jp.go.aist.rtm.RTC

Class ExtendedFsmServiceProvider

java.lang.Object

org.omg.PortableServer.Servant

RTC.ExtendedFsmServicePOA

jp.go.aist.rtm.RTC.ExtendedFsmServiceProvider

All Implemented Interfaces:

SDOServiceOperations, ObjectCreator<SdoServiceProviderBase>, ObjectDestructor, SdoServiceProviderBase, org.omg.CORBA.portable.InvokeHandler, ExtendedFsmServiceOperations

public class ExtendedFsmServiceProvider
extends ExtendedFsmServicePOA
implements SdoServiceProviderBase, ObjectCreator<SdoServiceProviderBase>, ObjectDestructor

Field Summary

Fields

Modifier and Type	Field and Description
protected FsmActionListeners	m_fsmActionListeners

Constructor Summary

Constructors

Constructor and Description
ExtendedFsmServiceProvider() ctor of ExtendedFsmServiceProvider

Method Summary

Modifier and Type	Method and Description
ExtendedFsmService	_this() Gets CORBA object referense of this RTC.ExtendedFsmService
protected void	changeStatus(java.lang.String state) FSM status change
protected void	changeStructure(java.lang.String fsm_structure) Unsetting heartbeat
SdoServiceProviderBase	creator_() creator_
void	destructor_(java.lang.Object obj) destructor_
static void	ExtendedFsmServiceProviderInit() ExtendedFsmServiceProviderInit
void	finalize() Finalization
java.lang.String	get_current_state() Get Current FSM State
ReturnCode_t	get_fsm_structure(FsmStructureHolder fsm_structure) Set FSM Structure
protected void	getFsmStructure(FsmStructure fstruct)
ServiceProfile	getProfile() getting ServiceProfile
SDOService	getSDOService()
boolean	init(RTObject_impl rtobj, ServiceProfile profile) Initialization
boolean	reinit(ServiceProfile profile) Re-initialization
ReturnCode_t	set_fsm_structure(FsmStructure fsm_structure) Set FSM Structure
void	setFsmActionListenerHolder(FsmActionListeners fsmActionListeners) Setting FsmActionListener holder
protected void	setFSMProfileListeners() Setting FsmProfile listener
protected void	setFSMStatusListeners() Setting FSM status listeners
protected void	setFsmStructure(FsmStructure fstruct)
protected void	setFSMStructureListeners() Setting FsmStructure listener
protected void	setListeners(Properties prop) Connectiong listeners to RTObject
protected void	unsetFSMProfileListeners() Unsetting FsmProfile listener
protected void	unsetFSMStatusListeners() Unsetting FSM status listeners
protected void	unsetFSMStructureListeners() Unsetting FsmStructure listener

Methods inherited from class RTC.ExtendedFsmServicePOA

_all_interfaces, _invoke, _this

Methods inherited from class org.omg.PortableServer.Servant

_default_POA, _get_delegate, _get_interface_def, _is_a, _non_existent, _object_id, _orb, _poa, _set_delegate, _this_object, _this_object

Methods inherited from class java.lang.Object

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

Field Detail

m_fsmActionListeners

protected FsmActionListeners m_fsmActionListeners

Constructor Detail

ExtendedFsmServiceProvider

public ExtendedFsmServiceProvider()

ctor of ExtendedFsmServiceProvider

Method Detail

_this

public ExtendedFsmService _this()

Gets CORBA object referense of this RTC.ExtendedFsmService

Overrides:

_this in class ExtendedFsmServicePOA

Returns:

CORBA object referense of this OpenRTM.InPortCdr

getSDOService

public SDOService getSDOService()

Specified by:

getSDOService in interface SdoServiceProviderBase

init

public boolean init(RTObject_impl rtobj,
                    ServiceProfile profile)

Initialization

Specified by:

init in interface SdoServiceProviderBase

Parameters:

rtobj -

profile -

Returns:

reinit

public boolean reinit(ServiceProfile profile)

Re-initialization

Specified by:

reinit in interface SdoServiceProviderBase

Parameters:

profile -

Returns:

getProfile

public final ServiceProfile getProfile()

getting ServiceProfile

Specified by:

getProfile in interface SdoServiceProviderBase

Returns:

finalize

public void finalize()

Finalization

Specified by:

finalize in interface SdoServiceProviderBase

Overrides:

finalize in class java.lang.Object

get_current_state

public java.lang.String get_current_state()

Get Current FSM State

This operation returns the current state of an FSM in the target FSM component. (FSM4RTC spec. p.20)

Specified by:

get_current_state in interface ExtendedFsmServiceOperations

Returns:

A string which represent the current status

set_fsm_structure

public ReturnCode_t set_fsm_structure(FsmStructure fsm_structure)

Set FSM Structure

This operation sets an FsmStructure to the target component. Then the target component reconfigures its FSM structure such as transition rules according to the values of the given fsm_structure. RTCs may return UNSUPPORTED if this operation is not implemented.

Specified by:

set_fsm_structure in interface ExtendedFsmServiceOperations

Parameters:

fsm_structure - FsmStructure structure which represents

Returns:

RTC_OK normal return RTC_ERROR other error BAD_PARAMETER invalid parameter UNSUPPORTED unsupported or not implemented

get_fsm_structure

public ReturnCode_t get_fsm_structure(FsmStructureHolder fsm_structure)

Set FSM Structure

This operation returns the structure of an FSM in the target FSM component. ExtendedFsmService returns the name, structure with format specified by fsm_structure.format and EventProfiles. RTCs may return UNSUPPORTED if this operation is not implemented.

Specified by:

get_fsm_structure in interface ExtendedFsmServiceOperations

Parameters:

fsm_structure - FsmStructure structure which represents FSM structure

Returns:

RTC_OK normal return RTC_ERROR other error BAD_PARAMETER invalid parameter UNSUPPORTED unsupported or not implemented

setListeners

protected void setListeners(Properties prop)

Connectiong listeners to RTObject

changeStatus

protected void changeStatus(java.lang.String state)

FSM status change

changeStructure

protected void changeStructure(java.lang.String fsm_structure)

Unsetting heartbeat

setFSMStatusListeners

protected void setFSMStatusListeners()

Setting FSM status listeners

unsetFSMStatusListeners

protected void unsetFSMStatusListeners()

Unsetting FSM status listeners

setFSMProfileListeners

protected void setFSMProfileListeners()

Setting FsmProfile listener

unsetFSMProfileListeners

protected void unsetFSMProfileListeners()

Unsetting FsmProfile listener

setFSMStructureListeners

protected void setFSMStructureListeners()

Setting FsmStructure listener

unsetFSMStructureListeners

protected void unsetFSMStructureListeners()

Unsetting FsmStructure listener

creator_

public SdoServiceProviderBase creator_()

creator_

Specified by:

creator_ in interface ObjectCreator<SdoServiceProviderBase>

Returns:

Object Created instances

destructor_

public void destructor_(java.lang.Object obj)

destructor_

Specified by:

destructor_ in interface ObjectDestructor

Parameters:

obj - The target instances for destruction

ExtendedFsmServiceProviderInit

public static void ExtendedFsmServiceProviderInit()

ExtendedFsmServiceProviderInit

setFsmActionListenerHolder

public void setFsmActionListenerHolder(FsmActionListeners fsmActionListeners)

Setting FsmActionListener holder

Parameters:

fsmActionListeners - a pointer to FsmActionListeners

setFsmStructure

protected void setFsmStructure(FsmStructure fstruct)

getFsmStructure

protected void getFsmStructure(FsmStructure fstruct)