[openrtm-commit:00359] r544 - in trunk: . jp.go.aist.rtm.RTC jp.go.aist.rtm.RTC/idl jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/SDOPackage jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2011年 8月 14日 (日) 11:50:38 JST
Author: fsi-katami
Date: 2011-08-14 11:50:37 +0900 (Sun, 14 Aug 2011)
New Revision: 544
Added:
trunk/jp.go.aist.rtm.RTC/idl/ComponentObserver.idl
trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ComponentObserverConsumer.java
Modified:
trunk/
trunk/jp.go.aist.rtm.RTC/
trunk/jp.go.aist.rtm.RTC/build.xml
trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/DefaultConfiguration.java
trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/FactoryGlobal.java
trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObject_impl.java
trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/SDOPackage/Configuration_impl.java
trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/SdoServiceAdmin.java
trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/SdoServiceConsumerFactory.java
trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/SdoServiceProviderFactory.java
trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/CorbaConsumer.java
Log:
Implemented ComponentObserverConsumer. refs #2051
Property changes on: trunk
___________________________________________________________________
Modified: svn:mergeinfo
- /branches/RELENG_1_0_0:60-401
/branches/work/ForComponentActionListener:521-522
/branches/work/ForConfigurationListener:524-526
/branches/work/ForLogFormat:518-519
/branches/work/ForPortConnectListener:528-532
/branches/work/ForSDOServiceAdminClass:505-507
/branches/work/ToIFR_ID:509-514
+ /branches/RELENG_1_0_0:60-401
/branches/work/ForComponentActionListener:521-522
/branches/work/ForComponentObserverConsumer:534-543
/branches/work/ForConfigurationListener:524-526
/branches/work/ForLogFormat:518-519
/branches/work/ForPortConnectListener:528-532
/branches/work/ForSDOServiceAdminClass:505-507
/branches/work/ToIFR_ID:509-514
Property changes on: trunk/jp.go.aist.rtm.RTC
___________________________________________________________________
Modified: svn:mergeinfo
- /branches/RELENG_1_0/jp.go.aist.rtm.RTC:408-498
/branches/RELENG_1_0_0/jp.go.aist.rtm.RTC:60-401
/branches/work/ForComponentActionListener/jp.go.aist.rtm.RTC:521-522
/branches/work/ForConfigurationListener/jp.go.aist.rtm.RTC:524-526
/branches/work/ForLogFormat/jp.go.aist.rtm.RTC:518-519
/branches/work/ForPortConnectListener/jp.go.aist.rtm.RTC:528-532
/branches/work/ForSDOServiceAdminClass/jp.go.aist.rtm.RTC:505-507
/branches/work/ToIFR_ID/jp.go.aist.rtm.RTC:509-514
+ /branches/RELENG_1_0/jp.go.aist.rtm.RTC:408-498
/branches/RELENG_1_0_0/jp.go.aist.rtm.RTC:60-401
/branches/work/ForComponentActionListener/jp.go.aist.rtm.RTC:521-522
/branches/work/ForComponentObserverConsumer/jp.go.aist.rtm.RTC:534-543
/branches/work/ForConfigurationListener/jp.go.aist.rtm.RTC:524-526
/branches/work/ForLogFormat/jp.go.aist.rtm.RTC:518-519
/branches/work/ForPortConnectListener/jp.go.aist.rtm.RTC:528-532
/branches/work/ForSDOServiceAdminClass/jp.go.aist.rtm.RTC:505-507
/branches/work/ToIFR_ID/jp.go.aist.rtm.RTC:509-514
Modified: trunk/jp.go.aist.rtm.RTC/build.xml
===================================================================
--- trunk/jp.go.aist.rtm.RTC/build.xml 2011-08-14 01:07:56 UTC (rev 543)
+++ trunk/jp.go.aist.rtm.RTC/build.xml 2011-08-14 02:50:37 UTC (rev 544)
@@ -97,6 +97,8 @@
<property name="idl.InterfaceDataTypes" value="${idl.path}/InterfaceDataTypes.idl" />
+ <property name="idl.ComponentObserver" value="${idl.path}/ComponentObserver.idl" />
+
<property name="idl.test.CorbaConsumer" value="${idl.path.tests}/CorbaConsumer/Hello.idl" />
<property name="idl.test.CorbaPort" value="${idl.path.tests}/CorbaPort/MyService.idl" />
@@ -412,6 +414,12 @@
</exec>
+ <exec executable="${java.home}\..\bin\idlj">
+
+ <arg line="-v -fall -td ${source} -i ${idl.path} -emitAll ${idl.ComponentObserver}"/>
+
+ </exec>
+
</target>
Copied: trunk/jp.go.aist.rtm.RTC/idl/ComponentObserver.idl (from rev 543, branches/work/ForComponentObserverConsumer/jp.go.aist.rtm.RTC/idl/ComponentObserver.idl)
===================================================================
--- trunk/jp.go.aist.rtm.RTC/idl/ComponentObserver.idl (rev 0)
+++ trunk/jp.go.aist.rtm.RTC/idl/ComponentObserver.idl 2011-08-14 02:50:37 UTC (rev 544)
@@ -0,0 +1,512 @@
+// -*- IDL -*-
+/*!
+ * @file ComponentObserver.idl
+ * @brief Component observer SDO service
+ * @date $Date$
+ * @author Noriaki Ando <n-ando at aist.go.jp>
+ *
+ * Copyright (C) 2011
+ * Noriaki Ando
+ * Intelligent Systems Research Institute,
+ * National Institute of
+ * Advanced Industrial Science and Technology (AIST), Japan
+ * All rights reserved.
+ *
+ * $Id$
+ *
+ */
+
+#include <SDOPackage.idl>
+#include <RTC.idl>
+
+/*!
+ * @if jp
+ * @brief コンポーネント状態オブザーバインターフェース
+ *
+ * コンポーネントの状態を監視するためのオブザーバインターフェース。オブ
+ * ザーバパターンに従い、外部ツールがコンポーネントにオブザーバオブジェ
+ * クトをセットし、コンポーネントは各種内部状態変更時にをオブザーバオブ
+ * ジェクトをコールし、オブザーバに対して変更を通知する。
+ *
+ * @since 1.1
+ *
+ * @else
+ * @brief Component state observer interface
+ *
+ * This interface defines observer interface for component states.
+ * According to the observer pattern, tools which want to observe
+ * component state set observer objects to the RT-Component, and weh
+ * RT-Component changes its status, the observer object is called and
+ * notice the changes to tools.
+ *
+ *
+ * @since 1.1
+ * @endif
+ */
+module OpenRTM
+{
+ /*!
+ * @if jp
+ *
+ * @brief 更新された状態の種類
+ *
+ * ターゲットRTCで更新された状態の種類を分類する列挙型。
+ *
+ * @else
+ *
+ * @brief A kind of updated status
+ *
+ * This is a enumeration type to classify updated status in target RTC.
+ *
+ * @endif
+ */
+ enum StatusKind
+ {
+ /*!
+ * @if jp
+ *
+ * @brief コンポーネントプロファイル
+ *
+ * コンポーネントプロファイル RTC::ComponentProfile が更新されたこ
+ * とを示す列挙型。
+ *
+ * RTC::ComponentProfile のメンバーのうち、instance_name,
+ * type_name, description, version, vendor, category はRTC動作中に
+ * 変更されることはない。これらが変更された場合には、
+ * ComponentObserver::updatestatus() の hint には、それぞれのメンバー
+ * 名が文字列で指定される。また、parent に対する変更は通知されない。
+ * さらに、properties に対する変更は、hint に "<key0>, <key1>,
+ * ..." の形で通知される。
+ *
+ * port_profiles に対する変更は、後述の PORT_PROFILE によって通知さ
+ * れるため、COMPONENT_PROFILE では通知されない。
+ *
+ * @else
+ *
+ * @brief Component profile
+ *
+ * This is enumeration member to specify that the target
+ * component's RTC::componentProfile has been changed.
+ *
+ * In the member of RTC::ComponentProfile, instance_name,
+ * type_name, description, version, vendor, category are not
+ * modified during RTC running. If these members are changed, each
+ * member's name is specified in the
+ * ComponentObserver::updateStatus() 's hint argument. And,
+ * modification to parent is not notified. In the properties, the
+ * modification is notified as "<key0>, <key1>, ..." in the hint
+ * argument.
+ *
+ * The modification to port_profiles is not notified as
+ * COMPONENT_PROFILE becauase it is notified as PORT_PROFILE.
+ *
+ * @endif
+ */
+ COMPONENT_PROFILE,
+ /*!
+ * @if jp
+ *
+ * @brief コンポーネントの状態
+ *
+ * コンポーネントの状態が変化したことを示す列挙子。
+ *
+ * RTCにはECの状態として、INACTIVE_STATE, ACTIVE_STATE,
+ * ERROR_STATE があるが、この状態が変化したことを通知するための列挙
+ * 子。
+ *
+ * ComponentObserver::updatestatus() の hint には、状態と、どの実行
+ * コンテキストで変化があったかを知らせる以下の文字列が hint に引数
+ * として与えられる。
+ *
+ * hint: (INACTIVE, ACTIVE, ERROR):<Execution Context ID>
+ * 例:
+ * ACTIVE:0 (デフォルトコンテキストでRTCがアクティブになった)
+ * ERROR:1002 (実行コンテキスト1002でRTCがエラーになった)
+ *
+ * @else
+ *
+ * @brief Component status
+ *
+ * This is INACTIVE_STATE, ACTIVE_STATE,
+ * ERROR_STATE status, and this enumerator specify a status of RTC changed.
+ *
+ * A status and ExecutionContext's id is specified in the argument of
+ * ComponentObserver::updateStatus() 's hint.
+ *
+ * hint: (INACTIVE, ACTIVE, ERROR):<Execution Context ID>
+ * Example:
+ * ACTIVE:0 (RTC is activated in the default ExecuionContext)
+ * ERROR:1002 (RTC go to ERROR state in the EC of id 1002)
+ *
+ * @endif
+ */
+ RTC_STATUS,
+ /*!
+ * @if jp
+ *
+ * @brief ExecutionContextの状態
+ *
+ * ExecutionContextの状態が変化したことを示す列挙子。
+ *
+ * RTCにECが attach/detach/rate_change/startup/shutdown されたことを
+ * 示す列挙子。
+ *
+ * ComponentObserver::updatestatus() の hint には、
+ * attach/detach/rate_change/startup/shutdow のいずれが行われたかと、
+ * 対象となるECのidが与えられる。
+ *
+ * hint: (ATTACHED, DETACHED, RATE_CHANGED, STARTUP,
+ * SHUTDOWN):<Execution Context ID>
+ *
+ * 例:
+ * ATTACHED:1002 (ECがアタッチされ、そのIDは1002)
+ *
+ * @else
+ *
+ * @brief The stauts of ExecutionContext
+ *
+ * This is enumerator notifies that ExecutionContext is
+ * attach/detach/rate_change/startup/shutdown. Attach or detach
+ * operation and target ExecutionContext's id is given in the
+ * argument of ComponentObserver::updateStatus() 's hint.
+ *
+ * hint: (ATTACHED, DETACHED, RATE_CHANGED, STARTUP,
+ * SHUTDOWN):<Execution Context ID>
+ *
+ * Example:
+ * ATTACHED:1002 (EC is attached and its ID is 1002)
+ *
+ * @endif
+ */
+ EC_STATUS,
+ /*!
+ * @if jp
+ *
+ * @brief Portの状態
+ *
+ * Portの状態が変化したことを示す列挙子。Portの追加、削除、接続、切
+ * 断が行われたことを示す。ComponentObserver::updatestatus() の
+ * hint には、いずれかのアクションが行われたかと、対象となるポート
+ * の名前が与えられる。
+ *
+ * hint: (ADD, REMOVE, CONNECT, DISCONNECT):<port name>
+ * 例:
+ * CONNECT:velocity (velocity ポートで接続が確立された)
+ *
+ * @else
+ *
+ * @brief The stauts of ports
+ *
+ * This is enumerator which notifies that port is added, removed,
+ * connected and/or disconnected. Which action is performed and
+ * target port's name is given to the hint argument in
+ * ComponentObserver::updateStatus() operation.
+ *
+ * hint: (ADD, REMOVE, CONNECT, DISCONNECT):<port name>
+ * Example:
+ * CONNECT:velocity (A connection established in the velocity port)
+ *
+ * @endif
+ */
+ PORT_PROFILE,
+ /*!
+ * @if jp
+ *
+ * @brief Configurationの状態
+ *
+ * Configurationの状態が変化したことを示す列挙子。Configurationに対
+ * して、コンフィギュレーションパラメータが更新された
+ * (UPDATE_CONFIG_PARAM)、コンフィギュレーションがセット(更新)さ
+ * れた (SET_CONFIG_SET)、コンフィギュレーションセットが追加された
+ * (ADD_CONFIG_SET)、コンフィギュレーションが更新された
+ * (UPDATE_CONFIG_SET)、コンフィギュレーションセットが削除された
+ * (REMOVE_CONFIG_SET)、コンフィギュレーションセットがアクティブに
+ * された (ACTIVATE_CONFIG_SET) といったアクションがあったことが通
+ * 知される。
+ *
+ * - UPDATE_CONFIG_PARAM: <config set name>.<config param name>
+ * - SDOPackage::Configuration::set_configuration_parameter
+ * - SET_CONFIG_SET: <config set name>
+ * - SDOPackage::Configuration::set_configuration_set_values
+ * - ADD_CONFIG_SET: <config set name>
+ * - SDOPackage::Configuration::add_configuration_set
+ * - UPDATE_CONFIG_SET: <config set name>
+ * - 内部のコンフィグセットを実際の変数に反映する
+ * - REMOVE_CONFIG_SET: <config set name>
+ * - SDOPackage::Configuration::remove_configuration_set
+ * - ACTIVATE_CONFIG_SET: <config set name>
+ * - SDOPackage::Configuration::activate_configuration_set
+ *
+ * @else
+ *
+ * @brief The stauts of ports
+ *
+ * This is enumerator which notifies that configuration is
+ * changed. To the configuration, a configuration parameter has
+ * been updated (UPDATE_CONFIG_PARAM), a configuration-set is set
+ * (SET_CONFIG_SET), a configuration set has been updated
+ * (UPDATE_CONFIG_SET), a configuration set has been added
+ * (ADD_CONFIG_SET) or removed (REMOVE_CONFIG_SET), the active
+ * configuration set has been changed (ACTIVATE_CONFIG_SET), these
+ * actions would be notified.
+ *
+ * - UPDATE_CONFIG_PARAM: <config set name>.<config param name>
+ * - SDOPackage::Configuration::set_configuration_parameter
+ * - SET_CONFIG_SET: <config set name>
+ * - SDOPackage::Configuration::set_configuration_set_values
+ * - ADD_CONFIG_SET: <config set name>
+ * - SDOPackage::Configuration::add_configuration_set
+ * - UPDATE_CONFIG_SET: <config set name>
+ * - Apply configuration-set values into actual variables.
+ * - REMOVE_CONFIG_SET: <config set name>
+ * - SDOPackage::Configuration::remove_configuration_set
+ * - ACTIVATE_CONFIG_SET: <config set name>
+ * - SDOPackage::Configuration::activate_configuration_set
+ *
+ * @endif
+ */
+ CONFIGURATION,
+ /*!
+ * @if jp
+ *
+ * @brief ハートビートイベント
+ *
+ * 当該RTCが生存していることをオブザーバー側に通知する列挙子。
+ *
+ * ハートビートを利用するかどうか、およびハートビートの周期は、
+ * ServiceProfile::properties の以下のプロパティによって与えられる。
+ *
+ * heartbeat.enable: YES/NO
+ * heartbeat.interval: x [s]
+ *
+ * @else
+ *
+ * @brief The stauts of ports
+ *
+ * This enumerator is heart beat notification.
+ *
+ * Whether if the heart-beat function is used is specified in the
+ * ServiceProfile::properties as the following properties.
+ *
+ * heartbeat.enable: YES/NO
+ * heartbeat.interval: x [s]
+ *
+ * @endif
+ */
+ HEARTBEAT,
+
+ STATUS_KIND_NUM
+ };
+
+ /*!
+ * @if jp
+ *
+ * @interface ComponentObserver
+ *
+ * RTCの各種状態の更新を知らせるためのオブザーバーオブジェクトのため
+ * のインターフェース。SDO Service として、対象となるRTC/SDOに対して
+ * アタッチされ、RTC/SDO内の状態が変更された場合に、変更された状態の
+ * 種類とヒントを同時に通知する。ツールなどで、ポーリングによらずRTC
+ * の状態の変化を知りたい場合などに利用する。
+ *
+ * 想定している利用方法は以下のとおりである。
+ *
+ * -# SDO::get_configuration() により Configuration オブジェクトを取得
+ * -# Configuration::add_service_profile() によりTool側の
+ * ComponentObserver を ServiceProfile により RTC に与える。
+ * ServiceProfile のメンバーは以下のように設定すること
+ * - id: UUID など一意なIDを設定する。削除時にも必要になるので、Tool
+ * 側ではIDを保持しておかなければならない。
+ * - interface_type: 当該サービスのIFRのIDを文字列として指定。RTC側で
+ * はこの文字列により当該サービスオブジェクトを受け入れるか決定す
+ * るため指定は必須となる。
+ * - properties: RTC側のサービスの受け入れ側に通知するプロパティを設
+ * 定する。このサービスでは、下記の heartbeat 関連のプロパティを
+ * 指定する。
+ * - service: SDOService オブジェクトの参照を指定する。
+ * -# RTC側で状態の変化があった場合に update_status() オペレーション
+ * が StatusKind および hint の文字列とともに呼び出される。Tool側
+ * では、StatusKind と hint に基づき RTC のある部分の状態が変化し
+ * たことを知り、必要な処理を行う。
+ * -# 最終的にComponentObserverオブジェクトが不要になった場合には、
+ * Configuration::remove_service_profile() を id とともに呼び出し
+ * RTC から削除する。
+ *
+ * <pre>
+ *
+ * [RTC] [Configuration] [Observer] [Tool]
+ * | | | |
+ * | | get_configuration() | |
+ * |<------------------------------------------------|
+ * | | | |
+ * | | add_service_profile(prof) |
+ * | |<-----------------------------------|
+ * | | | |
+ * | | update_status(kind, hint) |
+ * |----------------------------------->| |
+ * | | update_status(kind, hint) |
+ * |----------------------------------->| |
+ * | | : | |
+ * | | | |
+ * | | remove_service_profile(id) |
+ * | |<-----------------------------------|
+ * | | | |
+ * | | x x
+ *
+ * </pre>
+ *
+ * なお、ServiceProfile::properties に指定するプロパティとしては、
+ *
+ * - observed_status: ALL or kind of status
+ * - heartbeat.enable: YES/NO
+ * - heartbeat.interval: x [s]
+ *
+ * がある。
+ *
+ * - observed_staus: ALL または状態の種類をカンマ区切りで指定
+ * 監視する状態を指定する。指定可能な状態を表す文字列は、
+ * COMPONENT_PROFILE, RTC_STATUS, EC_STATUS, PORT_PROFILE,
+ * CONFIGURATION 5種類である。監視したい対象をカンマで区切り複数指
+ * 定することができる。また、すべての状態を監視する場合、ALL を指定
+ * することができる。指定文字列は大文字、小文字を問わない。
+ *
+ * - heartbeat.interval: 秒単位で数値で指定
+ * ハートビートを送信する周期を秒単位で指定する。なお、指定した秒数
+ * でハートビートが必ず送信される保証はない。したがって、RTCが死ん
+ * だかどうかを確認するには、heartbeat.interval 数回分の時間を待つ
+ * 必要がある。
+ *
+ * - heartbeat.enable: YES または NOで指定
+ * Tool側では、状態に変化があるまで RTC が生存しているかどうか知る
+ * ことはできないため、突然RTCが死んだ場合には、これを知ることがで
+ * きない。そこで、HEART_BEAT イベントを周期的にRTC側から送らせるこ
+ * とができる。ハートビートを有効にするか否かをこのオプションで指定
+ * する。
+ *
+ *
+ * @else
+ *
+ * @interface ComponentObserver
+ *
+ * This is an interface to notify various status changed in RTC to
+ * others. This is attached into a target RTC/SDO as a SDO service,
+ * and if an RTC/SDO's status change, a kind of changed status and
+ * its hints are notified to observers. For example, it can be used
+ * to notify RTC's status changed without polling in certain tools.
+ *
+ * An assumed usage is as follows.
+ *
+ * -# SDO::get_configuration() is called to get a Configuration object
+ *
+ * -# Configuration::add_service_profile() is called by Tool.
+ * A ComponentObserver in a ServiceProfile is given to RTC.
+ * ServiceProfile members should be set as follows.
+ *
+ * - id: UUID and other unique ID should be specified. Since this ID
+ * is used when the service is removed, tools should remember
+ * this ID.
+ *
+ * - interface_type: IFR ID should be specified here. Since the RTC
+ * decides if the given SDO service object can be accepted by
+ * using the interface_type string, this member is mandatory.
+ *
+ * - properties: This member specifies properties to be notified to
+ * RTC side. In this service, the following heartbeat related
+ * properties should be specified.
+ *
+ * - service: SDOService object reference should be specified.
+ *
+ * -# If some changes happen in RTC, the update_status() operation
+ * is called with StatusKind and hint string. RTC's status change
+ * is notified to tool and some processes would be performed by
+ * the tool according to the StatusKind and hint.
+ *
+ * -# Finally, When the ComponentObserver object becomes
+ * unnecessary, Configuration::remove_service_profile() is called
+ * with id and it is removed from RTC.
+ *
+ * <pre>
+ *
+ * [RTC] [Configuration] [Observer] [Tool]
+ * | | | |
+ * | | get_configuration() | |
+ * |<------------------------------------------------|
+ * | | | |
+ * | | add_service_profile(prof) |
+ * | |<-----------------------------------|
+ * | | | |
+ * | | update_status(kind, hint) |
+ * |----------------------------------->| |
+ * | | update_status(kind, hint) |
+ * |----------------------------------->| |
+ * | | : | |
+ * | | | |
+ * | | remove_service_profile(id) |
+ * | |<-----------------------------------|
+ * | | | |
+ * | | x x
+ *
+ * </pre>
+ *
+ * Properties which is specified in ServiceProfile::properties is as follows.
+ *
+ * - observed_status: ALL or kind of status
+ * - heartbeat.enable: YES/NO
+ * - heartbeat.interval: x [s]
+ *
+ *
+ * - observed_staus: ALL or comma separated status kinds This
+ * property specifies kind of status to be observed. Available
+ * kind of statuses are COMPONENT_PROFILE, RTC_STATUS, EC_STATUS,
+ * PORT_PROFILE, CONFIGURATION. You can specify comma-separated
+ * status list to be observed. And if you want to observe all the
+ * status, you just specify ALL instead of all the status kind
+ * list. Uppercase, lowercase and mixture are allowed in the
+ * specified status kind.
+ *
+ * - heartbeat.enable: YES or NO
+ *
+ * Since tools cannot know whether the RTC is alive or not until
+ * status change happens, if the RTC suddenly died, the tools
+ * cannot know it forever. To eliminate this problems, Observer
+ * object can send periodic heartbeat signals to observers. The
+ * heartbeat.enable option specifies whether the functionality is
+ * activated or not.
+ *
+ * - heartbeat.interval: Heartbeat interval should be specified in
+ * seconds. This specification does not guarantee that heartbeat
+ * signals precisely send back to observer. Therefore if you need
+ * to decide whether an RTC died or not, you have to wait for
+ * several heartbeat signals.
+ *
+ * @endif
+ */
+ interface ComponentObserver
+ : SDOPackage::SDOService
+ {
+ /*!
+ * @if jp
+ *
+ * @brief 状態が更新されたことを知らせる
+ *
+ * 状態が更新されたことを知らせるオペレーション。status_kind によっ
+ * て更新された状態の種類、hint によってどのような状態が変更された
+ * かに関するヒントが与えられる。
+ *
+ * @param status_kind: StatusKind 型の状態の種類
+ * @param hint; StatusKind 毎に決まる状態変更に関するヒント
+ *
+ * @else
+ *
+ * @brief Notifies the status updated
+ *
+ * This operation notifies the updated status. The status_kind
+ * notifies kind of updated status, and the hint give some hint
+ * about updated status.
+ *
+ * @endif
+ */
+ oneway void update_status(in StatusKind status_kind, in string hint);
+ };
+
+};
Copied: trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ComponentObserverConsumer.java (from rev 543, branches/work/ForComponentObserverConsumer/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ComponentObserverConsumer.java)
===================================================================
--- trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ComponentObserverConsumer.java (rev 0)
+++ trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ComponentObserverConsumer.java 2011-08-14 02:50:37 UTC (rev 544)
@@ -0,0 +1,793 @@
+package jp.go.aist.rtm.RTC;
+
+import java.lang.reflect.Constructor;
+import java.lang.reflect.Method;
+import java.lang.Exception;
+
+import OpenRTM.StatusKind;
+import OpenRTM.StatusKindHelper;
+import OpenRTM.StatusKindHolder;
+import OpenRTM.ComponentObserver;
+import OpenRTM.ComponentObserverHelper;
+
+import RTC.ReturnCode_t;
+
+import jp.go.aist.rtm.RTC.port.CorbaConsumer;
+import jp.go.aist.rtm.RTC.port.PortConnectListener;
+import jp.go.aist.rtm.RTC.port.PortConnectListenerType;
+import jp.go.aist.rtm.RTC.port.PortConnectRetListener;
+import jp.go.aist.rtm.RTC.port.PortConnectRetListenerType;
+
+import jp.go.aist.rtm.RTC.util.CallbackFunction;
+import jp.go.aist.rtm.RTC.util.DataRef;
+import jp.go.aist.rtm.RTC.util.ListenerBase;
+import jp.go.aist.rtm.RTC.util.NVUtil;
+import jp.go.aist.rtm.RTC.util.Properties;
+import jp.go.aist.rtm.RTC.util.StringUtil;
+import jp.go.aist.rtm.RTC.util.Timer;
+import jp.go.aist.rtm.RTC.util.TimeValue;
+
+import _SDOPackage.NVListHolder;
+import _SDOPackage.ServiceProfile;
+ /**
+ *
+ *
+ *
+ */
+public class ComponentObserverConsumer implements SdoServiceConsumerBase, CallbackFunction, ObjectCreator<SdoServiceConsumerBase>, ObjectDestructor{
+ /**
+ * {@.ja ctor of ComponentObserverConsumer}
+ * {@.en ctor of ComponentObserverConsumer}
+ */
+ public ComponentObserverConsumer(){
+ m_rtobj = null;
+ m_compstat = new CompStatMsg(this);
+ m_portaction = new PortAction(this);
+ m_ecaction = new ECAction(this);
+ m_configMsg = new ConfigAction(this);
+ m_interval = new TimeValue(0, 100000);
+ m_heartbeat = false;
+ m_hblistenerid = null;
+ m_timer = new Timer(m_interval);
+ for (int ic = 0; ic < StatusKind._STATUS_KIND_NUM; ++ic) {
+ m_observed[ic] = false;
+ }
+ }
+
+
+ /**
+ * {@.ja åˆæœŸåŒ–}
+ * {@.en Initialization}
+ */
+ public boolean init(RTObject_impl rtobj,
+ final _SDOPackage.ServiceProfile profile){
+
+ if (!m_observer.setObject(ComponentObserverHelper.narrow(profile.service))) {
+ // narrowing failed
+ return false;
+ }
+
+ m_rtobj = rtobj;
+ m_profile = profile;
+ //
+ NVListHolder nvholder =
+ new NVListHolder(profile.properties);
+ Properties prop = new Properties();
+ NVUtil.copyToProperties(prop, nvholder);
+ setHeartbeat(prop);
+ setListeners(prop);
+ return true;
+ }
+
+ /**
+ * {@.ja å†åˆæœŸåŒ–}
+ * {@.en Re-initialization}
+ */
+ public boolean reinit(final _SDOPackage.ServiceProfile profile){
+ if (!m_observer._ptr()._is_equivalent(profile.service)) {
+ CorbaConsumer<ComponentObserver> tmp = new CorbaConsumer<ComponentObserver>();
+ if (!tmp.setObject(profile.service)) {
+ return false;
+ }
+ m_observer.releaseObject();
+ m_observer.setObject(profile.service);
+ }
+ m_profile= profile;
+ //
+ NVListHolder nvholder =
+ new NVListHolder(profile.properties);
+ Properties prop = new Properties();
+ NVUtil.copyToProperties(prop, nvholder);
+ setHeartbeat(prop);
+ setListeners(prop);
+ return true;
+ }
+
+ /**
+ * {@.ja ServiceProfile ã‚’å–å¾—ã™ã‚‹}
+ * {@.en getting ServiceProfile}
+ */
+ public final _SDOPackage.ServiceProfile getProfile() {
+ return m_profile;
+ }
+
+ /**
+ * {@.ja 終了処ç†}
+ * {@.en Finalization}
+ */
+ public void finalize(){
+ unsetComponentProfileListeners();
+ unsetComponentStatusListeners();
+ unsetPortProfileListeners();
+ unsetExecutionContextListeners();
+ unsetConfigurationListeners();
+ unsetHeartbeat();
+ }
+
+ /**
+ * {@.ja リモートオブジェクトコール}
+ * {@.en Calling remote object}
+ */
+ protected void updateStatus(StatusKind statuskind, final String msg) {
+ try {
+ m_observer._ptr().update_status(statuskind, msg);
+ }
+ catch (Exception e) {
+ m_rtobj.removeSdoServiceConsumer(m_profile.id);
+ }
+ }
+
+ /**
+ * {@.ja Kindã‚’æ–‡å—列ã¸å¤‰æ›ã™ã‚‹}
+ * {@.en Converting kind to string}
+ */
+ protected final String toString(StatusKind kind) {
+ StatusKindHolder holder = new StatusKindHolder(kind);
+ try {
+ String ret = holder._type().member_name(kind.value());
+ return ret;
+ }
+ catch(Exception e){
+ return "";
+ }
+ }
+
+ /**
+ * {@.ja RTObjectã¸ã®ãƒªã‚¹ãƒŠæŽ¥ç¶šå‡¦ç†}
+ * {@.en Connectiong listeners to RTObject}
+ */
+ protected void setListeners(Properties prop) {
+ if (prop.getProperty("observed_status").length()<1) {
+ prop.setProperty("observed_status", "ALL");
+ }
+
+ String[] observed = prop.getProperty("observed_status").split(",");
+ boolean[] flags = new boolean[StatusKind._STATUS_KIND_NUM];
+ StatusKindHolder holder = new StatusKindHolder();
+ for (int ic=0; ic < StatusKind._STATUS_KIND_NUM; ++ic) {
+ flags[ic] = false;
+ }
+ for (int ic=0; ic < observed.length; ++ic) {
+ observed[ic] = observed[ic].toUpperCase();
+ for(int jc=0; jc < StatusKind._STATUS_KIND_NUM; ++jc){
+ try {
+ if (observed[ic].equals(holder._type().member_name(jc))) {
+ flags[jc] = true;
+ }
+ }
+ catch(Exception e){
+ }
+ }
+ if (observed[ic].equals("ALL")) {
+ for (int jcc=0; jcc < StatusKind._STATUS_KIND_NUM; ++jcc) {
+ flags[jcc] = true;
+ }
+ break;
+ }
+ }
+
+ DataRef<Boolean> bflag = new DataRef<Boolean>(new Boolean(true));
+ bflag.v = new Boolean(m_observed[StatusKind._COMPONENT_PROFILE]);
+ switchListeners(flags[StatusKind._COMPONENT_PROFILE],
+ bflag,
+ this,
+ "setComponentProfileListeners",
+ "unsetComponentProfileListeners");
+ m_observed[StatusKind._COMPONENT_PROFILE] = bflag.v.booleanValue();
+
+ bflag.v = new Boolean(m_observed[StatusKind._RTC_STATUS]);
+ switchListeners(flags[StatusKind._RTC_STATUS],
+ bflag,
+ this,
+ "setComponentStatusListeners",
+ "unsetComponentStatusListeners");
+ m_observed[StatusKind._RTC_STATUS] = bflag.v.booleanValue();
+
+ bflag.v = new Boolean(m_observed[StatusKind._EC_STATUS]);
+ switchListeners(flags[StatusKind._EC_STATUS],
+ bflag,
+ this,
+ "setExecutionContextListeners",
+ "unsetExecutionContextListeners");
+ m_observed[StatusKind._EC_STATUS] = bflag.v.booleanValue();
+
+ bflag.v = new Boolean(m_observed[StatusKind._PORT_PROFILE]);
+ switchListeners(flags[StatusKind._PORT_PROFILE],
+ bflag,
+ this,
+ "setPortProfileListeners",
+ "unsetPortProfileListeners");
+ m_observed[StatusKind._PORT_PROFILE] = bflag.v.booleanValue();
+
+ bflag.v = new Boolean(m_observed[StatusKind._CONFIGURATION]);
+ switchListeners(flags[StatusKind._CONFIGURATION],
+ bflag,
+ this,
+ "setConfigurationListeners",
+ "unsetConfigurationListeners");
+ m_observed[StatusKind._CONFIGURATION] = bflag.v.booleanValue();
+
+ }
+
+
+ /**
+ * {@.ja リスナ接続・切æ–スイッãƒãƒ³ã‚°å‡¦ç†}
+ * {@.en Switching listeners connecting/disconnecting}
+ */
+ protected <DataType>
+ void switchListeners(boolean next, DataRef<Boolean> pre,
+ DataType obj,
+ String setfunc,
+ String unsetfunc) {
+ if (!pre.v.booleanValue() && next) {
+ try {
+ Class clazz = obj.getClass();
+ Method method = clazz.getDeclaredMethod(setfunc,null);
+ method.invoke(obj, null);
+ }
+ catch(Exception e){
+// rtcout.println(Logbuf.WARN,
+// "Exception caught."+e.toString());
+ }
+ pre.v = new Boolean(true);
+ }
+ else if (pre.v.booleanValue() && !next) {
+ try {
+ Class clazz = obj.getClass();
+ Method method = clazz.getDeclaredMethod(unsetfunc,null);
+ method.invoke(obj, null);
+ }
+ catch(Exception e){
+// rtcout.println(Logbuf.WARN,
+// "Exception caught."+e.toString());
+ }
+ pre.v = new Boolean(false);
+ }
+ }
+
+ //============================================================
+ // Heartbeat related functions
+ /**
+ * {@.ja ãƒãƒ¼ãƒˆãƒ“ートをオブザーãƒã«ä¼ãˆã‚‹}
+ * {@.en Sending a heartbeart signal to observer}
+ */
+ //protected void heartbeat() {
+ public void doOperate(){
+ updateStatus(StatusKind.from_int(StatusKind._HEARTBEAT), "");
+ }
+
+ /**
+ * {@.ja ãƒãƒ¼ãƒˆãƒ“ートをè¨å®šã™ã‚‹}
+ * {@.en Setting heartbeat}
+ */
+ protected void setHeartbeat(Properties prop) {
+ if (StringUtil.toBool(prop.getProperty("heartbeat.enable"), "YES", "NO", false)) {
+ String interval = prop.getProperty("heartbeat.interval");
+ if (interval.length()<1) {
+ m_interval.convert(1.0);
+ }
+ else {
+ m_interval.convert(Double.parseDouble(interval));
+ }
+ TimeValue tm;
+ tm = m_interval;
+ m_hblistenerid = m_timer.
+ //registerListenerObj(ComponentObserverConsumer.heartbeat, tm);
+ registerListenerObj(this, tm);
+ m_timer.start();
+ }
+ else {
+ if (m_heartbeat == true && m_hblistenerid != null) {
+ unsetHeartbeat();
+ m_timer.stop();
+ }
+ }
+ }
+
+ /**
+ * {@.ja ãƒãƒ¼ãƒˆãƒ“ートを解除ã™ã‚‹}
+ * {@.en Unsetting heartbeat}
+ */
+ protected void unsetHeartbeat(){
+ m_timer.unregisterListener(m_hblistenerid);
+ m_heartbeat = false;
+ m_hblistenerid = null;
+ m_timer.stop();
+ }
+
+ //============================================================
+ // Component status related functions
+ /**
+ * {@.ja RTC状態変化リスナã®è¨å®šå‡¦ç†}
+ * {@.en Setting RTC status listeners}
+ */
+ protected void setComponentStatusListeners() {
+ if (m_compstat.activatedListener == null) {
+ m_compstat.activatedListener =
+ m_rtobj.addPostComponentActionListener(PostComponentActionListenerType.POST_ON_ACTIVATED, m_compstat, "onActivated");
+ }
+ if (m_compstat.deactivatedListener == null) {
+ m_compstat.deactivatedListener =
+ m_rtobj.addPostComponentActionListener(PostComponentActionListenerType.POST_ON_DEACTIVATED, m_compstat, "onDeactivated");
+ }
+ if (m_compstat.resetListener == null) {
+ m_compstat.resetListener =
+ m_rtobj.addPostComponentActionListener(PostComponentActionListenerType.POST_ON_RESET, m_compstat, "onReset");
+ }
+ if (m_compstat.abortingListener == null) {
+ m_compstat.abortingListener =
+ m_rtobj.addPostComponentActionListener(PostComponentActionListenerType.POST_ON_ABORTING, m_compstat, "onAborting");
+ }
+ if (m_compstat.finalizeListener == null) {
+ m_compstat.finalizeListener =
+ m_rtobj.addPostComponentActionListener(PostComponentActionListenerType.POST_ON_FINALIZE, m_compstat, "onFinalize");
+ }
+ }
+
+ /**
+ * {@.ja RTC状態変化リスナã®è§£é™¤å‡¦ç†}
+ * {@.en Unsetting RTC status listeners}
+ */
+ protected void unsetComponentStatusListeners(){
+ if (m_compstat.activatedListener != null) {
+ m_rtobj.removePostComponentActionListener(PostComponentActionListenerType.POST_ON_ACTIVATED, m_compstat.activatedListener);
+ m_compstat.activatedListener = null;
+ }
+ if (m_compstat.deactivatedListener != null) {
+ m_rtobj.removePostComponentActionListener(PostComponentActionListenerType.POST_ON_DEACTIVATED, m_compstat.deactivatedListener);
+ m_compstat.deactivatedListener = null;
+ }
+ if (m_compstat.resetListener != null) {
+ m_rtobj.removePostComponentActionListener(PostComponentActionListenerType.POST_ON_RESET, m_compstat.resetListener);
+ m_compstat.resetListener = null;
+ }
+ if (m_compstat.abortingListener != null) {
+ m_rtobj.removePostComponentActionListener(PostComponentActionListenerType.POST_ON_ABORTING, m_compstat.abortingListener);
+ m_compstat.abortingListener = null;
+ }
+ if (m_compstat.finalizeListener != null) {
+ m_rtobj.removePostComponentActionListener(PostComponentActionListenerType.POST_ON_FINALIZE, m_compstat.finalizeListener);
+ m_compstat.finalizeListener = null;
+ }
+ }
+
+ //============================================================
+ // Port profile related functions
+ /**
+ * {@.ja Portプãƒãƒ•ã‚¡ã‚¤ãƒ«å¤‰åŒ–リスナã®è¨å®šå‡¦ç†}
+ * {@.en Setting port profile listener}
+ */
+ protected void setPortProfileListeners(){
+ if (m_portaction.portAddListener == null) {
+ m_portaction.portAddListener =
+ m_rtobj.addPortActionListener(PortActionListenerType.ADD_PORT, m_portaction, "onAddPort");
+ }
+ if (m_portaction.portRemoveListener == null) {
+ m_portaction.portRemoveListener =
+ m_rtobj.addPortActionListener(PortActionListenerType.REMOVE_PORT, m_portaction, "onRemovePort");
+ }
+ if (m_portaction.portConnectListener == null) {
+ m_portaction.portConnectListener =
+ m_rtobj.addPortConnectRetListener(PortConnectRetListenerType.ON_CONNECTED, m_portaction, "onConnect");
+ }
+ if (m_portaction.portDisconnectListener == null) {
+ m_portaction.portDisconnectListener =
+ m_rtobj.addPortConnectRetListener(PortConnectRetListenerType.ON_DISCONNECTED, m_portaction, "onDisconnect");
+ }
+ }
+
+ /**
+ * {@.ja Portプãƒãƒ•ã‚¡ã‚¤ãƒ«å¤‰åŒ–リスナã®è§£é™¤å‡¦ç†}
+ * {@.en Unsetting port profile listener}
+ */
+ protected void unsetPortProfileListeners() {
+ if (m_portaction.portAddListener != null) {
+ m_rtobj.removePortActionListener(PortActionListenerType.ADD_PORT, m_portaction.portAddListener);
+ m_portaction.portAddListener = null;
+ }
+ if (m_portaction.portRemoveListener != null) {
+ m_rtobj.removePortActionListener(PortActionListenerType.REMOVE_PORT, m_portaction.portRemoveListener);
+ m_portaction.portRemoveListener = null;
+ }
+ if (m_portaction.portConnectListener != null) {
+ m_rtobj. removePortConnectRetListener(PortConnectRetListenerType.ON_CONNECTED, m_portaction.portConnectListener);
+ m_portaction.portConnectListener = null;
+ }
+ if (m_portaction.portDisconnectListener != null) {
+ m_rtobj.removePortConnectRetListener(PortConnectRetListenerType.ON_DISCONNECTED, m_portaction.portDisconnectListener);
+ m_portaction.portDisconnectListener = null;
+ }
+ }
+
+
+ //============================================================
+ // EC profile related functions
+ /**
+ * {@.ja ECã®çŠ¶æ…‹å¤‰åŒ–リスナã®è¨å®š}
+ * {@.en Setting EC status listener}
+ */
+ protected void setExecutionContextListeners(){
+ if (m_ecaction.ecAttached == null) {
+ m_ecaction.ecAttached =
+ m_rtobj.addExecutionContextActionListener(ExecutionContextActionListenerType.EC_ATTACHED, m_ecaction, "onAttached");
+ }
+ if (m_ecaction.ecDetached == null) {
+ m_ecaction.ecDetached =
+ m_rtobj.addExecutionContextActionListener(ExecutionContextActionListenerType.EC_DETACHED, m_ecaction, "onDetached");
+ }
+ if (m_ecaction.ecRatechanged == null) {
+ m_ecaction.ecRatechanged =
+ m_rtobj.addPostComponentActionListener(PostComponentActionListenerType.POST_ON_RATE_CHANGED, m_ecaction, "onRateChanged");
+ }
+ if (m_ecaction.ecStartup == null) {
+ m_ecaction.ecStartup =
+ m_rtobj.addPostComponentActionListener(PostComponentActionListenerType.POST_ON_STARTUP, m_ecaction, "onStartup");
+ }
+ if (m_ecaction.ecShutdown == null) {
+ m_ecaction.ecShutdown =
+ m_rtobj.addPostComponentActionListener(PostComponentActionListenerType.POST_ON_SHUTDOWN, m_ecaction, "onShutdown");
+ }
+ }
+
+ /**
+ * {@.ja ECã®çŠ¶æ…‹å¤‰åŒ–リスナã®è§£é™¤}
+ * {@.en Unsetting EC status listener}
+ */
+ protected void unsetExecutionContextListeners() {
+ if (m_ecaction.ecAttached != null) {
+ m_rtobj.removeExecutionContextActionListener(ExecutionContextActionListenerType.EC_ATTACHED, m_ecaction.ecAttached);
+ }
+ if (m_ecaction.ecDetached != null) {
+ m_rtobj.removeExecutionContextActionListener(ExecutionContextActionListenerType.EC_ATTACHED, m_ecaction.ecDetached);
+ }
+ if (m_ecaction.ecRatechanged != null) {
+ m_rtobj.removePostComponentActionListener(PostComponentActionListenerType.POST_ON_RATE_CHANGED, m_ecaction.ecRatechanged);
+ }
+ if (m_ecaction.ecStartup != null) {
+ m_rtobj.removePostComponentActionListener(PostComponentActionListenerType.POST_ON_STARTUP, m_ecaction.ecStartup);
+ }
+ if (m_ecaction.ecShutdown != null) {
+ m_rtobj.removePostComponentActionListener(PostComponentActionListenerType.POST_ON_SHUTDOWN, m_ecaction.ecShutdown);
+ }
+ }
+
+
+ //============================================================
+ // ComponentProfile related functions
+ /**
+ * {@.ja ComponentProfile状態変化リスナã®è¨å®š}
+ * {@.en Setting ComponentProfile listener}
+ */
+ protected void setComponentProfileListeners() {
+ }
+
+ /**
+ * {@.ja ComponentProfile状態変化リスナã®è§£é™¤}
+ * {@.en Unsetting ComponentProfile listener}
+ */
+ protected void unsetComponentProfileListeners() {
+ }
+
+ //============================================================
+ // Configuration related functions
+
+ /**
+ * {@.ja Configuration状態変化リスナã®è¨å®š}
+ * {@.en Setting Configuration listener}
+ */
+ protected void setConfigurationListeners() {
+ m_configMsg.updateConfigParamListener =
+ m_rtobj.addConfigurationParamListener(ConfigurationParamListenerType.ON_UPDATE_CONFIG_PARAM, m_configMsg, "updateConfigParam");
+ m_configMsg.setConfigSetListener =
+ m_rtobj.addConfigurationSetListener(ConfigurationSetListenerType.ON_SET_CONFIG_SET, m_configMsg, "setConfigSet");
+ m_configMsg.addConfigSetListener =
+ m_rtobj.addConfigurationSetListener(ConfigurationSetListenerType.ON_ADD_CONFIG_SET, m_configMsg, "addConfigSet");
+ m_configMsg.updateConfigSetListener =
+ m_rtobj.addConfigurationSetNameListener(ConfigurationSetNameListenerType.ON_UPDATE_CONFIG_SET, m_configMsg, "updateConfigSet");
+ m_configMsg.removeConfigSetListener =
+ m_rtobj.addConfigurationSetNameListener(ConfigurationSetNameListenerType.ON_REMOVE_CONFIG_SET, m_configMsg, "removeConfigSet");
+ m_configMsg.activateConfigSetListener =
+ m_rtobj.addConfigurationSetNameListener(ConfigurationSetNameListenerType.ON_ACTIVATE_CONFIG_SET, m_configMsg, "activateConfigSet");
+ }
+
+ /**
+ * {@.ja Configuration状態変化リスナã®è§£é™¤}
+ * {@.en Unsetting Configurationlistener}
+ */
+ protected void unsetConfigurationListeners() {
+
+ if (m_configMsg.updateConfigParamListener != null) {
+ m_rtobj.
+ removeConfigurationParamListener(ConfigurationParamListenerType.ON_UPDATE_CONFIG_PARAM, m_configMsg.updateConfigParamListener);
+ m_configMsg.updateConfigParamListener = null;
+ }
+ if (m_configMsg.setConfigSetListener != null) {
+ m_rtobj.removeConfigurationSetListener(ConfigurationSetListenerType.ON_SET_CONFIG_SET, m_configMsg.setConfigSetListener);
+ m_configMsg.setConfigSetListener = null;
+ }
+ if (m_configMsg.addConfigSetListener != null) {
+ m_rtobj.removeConfigurationSetListener(ConfigurationSetListenerType.ON_ADD_CONFIG_SET, m_configMsg.addConfigSetListener);
+ m_configMsg.addConfigSetListener = null;
+ }
+ if (m_configMsg.updateConfigSetListener != null) {
+ m_rtobj.removeConfigurationSetNameListener(ConfigurationSetNameListenerType.ON_UPDATE_CONFIG_SET, m_configMsg.updateConfigSetListener);
+ m_configMsg.updateConfigSetListener = null;
+ }
+ if (m_configMsg.removeConfigSetListener != null) {
+ m_rtobj.removeConfigurationSetNameListener(ConfigurationSetNameListenerType.ON_REMOVE_CONFIG_SET, m_configMsg.removeConfigSetListener);
+ m_configMsg.removeConfigSetListener = null;
+ }
+ if (m_configMsg.activateConfigSetListener != null) {
+ m_rtobj.removeConfigurationSetNameListener(ConfigurationSetNameListenerType.ON_ACTIVATE_CONFIG_SET, m_configMsg.activateConfigSetListener);
+ m_configMsg.activateConfigSetListener = null;
+ }
+ }
+
+
+ /**
+ * {@.ja PostComponentActionListener class}
+ * {@.en PostComponentActionListener class}
+ */
+ private class CompStatMsg {
+ public CompStatMsg(ComponentObserverConsumer coc) {
+ activatedListener = null;
+ deactivatedListener = null;
+ resetListener = null;
+ abortingListener = null;
+ finalizeListener = null;
+ m_coc = coc;
+ }
+ public void onGeneric(final String msgprefix, int ec_id, ReturnCode_t ret) {
+ if (ret == ReturnCode_t.RTC_OK) {
+ String msg = msgprefix;
+ msg += ec_id;
+ m_coc.updateStatus(StatusKind.from_int(StatusKind._RTC_STATUS), msg);
+ }
+ }
+ public void onActivated(int ec_id, ReturnCode_t ret) {
+ onGeneric("ACTIVE:", ec_id, ret);
+ }
+ public void onDeactivated(int ec_id, ReturnCode_t ret) {
+ onGeneric("INACTIVE:", ec_id, ret);
+ }
+ public void onReset(int ec_id, ReturnCode_t ret) {
+ onGeneric("INACTIVE:", ec_id, ret);
+ }
+ public void onAborting(int ec_id, ReturnCode_t ret) {
+ onGeneric("ERROR:", ec_id, ret);
+ }
+ public void onFinalize(int ec_id, ReturnCode_t ret) {
+ onGeneric("FINALIZE:", ec_id, ret);
+ }
+
+ public PostComponentActionListener activatedListener;
+ public PostComponentActionListener deactivatedListener;
+ public PostComponentActionListener resetListener;
+ public PostComponentActionListener abortingListener;
+ public PostComponentActionListener finalizeListener;
+ private ComponentObserverConsumer m_coc;
+ };
+
+ /**
+ * {@.ja PortActionListener}
+ * {@.en PortActionListener}
+ */
+ private class PortAction {
+ public PortAction(ComponentObserverConsumer coc) {
+ portAddListener = null;
+ portRemoveListener = null;
+ portConnectListener = null;
+ portDisconnectListener = null;
+ m_coc = coc;
+ }
+ public void onGeneric(final String _msg, final String portname) {
+ String msg = _msg;
+ msg += portname;
+ m_coc.updateStatus(StatusKind.from_int(StatusKind._PORT_PROFILE), msg);
+ }
+ public void onAddPort(final RTC.PortProfile pprof) {
+ onGeneric("ADD:", pprof.name);
+ }
+ public void onRemovePort(final RTC.PortProfile pprof) {
+ onGeneric("REMOVE:", pprof.name);
+ }
+ public void onConnect(final String portname,
+ RTC.ConnectorProfile pprof, ReturnCode_t ret) {
+ if (ret == ReturnCode_t.RTC_OK) {
+ onGeneric("CONNECT:", portname);
+ }
+ }
+ public void onDisconnect(final String portname, RTC.ConnectorProfile pprof, ReturnCode_t ret) {
+ if (ret == ReturnCode_t.RTC_OK) {
+ onGeneric("DISCONNECT:", portname);
+ }
+ }
+
+ public PortActionListener portAddListener;
+ public PortActionListener portRemoveListener;
+ public PortConnectRetListener portConnectListener;
+ public PortConnectRetListener portDisconnectListener;
+
+ private ComponentObserverConsumer m_coc;
+ };
+
+ /**
+ * {@.ja ExecutionContextActionListener}
+ * {@.en ExecutionContextActionListener}
+ */
+ private class ECAction {
+ public ECAction(ComponentObserverConsumer coc) {
+ ecAttached = null;
+ ecDetached = null;
+ ecRatechanged = null;
+ ecStartup = null;
+ ecShutdown = null;
+ m_coc = coc;
+ }
+ public void onGeneric(final String _msg, int ec_id) {
+ String msg = _msg + ec_id;
+ m_coc.updateStatus(StatusKind.from_int(StatusKind._EC_STATUS), msg);
+ }
+ public void onAttached(int ec_id) {
+ onGeneric("ATTACHED:", ec_id);
+ }
+ public void onDetached(int ec_id) {
+ onGeneric("DETACHED:", ec_id);
+ }
+ public void onRateChanged(int ec_id, ReturnCode_t ret) {
+ if (ret == ReturnCode_t.RTC_OK) {
+ onGeneric("RATE_CHANGED:", ec_id);
+ }
+ }
+ public void onStartup(int ec_id, ReturnCode_t ret) {
+ if (ret == ReturnCode_t.RTC_OK) {
+ onGeneric("STARTUP:", ec_id);
+ }
+ }
+ public void onShutdown(int ec_id, ReturnCode_t ret) {
+ if (ret == ReturnCode_t.RTC_OK) {
+ onGeneric("SHUTDOWN:", ec_id);
+ }
+ }
+ public ExecutionContextActionListener ecAttached;
+ public ExecutionContextActionListener ecDetached;
+ public PostComponentActionListener ecRatechanged;
+ public PostComponentActionListener ecStartup;
+ public PostComponentActionListener ecShutdown;
+ private ComponentObserverConsumer m_coc;
+ };
+
+ /**
+ * {@.ja ConfigActionListener}
+ * {@.en ConfigActionListener}
+ */
+ private class ConfigAction {
+ public ConfigAction(ComponentObserverConsumer coc) {
+ updateConfigParamListener = null;
+ setConfigSetListener = null;
+ addConfigSetListener = null;
+ updateConfigSetListener = null;
+ removeConfigSetListener = null;
+ activateConfigSetListener = null;
+ m_coc = coc;
+ }
+ public void updateConfigParam(final String configsetname,
+ final String configparamname) {
+ String msg = "UPDATE_CONFIG_PARAM: ";
+ msg += configsetname;
+ msg += ".";
+ msg += configparamname;
+ m_coc.updateStatus(StatusKind.from_int(StatusKind._CONFIGURATION), msg);
+ }
+ public void setConfigSet(final Properties config_set) {
+ String msg = "SET_CONFIG_SET: ";
+ msg += config_set.getName();
+ m_coc.updateStatus(StatusKind.from_int(StatusKind._CONFIGURATION), msg);
+ }
+ public void addConfigSet(final Properties config_set) {
+ String msg = "ADD_CONFIG_SET: ";
+ msg += config_set.getName();
+ m_coc.updateStatus(StatusKind.from_int(StatusKind._CONFIGURATION), msg);
+ }
+ public void updateConfigSet(final String config_set_name) {
+ String msg = "UPDATE_CONFIG_SET: ";
+ msg += config_set_name;
+ m_coc.updateStatus(StatusKind.from_int(StatusKind._CONFIGURATION), msg);
+ }
+ public void removeConfigSet(final String config_set_name) {
+ String msg = "REMOVE_CONFIG_SET: ";
+ msg += config_set_name;
+ m_coc.updateStatus(StatusKind.from_int(StatusKind._CONFIGURATION), msg);
+ }
+ public void activateConfigSet(final String config_set_name) {
+ String msg="ACTIVATE_CONFIG_SET: ";
+ msg += config_set_name;
+ m_coc.updateStatus(StatusKind.from_int(StatusKind._CONFIGURATION), msg);
+ }
+ // Listener object's pointer holder
+ public ConfigurationParamListener updateConfigParamListener;
+ public ConfigurationSetListener setConfigSetListener;
+ public ConfigurationSetListener addConfigSetListener;
+ public ConfigurationSetNameListener updateConfigSetListener;
+ public ConfigurationSetNameListener removeConfigSetListener;
+ public ConfigurationSetNameListener activateConfigSetListener;
+
+ private ComponentObserverConsumer m_coc;
+ };
+
+
+ /**
+ * <p> creator_ </p>
+ *
+ * @return Object Created instances
+ *
+ */
+ public SdoServiceConsumerBase creator_() {
+ return new ComponentObserverConsumer();
+ }
+ /**
+ * <p> destructor_ </p>
+ *
+ * @param obj The target instances for destruction
+ *
+ */
+ public void destructor_(Object obj) {
+ obj = null;
+ }
+ /**
+ * <p> ComponentObserverConsumerInit </p>
+ *
+ */
+ public static void ComponentObserverConsumerInit() {
+ final SdoServiceConsumerFactory<SdoServiceConsumerBase,String> factory
+ = SdoServiceConsumerFactory.instance();
+
+
+ factory.addFactory(ComponentObserverHelper.id(),
+ new ComponentObserverConsumer(),
+ new ComponentObserverConsumer());
+
+ }
+
+ private RTObject_impl m_rtobj;
+ private _SDOPackage.ServiceProfile m_profile;
+ private CorbaConsumer<OpenRTM.ComponentObserver> m_observer =
+ new CorbaConsumer<OpenRTM.ComponentObserver>(OpenRTM.ComponentObserver.class);
+
+ private boolean[] m_observed = new boolean[StatusKind._STATUS_KIND_NUM];
+
+ private CompStatMsg m_compstat;
+ private PortAction m_portaction;
+ private ECAction m_ecaction;
+ private ConfigAction m_configMsg;
+
+ private TimeValue m_interval;
+ private boolean m_heartbeat;
+ private ListenerBase m_hblistenerid;
+
+ // ã“ã®ã‚¿ã‚¤ãƒžãƒ¼ã¯ã„ãšã‚Œã‚°ãƒãƒ¼ãƒãƒ«ãªã‚¿ã‚¤ãƒžã«ãŠãã‹ãˆã‚‹
+ private Timer m_timer;
+
+
+};
+
Modified: trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/DefaultConfiguration.java
===================================================================
--- trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/DefaultConfiguration.java 2011-08-14 01:07:56 UTC (rev 543)
+++ trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/DefaultConfiguration.java 2011-08-14 02:50:37 UTC (rev 544)
@@ -58,6 +58,8 @@
"manager.shutdown_auto", "YES",
"manager.name", "manager",
"manager.command", "rtcd",
+ "sdo.service.provider.enabled_services", "ALL",
+ "sdo.service.consumer.enabled_services", "ALL",
""
};
}
Modified: trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/FactoryGlobal.java
===================================================================
--- trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/FactoryGlobal.java 2011-08-14 01:07:56 UTC (rev 543)
+++ trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/FactoryGlobal.java 2011-08-14 02:50:37 UTC (rev 544)
@@ -1,5 +1,7 @@
package jp.go.aist.rtm.RTC;
+import java.lang.reflect.Constructor;
+
import java.util.Hashtable;
import java.util.HashMap;
import java.util.Iterator;
@@ -99,7 +101,11 @@
}
else {
try{
- Object obj2 = (Object)(Class.forName(clazz).newInstance());
+ Class cl = Class.forName(clazz);
+ Constructor cunstructor = cl.getDeclaredConstructor(null);
+ cunstructor.setAccessible(true);
+ Object obj2 = (Object)cunstructor.newInstance();
+ //Object obj2 = (Object)(Class.forName(clazz).newInstance());
factory_table.put(clazz,obj2);
return obj2;
}
Modified: trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObject_impl.java
===================================================================
--- trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObject_impl.java 2011-08-14 01:07:56 UTC (rev 543)
+++ trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObject_impl.java 2011-08-14 02:50:37 UTC (rev 544)
@@ -140,7 +140,9 @@
m_writeAll = false;
m_readAllCompletion = false;
m_writeAllCompletion = false;
-
+ rtcout = new Logbuf("RTObject_impl");
+ m_sdoservice = new SdoServiceAdmin(this);
+
m_objref = this._this();
m_pSdoConfigImpl = new Configuration_impl(m_configsets,m_sdoservice);
m_pSdoConfig = m_pSdoConfigImpl.getObjRef();
@@ -157,7 +159,6 @@
}
m_profile.properties = new NameValue[0];
- rtcout = new Logbuf("RTObject_impl");
}
@@ -183,6 +184,8 @@
m_writeAll = false;
m_readAllCompletion = false;
m_writeAllCompletion = false;
+ rtcout = new Logbuf("RTObject_impl");
+ m_sdoservice = new SdoServiceAdmin(this);
m_objref = this._this();
m_pSdoConfigImpl = new Configuration_impl(m_configsets,m_sdoservice);
@@ -199,7 +202,6 @@
Manager manager = Manager.instance();
m_profile.properties = new NameValue[0];
- rtcout = new Logbuf("RTObject_impl");
}
/**
@@ -5092,7 +5094,6 @@
}
catch(java.lang.Exception e){
- System.out.println("Exception caught."+e.toString());
rtcout.println(Logbuf.WARN,
"Exception caught."+e.toString());
}
Modified: trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/SDOPackage/Configuration_impl.java
===================================================================
--- trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/SDOPackage/Configuration_impl.java 2011-08-14 01:07:56 UTC (rev 543)
+++ trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/SDOPackage/Configuration_impl.java 2011-08-14 02:50:37 UTC (rev 544)
@@ -1054,7 +1054,7 @@
* {@.en SDO Service admin object with mutex lock}
*/
protected SdoServiceAdmin m_sdoservice;
- protected String m_sdoservice_mutex;
+ protected String m_sdoservice_mutex = new String();
/**
* {@.ja Organization リスト}
Modified: trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/SdoServiceAdmin.java
===================================================================
--- trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/SdoServiceAdmin.java 2011-08-14 01:07:56 UTC (rev 543)
+++ trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/SdoServiceAdmin.java 2011-08-14 02:50:37 UTC (rev 544)
@@ -88,7 +88,7 @@
*/
public SdoServiceAdmin(RTObject_impl rtobj) {
m_rtobj = rtobj;
- m_allConsumerAllowed = true;
+ m_allConsumerEnabled = true;
rtcout = new Logbuf("SdoServiceAdmin");
rtcout.println(Logbuf.TRACE, "SdoServiceAdmin.SdoServiceAdmin(" + rtobj.getProperties().getProperty("instance_name") + ")");
@@ -417,7 +417,8 @@
if (m_allConsumerEnabled) { return true; }
for (Iterator ic=m_consumerTypes.iterator(); ic.hasNext();) {
- if (ic.next().equals(sProfile.interface_type)) {
+ String str = (String)ic.next();
+ if (str.equals(sProfile.interface_type)) {
rtcout.println(Logbuf.DEBUG,sProfile.interface_type+" is supported SDO service.");
return true;
}
@@ -464,7 +465,6 @@
private List<String> m_consumerTypes = new ArrayList<String>();
private boolean m_allConsumerEnabled;
- private boolean m_allConsumerAllowed;
/**
* {@.ja Lock 付ã SDO ServiceProfileList}
Modified: trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/SdoServiceConsumerFactory.java
===================================================================
--- trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/SdoServiceConsumerFactory.java 2011-08-14 01:07:56 UTC (rev 543)
+++ trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/SdoServiceConsumerFactory.java 2011-08-14 02:50:37 UTC (rev 544)
@@ -27,6 +27,7 @@
*
*/
public static SdoServiceConsumerFactory instance() {
+/*
if (factory_global == null) {
synchronized (factory_global_mutex) {
if (factory_global == null) {
@@ -40,6 +41,8 @@
}
return factory_global;
+*/
+ return (SdoServiceConsumerFactory)instance("jp.go.aist.rtm.RTC.SdoServiceConsumerFactory");
}
/**
* <p> mutex </p>
Modified: trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/SdoServiceProviderFactory.java
===================================================================
--- trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/SdoServiceProviderFactory.java 2011-08-14 01:07:56 UTC (rev 543)
+++ trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/SdoServiceProviderFactory.java 2011-08-14 02:50:37 UTC (rev 544)
@@ -41,7 +41,7 @@
}
return factory_global;
*/
- return (SdoServiceProviderFactory)instance("SdoServiceProviderFactory");
+ return (SdoServiceProviderFactory)instance("jp.go.aist.rtm.RTC.SdoServiceProviderFactory");
}
/**
* <p> mutex </p>
Modified: trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/CorbaConsumer.java
===================================================================
--- trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/CorbaConsumer.java 2011-08-14 01:07:56 UTC (rev 543)
+++ trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/CorbaConsumer.java 2011-08-14 02:50:37 UTC (rev 544)
@@ -9,6 +9,12 @@
public class CorbaConsumer<OBJECT_TYPE> extends CorbaConsumerBase {
/**
+ * {@.ja コンストラクタ}
+ * {@.en Consructor}
+ */
+ public CorbaConsumer(){
+ }
+ /**
* <p>コンストラクタã§ã™ã€‚</p>
*/
public CorbaConsumer(Class<OBJECT_TYPE> OBJECT_TYPE_CLASS) {
openrtm-commit メーリングリストの案内