[openrtm-commit:00611] r651 - in branches/work/DesignChangeOfEC/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC: . executionContext
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2012年 1月 23日 (月) 17:57:30 JST
Author: fsi-katami
Date: 2012-01-23 17:57:29 +0900 (Mon, 23 Jan 2012)
New Revision: 651
Added:
branches/work/DesignChangeOfEC/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/ExecutionContextProfile.java
Removed:
branches/work/DesignChangeOfEC/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/CorbaObjectManager.java
Modified:
branches/work/DesignChangeOfEC/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/Manager.java
branches/work/DesignChangeOfEC/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObject_impl.java
branches/work/DesignChangeOfEC/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/ExecutionContextBase.java
branches/work/DesignChangeOfEC/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/PeriodicExecutionContext.java
Log:
Daily check in. refs #2322
Deleted: branches/work/DesignChangeOfEC/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/CorbaObjectManager.java
===================================================================
--- branches/work/DesignChangeOfEC/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/CorbaObjectManager.java 2012-01-20 08:35:46 UTC (rev 650)
+++ branches/work/DesignChangeOfEC/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/CorbaObjectManager.java 2012-01-23 08:57:29 UTC (rev 651)
@@ -1,81 +0,0 @@
-package jp.go.aist.rtm.RTC;
-
-import jp.go.aist.rtm.RTC.executionContext.ExecutionContextBase;
-
-import org.omg.CORBA.ORB;
-import org.omg.PortableServer.POA;
-import org.omg.PortableServer.Servant;
-import org.omg.PortableServer.POAPackage.ObjectNotActive;
-import org.omg.PortableServer.POAPackage.ServantAlreadyActive;
-import org.omg.PortableServer.POAPackage.ServantNotActive;
-import org.omg.PortableServer.POAPackage.WrongPolicy;
-
-import RTC.ExecutionContextServiceHelper;
-import RTC.RTObjectHelper;
-
-
-/**
- * <p>CorbaObjectManagerクラスです。
- * CORBA オブジェクトをアクティブ化、非アクティブ化します。</p>
- */
-class CorbaObjectManager {
- /**
- * <p>コンストラクタです。</p>
- *
- * @param orb ORB
- * @param poa POA
- */
- public CorbaObjectManager(ORB orb, POA poa) {
- m_pPOA = poa;
- }
-
- /**
- * <p>CORBA オブジェクト(RTObjct)をアクティブ化します。</p>
- *
- * @param comp アクティブ化対象RTObject
- *
- * @exception ServantAlreadyActive 対象Servantがすでにactivate済み
- * @exception WrongPolicy POA でサポートされていないポリシーを使用
- * @exception ObjectNotActive 指定された oid を持つオブジェクトが Active Object Map にない場合
- */
- public void activate(RTObject_impl comp)
- throws ServantAlreadyActive, WrongPolicy, ObjectNotActive {
- if( comp.m_objref==null ) {
- byte[] id = m_pPOA.activate_object(comp);
- comp.setObjRef(RTObjectHelper.narrow(m_pPOA.id_to_reference(id)));
- }
- }
-
- /**
- * <p>CORBA オブジェクト(ExecutionContext)をアクティブ化します。</p>
- *
- * @param comp アクティブ化対象ExecutionContext
- *
- * @exception ServantAlreadyActive 対象Servantがすでにactivate済み
- * @exception WrongPolicy POA でサポートされていないポリシーを使用
- * @exception ObjectNotActive 指定された oid を持つオブジェクトが Active Object Map にない場合
- */
- public void activate(ExecutionContextBase comp) throws ServantAlreadyActive, WrongPolicy, ObjectNotActive {
- byte[] id = m_pPOA.activate_object(comp.getObjRef());
- comp.setObjRef(ExecutionContextServiceHelper.narrow(m_pPOA.id_to_reference(id)));
- }
- /**
- * <p>CORBA オブジェクトを非アクティブ化します。</p>
- *
- * @param comp 非アクティブ化対象オブジェクト
- *
- * @exception ServantAlreadyActive 対象Servantがactivate化されていない
- * @exception WrongPolicy POA でサポートされていないポリシーを使用
- * @exception ObjectNotActive 指定された oid を持つオブジェクトが Active Object Map にない場合
- *
- */
- public void deactivate(Servant comp) throws ServantNotActive, WrongPolicy, ObjectNotActive {
- byte[] id = m_pPOA.servant_to_id(comp);
- m_pPOA.deactivate_object(id);
- }
-
- /**
- * POA
- */
- private POA m_pPOA;
-}
Modified: branches/work/DesignChangeOfEC/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/Manager.java
===================================================================
--- branches/work/DesignChangeOfEC/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/Manager.java 2012-01-20 08:35:46 UTC (rev 650)
+++ branches/work/DesignChangeOfEC/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/Manager.java 2012-01-23 08:57:29 UTC (rev 651)
@@ -2630,7 +2630,8 @@
for (int i=0, len=m_ecs.size(); i < len; ++i) {
try {
- m_pPOA.deactivate_object(m_pPOA.servant_to_id(m_ecs.elementAt(i).getObjRef()));
+ //m_pPOA.deactivate_object(m_pPOA.servant_to_id(m_ecs.elementAt(i).getObjRef()));
+ m_pPOA.deactivate_object(m_pPOA.servant_to_id((RTC.ExecutionContextServicePOA)m_ecs.get(i)));
} catch (Exception e) {
rtcout.println(Logbuf.DEBUG, "Exception: Caught unknown Exception in Manager.shutdownComponents().");
@@ -3189,7 +3190,7 @@
* {@.ja CORBA Object Manager}
* {@.en CORBA Object Manager}
*/
- protected CorbaObjectManager m_objManager;
+ //protected CorbaObjectManager m_objManager;
/**
* {@.ja Timer Object}
* {@.en Timer Object}
Modified: branches/work/DesignChangeOfEC/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObject_impl.java
===================================================================
--- branches/work/DesignChangeOfEC/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObject_impl.java 2012-01-20 08:35:46 UTC (rev 650)
+++ branches/work/DesignChangeOfEC/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObject_impl.java 2012-01-23 08:57:29 UTC (rev 651)
@@ -3918,7 +3918,8 @@
try {
m_eclist.elementAt(i).getObjRef().stop();
m_eclist.elementAt(i).finalizeExecutionContext();
- m_pPOA.deactivate_object(m_pPOA.servant_to_id(m_eclist.elementAt(i).getObjRef()));
+// m_pPOA.deactivate_object(m_pPOA.servant_to_id(m_eclist.elementAt(i).getObjRef()));
+ m_pPOA.deactivate_object(m_pPOA.servant_to_id((RTC.ExecutionContextServicePOA)m_eclist.get(i)));
}
catch(Exception ex) {
}
Modified: branches/work/DesignChangeOfEC/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/ExecutionContextBase.java
===================================================================
--- branches/work/DesignChangeOfEC/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/ExecutionContextBase.java 2012-01-20 08:35:46 UTC (rev 650)
+++ branches/work/DesignChangeOfEC/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/ExecutionContextBase.java 2012-01-23 08:57:29 UTC (rev 651)
@@ -5,7 +5,6 @@
import RTC.ExecutionContextService;
import OpenRTM.ExtTrigExecutionContextServicePOA;
-import jp.go.aist.rtm.RTC.ExecutionContextProfile;
import jp.go.aist.rtm.RTC.RTObject_impl;
import jp.go.aist.rtm.RTC.util.Properties;
import RTC.ExecutionKind;
@@ -15,16 +14,19 @@
* <p>Periodic Sampled Data Processing(周期実行用)ExecutionContextのベースとなる
* 抽象クラスです。</p>
*/
-public abstract class ExecutionContextBase
- implements ECNewDeleteFunc {
+//public abstract class ExecutionContextBase
+// implements ECNewDeleteFunc {
+public interface ExecutionContextBase extends ECNewDeleteFunc {
/**
* {@.ja ExecutionContextクラスの初期化関数}
* {@.en Initialization function of ExecutionContext class}
*/
+ public void init(Properties props);
+/*
public void init(Properties props) {
}
-
+*/
/**
* {@.ja CORBA オブジェクト参照の取得}
* {@.en Get the reference to the CORBA object}
@@ -39,9 +41,12 @@
* {@.en The reference to CORBA object}
*
*/
+ public void setObjRef(final ExecutionContextService ref);
+/*
public void setObjRef(final ExecutionContextService ref) {
m_profile.setObjRef(ref);
}
+*/
/**
* <p> bindComponent </p>
@@ -50,7 +55,8 @@
* @return ReturnCode_t
*
*/
- public abstract ReturnCode_t bindComponent(RTObject_impl rtc);
+ public ReturnCode_t bindComponent(RTObject_impl rtc);
+// public abstract ReturnCode_t bindComponent(RTObject_impl rtc);
/**
* {@.ja CORBA オブジェクト参照の取得}
@@ -66,10 +72,12 @@
* {@.en The reference to CORBA object}
*
*/
+ public ExecutionContextService getObjRef();
+/*
public ExecutionContextService getObjRef() {
return m_profile.getObjRef();
}
-
+*/
/**
* {@.ja ExecutionContext の実行周期(Hz)を設定する}
* {@.en Set execution rate(Hz) of ExecutionContext}
@@ -97,10 +105,12 @@
* BAD_PARAMETER: Invalid value. The value might be negative.}
*
*/
+ public ReturnCode_t setRate(double rate);
+/*
public ReturnCode_t setRate(double rate) {
return m_profile.setRate(rate);
}
-
+*/
/**
* {@.ja ExecutionContext の実行周期(Hz)を取得する}
* {@.en Get execution rate(Hz) of ExecutionContext}
@@ -115,10 +125,12 @@
* {@.en Execution cycle(Unit:Hz)}
*
*/
+ public double getRate();
+/*
public double getRate() {
return m_profile.getRate();
}
-
+*/
/**
* {@.ja ExecutionKind を文字列化する}
* {@.en Converting ExecutionKind enum to string}
@@ -136,11 +148,19 @@
* {@en String of ExecutionKind}
*
*/
+ public String getKindString(ExecutionKind kind);
+/*
public final String getKindString(ExecutionKind kind) {
return m_profile.getKindString(kind);
}
+*/
+ public boolean finalizeExecutionContext();
+// public abstract boolean finalizeExecutionContext();
+ public ExecutionContextProfile m_profile
+ = new ExecutionContextProfile();
+/*
+ protected ExecutionContextProfile m_profile
+ = new ExecutionContextProfile();
+*/
- public abstract boolean finalizeExecutionContext();
- protected ExecutionContextProfile m_profile;
-
}
Added: branches/work/DesignChangeOfEC/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/ExecutionContextProfile.java
===================================================================
--- branches/work/DesignChangeOfEC/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/ExecutionContextProfile.java (rev 0)
+++ branches/work/DesignChangeOfEC/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/ExecutionContextProfile.java 2012-01-23 08:57:29 UTC (rev 651)
@@ -0,0 +1,570 @@
+package jp.go.aist.rtm.RTC.executionContext;
+
+import jp.go.aist.rtm.RTC.log.Logbuf;
+import jp.go.aist.rtm.RTC.util.CORBA_SeqUtil;
+import jp.go.aist.rtm.RTC.util.equalFunctor;
+import jp.go.aist.rtm.RTC.util.NVUtil;
+import jp.go.aist.rtm.RTC.util.Properties;
+import jp.go.aist.rtm.RTC.util.TimeValue;
+import RTC.ExecutionContextService;
+//import RTC.ExecutionContextProfile;
+import RTC.ExecutionKind;
+import RTC.ExecutionKindHolder;
+import RTC.LightweightRTObject;
+import RTC.ReturnCode_t;
+import RTC.RTCListHolder;
+import RTC.RTObject;
+import RTC.RTObjectHelper;
+import _SDOPackage.NVListHolder;
+ /**
+ * {@.ja ExecutionContextProfile クラス}
+ * {@.en ExecutionContextProfile class}
+ * <p>
+ * {@.ja Periodic Sampled Data Processing(周期実行用)ExecutionContextクラス。}
+ * {@.en Periodic Sampled Data Processing (for the execution cycles)
+ * ExecutionContext class}
+ */
+public class ExecutionContextProfile {
+ public final double DEEFAULT_PERIOD = 0.000001;
+
+ /**
+ * {@.ja デフォルトコンストラクタ}
+ * {@.en Default Constructor}
+ * <p>
+ * {@.ja デフォルトコンストラクタ
+ * プロファイルに以下の項目を設定する。
+ * - kind : PERIODIC
+ * - rate : 0.0}
+ * {@.en Default Constructor
+ * Set the following items to profile.
+ * - kind : PERIODIC
+ * - rate : 0.0}
+ */
+ public ExecutionContextProfile(ExecutionKind kind) {
+ rtcout = new Logbuf("periodic_ecprofile");
+ m_period = new TimeValue(DEEFAULT_PERIOD);
+ m_ref = null;
+ rtcout.println(Logbuf.TRACE, "ExecutionContextProfile()");
+ rtcout.println(Logbuf.DEBUG, "Actual rate: "
+ + m_period.sec()
+ + " [sec], "
+ + m_period.usec()
+ + " [usec]");
+ // profile initialization
+ m_profile.kind = kind;
+ m_profile.rate = 1.0 / m_period.toDouble();
+ m_profile.owner = null;
+ m_profile.participants = new RTObject[0];
+ m_profile.properties = new _SDOPackage.NameValue[0];
+ }
+ public ExecutionContextProfile(){
+ this(ExecutionKind.PERIODIC);
+ }
+ /**
+ * {@.ja CORBA オブジェクト参照の取得}
+ * {@.en Get the reference to the CORBA object}
+ * <p>
+ * {@.ja 本オブジェクトの ExecutioncontextService としての CORBA オブジェ
+ * クト参照を取得する。}
+ * {@.en Get the reference to the CORBA object as
+ * ExecutioncontextService of this object.}
+ *
+ * @return
+ * {@.ja CORBA オブジェクト参照}
+ * {@.en The reference to CORBA object}
+ */
+ public void setObjRef(ExecutionContextService ec_ptr){
+ rtcout.println(Logbuf.TRACE, "setObjRef()");
+ synchronized (m_profile){
+ m_ref = (ExecutionContextService)ec_ptr._duplicate();
+ }
+ }
+
+ /**
+ * {@.ja CORBA オブジェクト参照の取得}
+ * {@.en Get the reference to the CORBA object}
+ * <p>
+ * {@.ja 本オブジェクトの ExecutioncontextService としての CORBA オブジェ
+ * クト参照を取得する。}
+ * {@.en Get the reference to the CORBA object as
+ * ExecutioncontextService of this object.}
+ *
+ * @return
+ * {@.ja CORBA オブジェクト参照}
+ * {@.en The reference to CORBA object}
+ *
+ */
+ public ExecutionContextService getObjRef(){
+ rtcout.println(Logbuf.TRACE, "getObjRef()");
+ synchronized (m_profile){
+ return (ExecutionContextService)m_ref._duplicate();
+ }
+ }
+
+ /**
+ * {@.ja ExecutionContext の実行周期(Hz)を設定する}
+ * {@.en Set execution rate(Hz) of ExecutionContext}
+ * <p>
+ * {@.ja Active 状態にてRTコンポーネントが実行される周期(単位:Hz)を設定す
+ * る。実行周期の変更は、DataFlowComponentAction の
+ * on_rate_changed によって各RTコンポーネントに伝達される。}
+ * {@.en This operation shall set the rate (in hertz) at which this
+ * context’s Active participating RTCs are being called. If the
+ * execution kind of the context is PERIODIC, a rate change shall
+ * result in the invocation of on_rate_changed on any RTCs
+ * realizing DataFlowComponentAction that are registered with any
+ * RTCs participating in the context.}
+ *
+ * @param rate
+ * {@.ja 処理周期(単位:Hz)}
+ * {@.en Execution cycle(Unit:Hz)}
+ *
+ * @return
+ * {@.ja ReturnCode_t 型のリターンコード
+ * RTC_OK: 正常終了
+ * BAD_PARAMETER: 設定値が負の値}
+ * {@.en The return code of ReturnCode_t type
+ * RTC_OK: Succeed
+ * BAD_PARAMETER: Invalid value. The value might be negative.}
+ *
+ */
+ public ReturnCode_t setRate(double rate) {
+ rtcout.println(Logbuf.TRACE, "set_rate("+rate+")");
+ if (rate < 0.0) {
+ return ReturnCode_t.BAD_PARAMETER;
+ }
+
+ synchronized (m_profile){
+ m_profile.rate = rate;
+ m_period = new TimeValue(1.0/rate);
+ return ReturnCode_t.RTC_OK;
+ }
+ }
+ public ReturnCode_t setPeriod(double period) {
+ rtcout.println(Logbuf.TRACE, "setPeriod("+period+" [sec])");
+ if (period < 0.0) {
+ return ReturnCode_t.BAD_PARAMETER;
+ }
+
+ synchronized (m_profile){
+ m_profile.rate = 1.0 / period;
+ m_period = new TimeValue(period);
+ return ReturnCode_t.RTC_OK;
+ }
+ }
+ public ReturnCode_t setPeriod(TimeValue period) {
+ rtcout.println(Logbuf.TRACE, "setPeriod("+period.toDouble()+" [sec])");
+ if (period.toDouble() < 0.0) {
+ return ReturnCode_t.BAD_PARAMETER;
+ }
+
+ synchronized (m_profile){
+ m_profile.rate = 1.0 / period.toDouble();
+ m_period = period;
+ return ReturnCode_t.RTC_OK;
+ }
+ }
+
+ /**
+ * {@.ja ExecutionContext の実行周期(Hz)を取得する}
+ * {@.en Get execution rate(Hz) of ExecutionContext}
+ * <p>
+ * {@.ja Active 状態にてRTコンポーネントが実行される周期(単位:Hz)を取得す
+ * る。}
+ * {@.en This operation shall return the rate (in hertz) at which its
+ * Active participating RTCs are being invoked.}
+ *
+ * @return
+ * {@.ja 処理周期(単位:Hz)}
+ * {@.en Execution cycle(Unit:Hz)}
+ *
+ */
+ public double getRate() {
+ rtcout.println(Logbuf.TRACE, "get_rate()");
+ synchronized (m_profile){
+ return m_profile.rate;
+ }
+ }
+ public TimeValue getPeriod(){
+ rtcout.println(Logbuf.TRACE, "getPeriod()");
+ synchronized (m_profile){
+ return m_period;
+ }
+ }
+
+ /**
+ * {@.ja ExecutionKind を文字列化する}
+ * {@.en Converting ExecutionKind enum to string }
+ * <p>
+ * {@.ja ExecutionKind で定義されている PERIODIC, EVENT_DRIVEN,
+ * OTHER を文字列化する。}
+ * {@.en This function converts enumeration (PERIODIC, EVENT_DRIVEN,
+ * OTHER) defined in RTC::ExecutionKind to string.}
+ *
+ * @param kind
+ * {@.ja ExecutionKind}
+ * {@.en ExecutionKind}
+ * @return
+ * {@.en 文字列化されたExecutionKind}
+ * {@.en String of ExecutionKind}
+ *
+ */
+ public final String getKindString(ExecutionKind kind){
+ ExecutionKindHolder ekh = new ExecutionKindHolder(kind);
+ try {
+ return ekh._type().name();
+ }
+ catch(Exception ex) {
+ return "";
+ }
+ }
+ public final String getKindString() {
+ return getKindString(m_profile.kind);
+ }
+
+ /**
+ * {@.ja ExecutionKind を設定する}
+ * {@.en Set the ExecutionKind}
+ * <p>
+ * {@.ja この ExecutionContext の ExecutionKind を設定する}
+ * {@.en This operation sets the kind of the execution context.}
+ *
+ * @param kind
+ * {@.ja ExecutionKind}
+ * {@.en ExecutionKind}
+ *
+ */
+ public ReturnCode_t setKind(ExecutionKind kind) {
+ rtcout.println(Logbuf.TRACE, "setKind("+getKindString(kind)+")");
+ synchronized (m_profile){
+ m_profile.kind = kind;
+ return ReturnCode_t.RTC_OK;
+ }
+ }
+
+ /**
+ * {@.ja ExecutionKind を取得する}
+ * {@.en Get the ExecutionKind}
+ * <p>
+ * {@.ja 本 ExecutionContext の ExecutionKind を取得する}
+ * {@.en This operation shall report the execution kind of the execution
+ * context.}
+ *
+ * @return
+ * {@.ja ExecutionKind}
+ * {@.en ExecutionKind}
+ */
+ public ExecutionKind getKind() {
+ rtcout.println(Logbuf.TRACE, getKindString(m_profile.kind)
+ + " = getKind()");
+ return m_profile.kind;
+ }
+
+ /**
+ * {@.ja Ownerコンポーネントをセットする。}
+ * {@.en Setting owner component of the execution context}
+ * <p>
+ * {@.ja このECのOwnerとなるRTCをセットする。}
+ * {@.en This function sets an RT-Component to be owner of the
+ * execution context.}
+ *
+ * @param comp
+ * {@.ja OwnerとなるRTコンポーネント}
+ * {@.en an owner RT-Component of this execution context}
+ * @return
+ * {@.ja ReturnCode_t 型のリターンコード}
+ * {@.en The return code of ReturnCode_t type}
+ */
+ public ReturnCode_t setOwner(LightweightRTObject comp) {
+ rtcout.println(Logbuf.TRACE, "setOwner()");
+ if (comp==null) {
+ rtcout.println(Logbuf.ERROR,"nil reference is given.");
+ return ReturnCode_t.BAD_PARAMETER;
+ }
+ RTObject rtobj;
+ rtobj = RTObjectHelper.narrow(comp);
+ if (rtobj==null) {
+ rtcout.println(Logbuf.ERROR,"Narrowing failed.");
+ return ReturnCode_t.RTC_ERROR;
+ }
+ m_profile.owner = (RTObject)m_profile.owner._duplicate();
+ return ReturnCode_t.RTC_OK;
+ }
+
+ /**
+ * {@.ja Ownerコンポーネントの参照を取得する}
+ * {@.en Getting a reference of the owner component}
+ * <p>
+ * {@.ja このECのOwnerであるRTCの参照を取得する。}
+ * {@.en This function returns a reference of the owner RT-Component of
+ * this execution context}
+ *
+ * @return
+ * {@.ja OwnerRTコンポーネントの参照}
+ * {@.en a reference of the owner RT-Component}
+ */
+ public final RTObject getOwner() {
+ rtcout.println(Logbuf.TRACE, "getOwner()");
+ return (RTObject)m_profile.owner._duplicate();
+ }
+
+ /**
+ * {@.ja RTコンポーネントを追加する}
+ * {@.en Add an RT-component}
+ * <p>
+ * {@.ja 指定したRTコンポーネントを参加者リストに追加する。追加されたRTコ
+ * ンポーネントは attach_context が呼ばれ、Inactive 状態に遷移する。
+ * 指定されたRTコンポーネントがnullの場合は、BAD_PARAMETER が返され
+ * る。指定されたRTコンポーネントが DataFlowComponent 以外の場合は、
+ * BAD_PARAMETER が返される。}
+ * {@.en The operation causes the given RTC to begin participating in
+ * the execution context. The newly added RTC will receive a call
+ * to LightweightRTComponent::attach_context and then enter the
+ * Inactive state. BAD_PARAMETER will be invoked, if the given
+ * RT-Component is null or if the given RT-Component is other than
+ * DataFlowComponent.}
+ *
+ * @param comp
+ * {@.ja 追加対象RTコンポーネント}
+ * {@.en The target RT-Component for add}
+ *
+ * @return
+ * {@.ja ReturnCode_t 型のリターンコード}
+ * {@.en The return code of ReturnCode_t type}
+ */
+ public ReturnCode_t addComponent(LightweightRTObject comp) {
+ rtcout.println(Logbuf.TRACE,"addComponent()");
+ if (comp==null) {
+ rtcout.println(Logbuf.ERROR,"A nil reference was given.");
+ return ReturnCode_t.BAD_PARAMETER;
+ }
+ RTObject rtobj = RTObjectHelper.narrow(comp);
+ if (rtobj==null) {
+ rtcout.println(Logbuf.ERROR,"Narrowing was failed.");
+ return ReturnCode_t.RTC_ERROR;
+ }
+ RTCListHolder holder = new RTCListHolder(m_profile.participants);
+ CORBA_SeqUtil.push_back(holder, rtobj);
+ m_profile.participants = holder.value;
+ return ReturnCode_t.RTC_OK;
+ }
+
+ /**
+ * {@.ja RTコンポーネントを参加者リストから削除する}
+ * {@.en Remove the RT-Component from participant list}
+ * <p>
+ * {@.ja 指定したRTコンポーネントを参加者リストから削除する。削除された
+ * RTコンポーネントは detach_context が呼ばれる。指定されたRTコンポー
+ * ネントが参加者リストに登録されていない場合は、BAD_PARAMETER が返
+ * される。}
+ * {@.en This operation causes a participant RTC to stop participating
+ * in the execution context.
+ * The removed RTC will receive a call to
+ * LightweightRTComponent::detach_context.
+ * BAD_PARAMETER will be returned, if the given RT-Component is not
+ * participating in the participant list.}
+ *
+ * @param comp
+ * {@.ja 削除対象RTコンポーネント}
+ * {@.en The target RT-Component for delete}
+ *
+ * @return
+ * {@.ja ReturnCode_t 型のリターンコード}
+ * {@.en The return code of ReturnCode_t type}
+ *
+ */
+ public ReturnCode_t removeComponent(LightweightRTObject comp) {
+ rtcout.println(Logbuf.TRACE,"removeComponent()");
+ if (comp==null) {
+ rtcout.println(Logbuf.ERROR,"A nil reference was given.");
+ return ReturnCode_t.BAD_PARAMETER;
+ }
+ RTObject rtobj = RTObjectHelper.narrow(comp);
+ if (rtobj==null) {
+ rtcout.println(Logbuf.ERROR,"Narrowing was failed.");
+ return ReturnCode_t.RTC_ERROR;
+ }
+ synchronized (m_profile) {
+ RTCListHolder holder = new RTCListHolder(m_profile.participants);
+ int index;
+ index = CORBA_SeqUtil.find(holder,
+ new find_participant(rtobj));
+ if (index < 0) {
+ rtcout.println(Logbuf.ERROR,
+ "The given RTObject does not exist in the EC.");
+ return ReturnCode_t.BAD_PARAMETER;
+ }
+ CORBA_SeqUtil.erase(holder, index);
+ m_profile.participants = holder.value;
+ }
+ return ReturnCode_t.RTC_OK;
+ }
+
+ /**
+ * {@.ja RTコンポーネントの参加者リストを取得する}
+ * {@.en Getting participant RTC list}
+ * <p>
+ * {@.ja 現在登録されている参加者RTCのリストを取得する。}
+ * {@.en This function returns a list of participant RTC of the
+ * execution context.}
+ *
+ * @return
+ * {@.ja 参加者RTCのリスト}
+ * {@.en Participants RTC list}
+ *
+ */
+ public final RTObject[] getComponentList() {
+ rtcout.println(Logbuf.TRACE,"getComponentList("
+ + m_profile.participants.length
+ +")");
+ return m_profile.participants;
+ }
+
+ /**
+ * {@.ja Propertiesをセットする}
+ * {@.en Setting Properties}
+ * <p>
+ * {@.ja ExecutionContextProfile::properties をセットする。}
+ * {@.en This function sets ExecutionContextProfile::properties by
+ * Properties.}
+ *
+ * @param props
+ * {@.ja ExecutionContextProfile::properties にセットするプロパティー}
+ * {@.en Properties to be set to ExecutionContextProfile::properties.}
+ */
+ public void setProperties(Properties props) {
+ rtcout.println(Logbuf.TRACE,"setProperties()");
+ String str = new String();
+ str = props._dump(str,props,0);
+ rtcout.println(Logbuf.TRACE,str);
+ synchronized (m_profile) {
+ NVListHolder holder = new NVListHolder(m_profile.properties);
+ NVUtil.copyFromProperties(holder, props);
+ m_profile.properties = holder.value;
+ }
+ }
+
+ /**
+ * {@.ja Propertiesを取得する}
+ * {@.en Setting Properties}
+ * <p>
+ * {@.ja ExecutionContextProfile::properties を取得する。}
+ *
+ * @return
+ * {@.ja Propertiesに変換されたExecutionContextProfile::properties}
+ * {@.en This function sets ExecutionContextProfile::properties by
+ * Properties.}
+ *
+ */
+ public final Properties getProperties() {
+ rtcout.println(Logbuf.TRACE,"getProperties()");
+ Properties props = new Properties();
+ synchronized (m_profile) {
+ NVListHolder holder = new NVListHolder(m_profile.properties);
+ NVUtil.copyToProperties(props, holder);
+ String str = new String();
+ str = props._dump(str,props,0);
+ rtcout.println(Logbuf.TRACE,str);
+ }
+ return props;
+ }
+
+ /**
+ * {@.ja Profileを取得する}
+ * {@.en Getting Profile}
+ * <p>
+ * {@.ja RTC::ExecutionContextProfile を取得する。取得した
+ * ExecutionContextProfile の所有権は呼び出し側にある。取得されたオ
+ * ブジェクトが不要になった場合、呼び出し側が開放する責任を負う。}
+ * {@.en This function gets RTC::ExecutionContextProfile. The ownership
+ * of the obtained ExecutionContextProfile is given to caller. The
+ * caller should release obtained object when it is unneccessary
+ * anymore.}
+ *
+ * @return
+ * {@.ja RTC::ExecutionContextProfile}
+ * {@.en RTC::ExecutionContextProfile}
+ *
+ */
+ public RTC.ExecutionContextProfile getProfile() {
+ rtcout.println(Logbuf.TRACE,"getProfile()");
+ RTC.ExecutionContextProfile p;
+ synchronized (m_profile){
+ p = new RTC.ExecutionContextProfile(m_profile.kind,
+ m_profile.rate,
+ m_profile.owner,
+ m_profile.participants,
+ m_profile.properties);
+ }
+ return p;
+
+ }
+
+
+ /**
+ * {@.ja ExecutionContextProfileをロックする}
+ * {@.en Getting a lock of RTC::ExecutionContextProfile}
+ * <p>
+ * {@.ja このオブジェクトが管理する RTC::ExecutionContextProfile をロックする。
+ * ロックが不要になった際にはunlock()でロックを解除しなければならない。}
+ * {@.en This function locks RTC::ExecutionContextProfile in the object.
+ * The lock should be released when the lock is unneccessary.}
+ *
+ */
+ public void lock() {
+ //m_profileMutex.lock();
+ }
+
+ /**
+ * {@.ja ExecutionContextProfileをアンロックする}
+ * {@.en Release a lock of the RTC::ExecutionContextProfile}
+ * <p>
+ * {@.ja このオブジェクトが管理する RTC::ExecutionContextProfile をアンロッ
+ * クする。}
+ * {@.en This function release the lock of RTC::ExecutionContextProfile
+ * in the object.}
+ *
+ */
+ public void unlock() {
+ //m_profileMutex.unlock();
+ }
+
+ /**
+ * {@.ja Logger}
+ * {@.en Logger}
+ */
+ private Logbuf rtcout;
+ /**
+ * {@.ja ECProfile}
+ * {@.en ECProfile}
+ */
+ private RTC.ExecutionContextProfile m_profile;
+
+ /**
+ * {@.ja mutex of ExecutionContextProfile}
+ * {@.en mutex ExecutionContextProfile}
+ */
+ //private String m_profileMutex = new String();
+
+ /**
+ * {@.ja ExecutionContext の実行周期}
+ * {@.en Execution cycle of ExecutionContext}
+ */
+ private TimeValue m_period;
+
+ /**
+ * {@.ja ExecutionContextService オブジェクトへの参照}
+ * {@.en Reference to ExecutionContextService object}
+ */
+ private ExecutionContextService m_ref;
+
+ private class find_participant implements equalFunctor {
+ private RTObject m_comp;
+ public find_participant(RTObject comp) {
+ m_comp = (RTObject)comp._duplicate();
+ }
+ public boolean equalof(final java.lang.Object comp) {
+ return m_comp._is_equivalent((RTObject)comp);
+ }
+ };
+}; // class ExecutionContextProfile
Modified: branches/work/DesignChangeOfEC/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/PeriodicExecutionContext.java
===================================================================
--- branches/work/DesignChangeOfEC/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/PeriodicExecutionContext.java 2012-01-20 08:35:46 UTC (rev 650)
+++ branches/work/DesignChangeOfEC/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/PeriodicExecutionContext.java 2012-01-23 08:57:29 UTC (rev 651)
@@ -11,6 +11,8 @@
import jp.go.aist.rtm.RTC.util.CORBA_SeqUtil;
import jp.go.aist.rtm.RTC.util.NVUtil;
import jp.go.aist.rtm.RTC.util.POAUtil;
+import jp.go.aist.rtm.RTC.util.Properties;
+import jp.go.aist.rtm.RTC.util.TimeValue;
import jp.go.aist.rtm.RTC.util.equalFunctor;
import OpenRTM.DataFlowComponent;
import OpenRTM.DataFlowComponentHelper;
@@ -18,6 +20,7 @@
import RTC.ExecutionContextProfileHolder;
import RTC.ExecutionContextService;
import RTC.ExecutionContextServiceHelper;
+import RTC.ExecutionContextServicePOA;
import RTC.ExecutionKind;
import RTC.LifeCycleState;
import RTC.LightweightRTObject;
@@ -28,8 +31,10 @@
* <p>Periodic Sampled Data Processing(周期実行用)ExecutionContextクラスです。</p>
*/
-public class PeriodicExecutionContext extends ExecutionContextBase implements Runnable , {
+//public class PeriodicExecutionContext extends ExtTrigExecutionContextServicePOA implements Runnable, ExecutionContextBase {
+public class PeriodicExecutionContext extends ExecutionContextServicePOA implements Runnable, ExecutionContextBase {
+
/**
* {@.ja デフォルトコンストラクタ}
* {@.en Default Constructor}
@@ -58,11 +63,18 @@
m_ref = (ExecutionContextService)this.__this();
+ m_profile.setPeriod(new TimeValue(1.0 / rate));
+ m_profile.setKind(ExecutionKind.PERIODIC);
+ //m_profile.setRate(1.0 / ExecutionContextProfile.DEEFAULT_PERIOD);
+ m_profile.setRate(1.0 / m_profile.DEEFAULT_PERIOD);
+
+/*
m_profile.kind = ExecutionKind.PERIODIC;
m_profile.rate = 0.0;
m_profile.owner = (RTC.RTObject)null;
m_profile.participants = new RTC.RTObject[0];
m_profile.properties = new _SDOPackage.NameValue[0];
+*/
}
/**
@@ -107,19 +119,29 @@
m_svc = true;
m_nowait = true;
- if( rate==0 ) rate = (1.0/0.000001);//1000000Hz
-
+ if( rate==0 ) {
+ rate = (1.0/0.000001);//1000000Hz
+ }
m_usec = (long)(1000000/rate);
- if( m_usec==0 ) m_nowait = true;
+ if( m_usec==0 ) {
+ m_nowait = true;
+ }
m_ref = (ExecutionContextService)this.__this();
+ m_profile.setPeriod(new TimeValue(1.0 / rate));
+ m_profile.setKind(ExecutionKind.PERIODIC);
+ //m_profile.setRate(1.0 / ExecutionContextProfile.DEEFAULT_PERIOD);
+ m_profile.setRate(1.0 / m_profile.DEEFAULT_PERIOD);
+ m_profile.setOwner((LightweightRTObject)owner._duplicate());
+/*
m_profile.kind = ExecutionKind.PERIODIC;
m_profile.rate = rate;
m_profile.owner = owner;
m_profile.participants = new RTC.RTObject[0];
m_profile.properties = new _SDOPackage.NameValue[0];
+*/
}
/**
@@ -177,12 +199,14 @@
*
* @return ExecutionContextService
*/
+/*
public ExecutionContextService getObjRef() {
rtcout.println(Logbuf.TRACE, "PeriodicExecutionContext.getObjRef()");
return m_ref;
}
+*/
/**
* <p>本オブジェクトのExecutionContextServiceとしてのCORBAオブジェクト参照を設定します。</p>
*
@@ -344,9 +368,12 @@
rtcout.println(Logbuf.TRACE, "PeriodicExecutionContext.get_rate()");
+ return m_profile.getRate();
+/*
synchronized (m_profile) {
return m_profile.rate;
}
+*/
}
/**
@@ -360,11 +387,16 @@
if( rate<=0.0 ) return ReturnCode_t.BAD_PARAMETER;
+ m_profile.setRate(rate);
+/*
synchronized (m_profile) {
m_profile.rate = rate;
}
+*/
this.m_usec = (long)(1000000/rate);
- if( m_usec == 0 ) m_nowait = true;
+ if( m_usec == 0 ) {
+ m_nowait = true;
+ }
for(int intIdx=0;intIdx<m_comps.size();intIdx++ ) {
m_comps.elementAt(intIdx).invoke_on_rate_changed();
}
@@ -476,7 +508,8 @@
rtcout.println(Logbuf.TRACE, "PeriodicExecutionContext.get_kind()");
- return m_profile.kind;
+ return m_profile.getKind();
+ //return m_profile.kind;
}
/**
@@ -525,11 +558,14 @@
//
m_comps.add(new Comp((LightweightRTObject)comp._duplicate(),
(DataFlowComponent)dfp._duplicate(), id));
+ m_profile.addComponent((LightweightRTObject)comp._duplicate());
+/*
RTC.RTCListHolder holder
= new RTC.RTCListHolder(m_profile.participants);
CORBA_SeqUtil.push_back(holder,
RTC.RTObjectHelper.narrow(comp));
m_profile.participants = holder.value;
+*/
return ReturnCode_t.RTC_OK;
} catch(Exception ex) {
return ReturnCode_t.BAD_PARAMETER;
@@ -572,7 +608,8 @@
m_comps.add(new Comp((LightweightRTObject)comp._duplicate(),
(DataFlowComponent)dfp._duplicate(),
id));
- m_profile.owner = (DataFlowComponent)dfp._duplicate();
+ m_profile.setOwner((LightweightRTObject)dfp._duplicate());
+ //m_profile.owner = (DataFlowComponent)dfp._duplicate();
return ReturnCode_t.RTC_OK;
@@ -616,7 +653,10 @@
m_comps.elementAt(intIdx)._sm.ec_id);
m_comps.elementAt(intIdx)._ref = null;
m_comps.remove(m_comps.elementAt(intIdx));
- rtcout.println(Logbuf.TRACE, "remove_component(): an RTC removed from this context.");
+ rtcout.println(Logbuf.TRACE,
+ "remove_component(): an RTC removed from this context.");
+ m_profile.removeComponent(comp);
+/*
RTC.RTObject rtcomp = RTC.RTObjectHelper.narrow(comp);
if(rtcomp == null){
rtcout.println(Logbuf.ERROR,"Invalid object reference.");
@@ -636,6 +676,7 @@
CORBA_SeqUtil.erase(holder, (int)index);
m_profile.participants = holder.value;
}
+*/
return ReturnCode_t.RTC_OK;
}
}
@@ -651,15 +692,17 @@
*
* @return ExecutionContextProfile
*/
- public ExecutionContextProfile get_profile() {
+ public RTC.ExecutionContextProfile get_profile() {
rtcout.println(Logbuf.TRACE, "PeriodicExecutionContext.get_profile()");
-
+ return m_profile.getProfile();
+/*
ExecutionContextProfileHolder p;
synchronized (m_profile) {
p = new ExecutionContextProfileHolder(m_profile);
}
return p.value;
+*/
}
/**
@@ -1024,7 +1067,7 @@
/**
* <p>ExecutionContextProfileです。</p>
*/
- protected ExecutionContextProfile m_profile = new ExecutionContextProfile();
+ //protected ExecutionContextProfile m_profile = new ExecutionContextProfile();
/**
* <p>ExecutionContextの動作周期です。</p>
*/
@@ -1077,4 +1120,115 @@
return m_obj._is_equivalent((RTC.RTObject)object);
}
}
+
+ /**
+ * {@.ja ExecutionContextクラスの初期化関数}
+ * {@.en Initialization function of ExecutionContext class}
+ */
+ public void init(Properties props) {
+ }
+
+ /**
+ * {@.ja CORBA オブジェクト参照の取得}
+ * {@.en Get the reference to the CORBA object}
+ * <p>
+ * {@.ja 本オブジェクトの ExecutioncontextService としての CORBA オブジェ
+ * クト参照を取得する。}
+ * {@.en Get the reference to the CORBA object as
+ * ExecutioncontextService of this object.}
+ *
+ * @return
+ * {@.ja CORBA オブジェクト参照}
+ * {@.en The reference to CORBA object}
+ *
+ */
+/*
+ public void setObjRef(final ExecutionContextService ref) {
+ m_profile.setObjRef(ref);
+ }
+*/
+ /**
+ * {@.ja CORBA オブジェクト参照の取得}
+ * {@.en Get the reference to the CORBA object}
+ * <p>
+ * {@.ja 本オブジェクトの ExecutioncontextService としての CORBA オブジェ
+ * クト参照を取得する。}
+ * {@.en Get the reference to the CORBA object as
+ * ExecutioncontextService of this object.}
+ *
+ * @return
+ * {@.ja CORBA オブジェクト参照}
+ * {@.en The reference to CORBA object}
+ *
+ */
+ public ExecutionContextService getObjRef() {
+ return m_profile.getObjRef();
+ }
+ /**
+ * {@.ja ExecutionContext の実行周期(Hz)を設定する}
+ * {@.en Set execution rate(Hz) of ExecutionContext}
+ * <p>
+ * {@.ja Active 状態にてRTコンポーネントが実行される周期(単位:Hz)を設定す
+ * る。実行周期の変更は、DataFlowComponentAction の
+ * on_rate_changed によって各RTコンポーネントに伝達される。}
+ * {@.en This operation shall set the rate (in hertz) at which this
+ * context’s Active participating RTCs are being called. If the
+ * execution kind of the context is PERIODIC, a rate change shall
+ * result in the invocation of on_rate_changed on any RTCs
+ * realizing DataFlowComponentAction that are registered with any
+ * RTCs participating in the context.}
+ *
+ * @param rate
+ * {@.ja 処理周期(単位:Hz)}
+ * {@.en Execution cycle(Unit:Hz)}
+ *
+ * @return
+ * {@.ja ReturnCode_t 型のリターンコード
+ * RTC_OK: 正常終了
+ * BAD_PARAMETER: 設定値が負の値}
+ * {@.en The return code of ReturnCode_t type
+ * RTC_OK: Succeed
+ * BAD_PARAMETER: Invalid value. The value might be negative.}
+ *
+ */
+ public ReturnCode_t setRate(double rate) {
+ return m_profile.setRate(rate);
+ }
+ /**
+ * {@.ja ExecutionContext の実行周期(Hz)を取得する}
+ * {@.en Get execution rate(Hz) of ExecutionContext}
+ * <p>
+ * {@.ja Active 状態にてRTコンポーネントが実行される周期(単位:Hz)を取得す
+ * る。}
+ * {@.en This operation shall return the rate (in hertz) at which its
+ * Active participating RTCs are being invoked.}
+ *
+ * @return
+ * {@.ja 処理周期(単位:Hz)}
+ * {@.en Execution cycle(Unit:Hz)}
+ *
+ */
+ public double getRate() {
+ return m_profile.getRate();
+ }
+ /**
+ * {@.ja ExecutionKind を文字列化する}
+ * {@.en Converting ExecutionKind enum to string}
+ * <p>
+ * {@.ja RTC::ExecutionKind で定義されている PERIODIC, EVENT_DRIVEN,
+ * OTHER を文字列化する。}
+ * {@.en This function converts enumeration (PERIODIC, EVENT_DRIVEN,
+ * OTHER) defined in RTC::ExecutionKind to string.}
+ *
+ * @param kind
+ * {@.ja ExecutionKind}
+ * {@.en ExecutionKind}
+ * @return
+ * {@.ja 文字列化されたExecutionKind}
+ * {@en String of ExecutionKind}
+ *
+ */
+ public final String getKindString(ExecutionKind kind) {
+ return m_profile.getKindString(kind);
+ }
}
openrtm-commit メーリングリストの案内