[openrtm-commit:00656] r2301 - trunk/OpenRTM-aist/src/lib/rtm
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2012年 2月 4日 (土) 02:45:46 JST
Author: n-ando
Date: 2012-02-04 02:45:45 +0900 (Sat, 04 Feb 2012)
New Revision: 2301
Modified:
trunk/OpenRTM-aist/src/lib/rtm/RTObjectStateMachine.h
trunk/OpenRTM-aist/src/lib/rtm/StateMachine.h
Log:
[incompat,header/impl,func] Now callback member function pointer list is std::vector.
Modified: trunk/OpenRTM-aist/src/lib/rtm/RTObjectStateMachine.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/RTObjectStateMachine.h 2012-02-03 17:31:23 UTC (rev 2300)
+++ trunk/OpenRTM-aist/src/lib/rtm/RTObjectStateMachine.h 2012-02-03 17:45:45 UTC (rev 2301)
@@ -23,7 +23,7 @@
#include <rtm/SystemLogger.h>
#include <coil/NonCopyable.h>
#include <rtm/idl/RTCSkel.h>
-#include <rtm/StateMachine2.h>
+#include <rtm/StateMachine.h>
#include <assert.h>
#include <iostream>
Modified: trunk/OpenRTM-aist/src/lib/rtm/StateMachine.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/StateMachine.h 2012-02-03 17:31:23 UTC (rev 2300)
+++ trunk/OpenRTM-aist/src/lib/rtm/StateMachine.h 2012-02-03 17:45:45 UTC (rev 2301)
@@ -19,7 +19,8 @@
#ifndef RTC_STATEMACHINE_H
#define RTC_STATEMACHINE_H
-#include <rtm/RTC.h>
+#include <cassert>
+#include <vector>
#include <coil/Mutex.h>
#include <coil/Guard.h>
@@ -284,31 +285,54 @@
*/
StateMachine(int num_of_state)
: m_num(num_of_state),
- m_entry (new Callback[m_num]),
- m_predo (new Callback[m_num]),
- m_do (new Callback[m_num]),
- m_postdo(new Callback[m_num]),
- m_exit (new Callback[m_num])
+ m_listener(NULL),
+ m_entry(m_num, (Callback)NULL),
+ m_predo(m_num, (Callback)NULL),
+ m_do(m_num, (Callback)NULL),
+ m_postdo(m_num, (Callback)NULL),
+ m_exit(m_num, (Callback)NULL),
+ m_transit(NULL)
{
- setNullFunc(m_entry, NULL);
- setNullFunc(m_do, NULL);
- setNullFunc(m_exit, NULL);
- setNullFunc(m_predo, NULL);
- setNullFunc(m_postdo, NULL);
- m_transit = NULL;
};
-
virtual ~StateMachine()
{
- delete [] m_entry;
- delete [] m_predo;
- delete [] m_do;
- delete [] m_postdo;
- delete [] m_exit;
};
+ StateMachine(const StateMachine& other)
+ : m_num(other.m_num),
+ m_listener(other.m_listener),
+ m_entry (other.m_entry),
+ m_predo (other.m_predo),
+ m_do (other.m_do),
+ m_postdo(other.m_postdo),
+ m_exit (other.m_exit),
+ m_transit(other.m_transit),
+ m_states(other.m_states),
+ m_selftrans(other.m_selftrans)
+ {
+ }
+ StateMachine& operator=(const StateMachine& other)
+ {
+ StateMachine temp(other);
+ swap(temp);
+ return *this;
+ }
+
+ void swap(StateMachine& other)
+ {
+ std::swap(m_num, other.m_num);
+ std::swap(m_listener, other.m_listener);
+ std::swap(m_entry, other.m_entry);
+ std::swap(m_predo, other.m_predo);
+ std::swap(m_do, other.m_do);
+ std::swap(m_postdo, other.m_postdo);
+ std::swap(m_exit, other.m_exit);
+ std::swap(m_transit, other.m_transit);
+ std::swap(m_states, other.m_states);
+ std::swap(m_selftrans, other.m_selftrans);
+ }
/*!
* @if jp
* @brief NOP関数を登録する
@@ -355,6 +379,7 @@
*/
void setListener(Listener* listener)
{
+ assert(listener != NULL);
m_listener = listener;
}
@@ -384,7 +409,15 @@
*/
bool setEntryAction(State state, Callback call_back)
{
- m_entry[state] = call_back;
+ try
+ {
+ m_entry.at(state) = call_back;
+ }
+ catch (...)
+ {
+ assert(false);
+ return false;
+ }
return true;
}
@@ -413,7 +446,15 @@
*/
bool setPreDoAction(State state, Callback call_back)
{
- m_predo[state] = call_back;
+ try
+ {
+ m_predo.at(state) = call_back;
+ }
+ catch (...)
+ {
+ assert(false);
+ return false;
+ }
return true;
}
@@ -442,7 +483,15 @@
*/
bool setDoAction(State state, Callback call_back)
{
- m_do[state] = call_back;
+ try
+ {
+ m_do.at(state) = call_back;
+ }
+ catch (...)
+ {
+ assert(false);
+ return false;
+ }
return true;
}
@@ -471,7 +520,15 @@
*/
bool setPostDoAction(State state, Callback call_back)
{
- m_postdo[state] = call_back;
+ try
+ {
+ m_postdo.at(state) = call_back;
+ }
+ catch (...)
+ {
+ assert(false);
+ return false;
+ }
return true;
}
@@ -500,7 +557,15 @@
*/
bool setExitAction(State state, Callback call_back)
{
- m_exit[state] = call_back;
+ try
+ {
+ m_exit.at(state) = call_back;
+ }
+ catch (...)
+ {
+ assert(false);
+ return false;
+ }
return true;
}
@@ -736,7 +801,6 @@
//
void worker_pre()
{
- // std::cout << "worker_pre()" << std::endl;
States state;
sync(state);
if (state.curr == state.next)
@@ -767,7 +831,6 @@
void worker_do()
{
- // std::cout << "worker_do()" << std::endl;
States state;
sync(state);
if (m_do[state.curr] != NULL)
@@ -778,7 +841,6 @@
void worker_post()
{
- // std::cout << "worker_post()" << std::endl;
States state;
sync(state);
if (m_postdo[state.curr] != NULL)
@@ -807,9 +869,14 @@
*
* @endif
*/
- void setNullFunc(Callback* s, Callback nullfunc)
+ void setNullFunc(std::vector<Callback>& s, Callback nullfunc)
{
- for (int i = 0; i < m_num; ++i) s[i] = nullfunc;
+ s.clear();
+ // assert((size_t)m_num == s.size());
+ for (size_t i(0); i < m_num; ++i)
+ {
+ s.push_back(nullfunc);
+ }
}
/*!
@@ -837,7 +904,7 @@
* @brief Callback function for Entry action
* @endif
*/
- Callback* m_entry;
+ std::vector<Callback> m_entry;
/*!
* @if jp
@@ -846,7 +913,7 @@
* @brief Callback function for PreDo action
* @endif
*/
- Callback* m_predo;
+ std::vector<Callback> m_predo;
/*!
* @if jp
@@ -855,7 +922,7 @@
* @brief Callback function for Do action
* @endif
*/
- Callback* m_do;
+ std::vector<Callback> m_do;
/*!
* @if jp
@@ -864,7 +931,7 @@
* @brief Callback function for PostDo action
* @endif
*/
- Callback* m_postdo;
+ std::vector<Callback> m_postdo;
/*!
* @if jp
@@ -873,7 +940,7 @@
* @brief Callback function for Exit action
* @endif
*/
- Callback* m_exit;
+ std::vector<Callback> m_exit;
/*!
* @if jp
openrtm-commit メーリングリストの案内