreFsmActionListener()

Method Detail

update

public void update(java.util.Observable o,
                   java.lang.Object obj)

Specified by:

update in interface java.util.Observer

operator

public abstract void operator(java.lang.String exec_handle)

Virtual Callback function

This is a the Callback function for PreFsmActionListener.