[openrtm-commit:00963] r679 - in trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC: . executionContext
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2013年 1月 31日 (木) 21:54:12 JST
Author: ga
Date: 2013-01-31 21:54:12 +0900 (Thu, 31 Jan 2013)
New Revision: 679
Added:
trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObjectStateMachineHolder.java
Modified:
trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObjectStateMachine.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/StateMachine.java
trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/ExecutionContextBase.java
trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/ExecutionContextWorker.java
trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/ExtTrigExecutionContext.java
trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/IExecutionContextBase.java
trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/PeriodicExecutionContext.java
Log:
New ECBase have been implemented. refs #2322
Modified: trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObjectStateMachine.java
===================================================================
--- trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObjectStateMachine.java 2013-01-31 12:46:19 UTC (rev 678)
+++ trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObjectStateMachine.java 2013-01-31 12:54:12 UTC (rev 679)
@@ -34,6 +34,9 @@
m_dfcVar = null;
m_fsmVar = null;
m_modeVar = null;
+ m_rtobjPtr = null;
+ m_measure = false;
+ m_count = 0;
// Setting Action callback objects
setComponentAction(comp);
setDataFlowComponentAction(comp);
@@ -70,6 +73,14 @@
*/
private class onActivated implements StateAction {
public void doAction(StateHolder state) {
+ // call Servant
+ if (m_rtobjPtr != null) {
+ if (m_rtobjPtr.on_activated(m_id) != ReturnCode_t.RTC_OK) {
+ m_sm.goTo(LifeCycleState.ERROR_STATE);
+ }
+ return;
+ }
+ // call Object reference
if (!m_ca) {
return;
}
@@ -85,10 +96,47 @@
*/
private class onExecute implements StateAction {
public void doAction(StateHolder state) {
+ TimeMeasure.Statistics stat;
+ // call Servant
+ if (m_rtobjPtr != null) {
+ if (m_measure) { m_svtMeasure.tick(); }
+ if (m_rtobjPtr.on_execute(m_id) != ReturnCode_t.RTC_OK) {
+ m_sm.goTo(LifeCycleState.ERROR_STATE);
+ }
+ if (m_measure) {
+ m_svtMeasure.tack();
+ if (m_count > 1000) {
+ m_count = 0;
+ stat = m_svtMeasure.getStatistics();
+ System.out.println("[servant]");
+ System.out.println(" max: " + stat.max_interval);
+ System.out.println(" min: " + stat.min_interval);
+ System.out.println(" mean: " + stat.mean_interval);
+ System.out.println(" stddev: " + stat.std_deviation);
+ }
+ ++m_count;
+ }
+ return;
+ }
if (!m_dfc) {
return;
}
- if (m_dfcVar.on_execute(m_id) != ReturnCode_t.RTC_OK) {
+ if (m_measure) { m_refMeasure.tick(); }
+ ReturnCode_t ret = m_dfcVar.on_execute(m_id);
+ if (m_measure) {
+ m_refMeasure.tack();
+ if (m_count > 1000) {
+ m_count = 0;
+ stat = m_refMeasure.getStatistics();
+ System.out.println("[object]");
+ System.out.println(" max: " + stat.max_interval);
+ System.out.println(" min: " + stat.min_interval);
+ System.out.println(" mean: " + stat.mean_interval);
+ System.out.println(" stddev: " + stat.std_deviation);
+ }
+ ++m_count;
+ }
+ if (ret != ReturnCode_t.RTC_OK) {
m_sm.goTo(LifeCycleState.ERROR_STATE);
return;
}
@@ -100,6 +148,14 @@
*/
private class onStateUpdate implements StateAction {
public void doAction(StateHolder state) {
+ // call Servant
+ if (m_rtobjPtr != null) {
+ if (m_rtobjPtr.on_state_update(m_id) != ReturnCode_t.RTC_OK) {
+ m_sm.goTo(LifeCycleState.ERROR_STATE);
+ }
+ return;
+ }
+ // call Object reference
if (!m_dfc) {
return;
}
@@ -115,6 +171,12 @@
*/
private class onDeactivated implements StateAction {
public void doAction(StateHolder state) {
+ // call Servant
+ if (m_rtobjPtr != null) {
+ m_rtobjPtr.on_deactivated(m_id);
+ return;
+ }
+ // call Object reference
if (!m_ca) {
return;
}
@@ -126,6 +188,12 @@
*/
private class onAborting implements StateAction {
public void doAction(StateHolder state) {
+ // call Servant
+ if (m_rtobjPtr != null) {
+ m_rtobjPtr.on_aborting(m_id);
+ return;
+ }
+ // call Object reference
if (!m_ca) {
return;
}
@@ -137,6 +205,12 @@
*/
private class onError implements StateAction {
public void doAction(StateHolder state) {
+ // call Servant
+ if (m_rtobjPtr != null) {
+ m_rtobjPtr.on_error(m_id);
+ return;
+ }
+ // call Object reference
if (!m_ca) {
return;
}
@@ -148,6 +222,14 @@
*/
private class onReset implements StateAction {
public void doAction(StateHolder state) {
+ // call Servant
+ if (m_rtobjPtr != null) {
+ if (m_rtobjPtr.on_reset(m_id) != ReturnCode_t.RTC_OK) {
+ m_sm.goTo(LifeCycleState.ERROR_STATE);
+ }
+ return;
+ }
+ // call Object reference
if (!m_ca) {
return;
}
@@ -185,6 +267,12 @@
*
*/
public void onStartup(){
+ // call Servant
+ if (m_rtobjPtr != null) {
+ m_rtobjPtr.on_startup(m_id);
+ return;
+ }
+ // call Object reference
if (!m_ca) {
return;
}
@@ -194,6 +282,12 @@
*
*/
public void onShutdown(){
+ // call Servant
+ if (m_rtobjPtr != null) {
+ m_rtobjPtr.on_shutdown(m_id);
+ return;
+ }
+ // call Object reference
if (!m_ca) {
return;
}
@@ -203,6 +297,14 @@
*
*/
public void onActivated(final StateHolder<LifeCycleState> st) {
+ // call Servant
+ if (m_rtobjPtr != null) {
+ if (m_rtobjPtr.on_activated(m_id) != ReturnCode_t.RTC_OK) {
+ m_sm.goTo(LifeCycleState.ERROR_STATE);
+ }
+ return;
+ }
+ // call Object reference
if (!m_ca) {
return;
}
@@ -216,6 +318,12 @@
*
*/
public void onDeactivated(final StateHolder<LifeCycleState> st) {
+ // call Servant
+ if (m_rtobjPtr != null) {
+ m_rtobjPtr.on_deactivated(m_id);
+ return;
+ }
+ // call Object reference
if (!m_ca) {
return;
}
@@ -225,6 +333,12 @@
*
*/
public void onAborting(final StateHolder<LifeCycleState> st) {
+ // call Servant
+ if (m_rtobjPtr != null) {
+ m_rtobjPtr.on_aborting(m_id);
+ return;
+ }
+ // call Object reference
if (!m_ca) {
return;
}
@@ -234,6 +348,12 @@
*
*/
public void onError(final StateHolder<LifeCycleState> st){
+ // call Servant
+ if (m_rtobjPtr != null) {
+ m_rtobjPtr.on_error(m_id);
+ return;
+ }
+ // call Object reference
if (!m_ca) {
return;
}
@@ -243,6 +363,14 @@
*
*/
public void onReset(final StateHolder<LifeCycleState> st){
+ // call Servant
+ if (m_rtobjPtr != null) {
+ if (m_rtobjPtr.on_reset(m_id) != ReturnCode_t.RTC_OK) {
+ m_sm.goTo(LifeCycleState.ERROR_STATE);
+ }
+ return;
+ }
+ // call Object reference
if (!m_ca) {
return;
}
@@ -272,6 +400,14 @@
*
*/
public void onStateUpdate(final StateHolder<LifeCycleState> st){
+ // call Servant
+ if (m_rtobjPtr != null) {
+ if (m_rtobjPtr.on_state_update(m_id) != ReturnCode_t.RTC_OK) {
+ m_sm.goTo(LifeCycleState.ERROR_STATE);
+ }
+ return;
+ }
+ // call Object reference
if (!m_dfc) {
return;
}
@@ -285,6 +421,14 @@
*
*/
public void onRateChanged(){
+ // call Servant
+ if (m_rtobjPtr != null) {
+ if (m_rtobjPtr.on_rate_changed(m_id) != ReturnCode_t.RTC_OK) {
+ m_sm.goTo(LifeCycleState.ERROR_STATE);
+ }
+ return;
+ }
+ // call Object reference
if (!m_dfc) {
return;
}
@@ -385,25 +529,33 @@
protected void setComponentAction(final LightweightRTObject comp) {
m_caVar = ComponentActionHelper.narrow(comp);
- if (m_caVar!=null) {
- m_ca = true;
+ if (m_caVar==null) {
+ return;
}
+ m_ca = true;
+ Manager manager = Manager.instance();
+ try {
+ m_rtobjPtr = (RTObject_impl)manager.getPOA().reference_to_servant(comp);
+ } catch (Exception ex) {
+
+ }
}
protected void setDataFlowComponentAction(final LightweightRTObject comp){
- m_dfcVar = DataFlowComponentActionHelper.narrow(comp);
- if (m_dfcVar!=null) {
+ if(comp._is_a(DataFlowComponentActionHelper.id())) {
+ m_dfcVar = DataFlowComponentActionHelper.narrow(comp);
m_dfc = true;
}
}
protected void setFsmParticipantAction(final LightweightRTObject comp){
- m_fsmVar = FsmParticipantActionHelper.narrow(comp);
- if (m_fsmVar!=null) {
+ if(comp._is_a(FsmParticipantActionHelper.id())) {
+ m_fsmVar = FsmParticipantActionHelper.narrow(comp);
m_fsm = true;
}
}
+
protected void setMultiModeComponentAction(final LightweightRTObject comp){
- m_modeVar = MultiModeComponentActionHelper.narrow(comp);
- if (m_modeVar!=null) {
+ if(comp._is_a(MultiModeComponentActionHelper.id())) {
+ m_modeVar = MultiModeComponentActionHelper.narrow(comp);
m_mode = true;
}
}
@@ -428,7 +580,11 @@
private DataFlowComponentAction m_dfcVar;
private FsmParticipantAction m_fsmVar;
private MultiModeComponentAction m_modeVar;
-
+ private RTObject_impl m_rtobjPtr;
+ private boolean m_measure;
+ private TimeMeasure m_svtMeasure = new TimeMeasure();
+ private TimeMeasure m_refMeasure = new TimeMeasure();
+ private int m_count;
// char dara[1000];
// Component action invoker
Added: trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObjectStateMachineHolder.java
===================================================================
--- trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObjectStateMachineHolder.java (rev 0)
+++ trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObjectStateMachineHolder.java 2013-01-31 12:54:12 UTC (rev 679)
@@ -0,0 +1,32 @@
+package jp.go.aist.rtm.RTC;
+
+ /**
+ * {@.ja RTObjectStateMachine保持用クラス。}
+ * {@.en RTObjectStateMachine holder class}
+ *
+ * <p>
+ * {@.ja RTObjectStateMachineを保持するためのホルダークラス。}
+ * {@.en This is a holder class to hold RTObjectStateMachine.}
+ *
+ */
+public class RTObjectStateMachineHolder {
+ /**
+ * {@.ja デフォルトコンストラクタ}
+ * {@.en Default constructor}
+ */
+ public RTObjectStateMachineHolder() {
+ this.rtobjsm = null;
+ }
+ /**
+ * {@.ja コピーコンストラクタ}
+ * {@.en Copy constructor}
+ */
+ public RTObjectStateMachineHolder(RTObjectStateMachine rtobjsm) {
+ this.rtobjsm = rtobjsm;
+ }
+ /**
+ * {@.ja RTObjectStateMachineオブジェクト}
+ * {@.en RTObjectStateMachine object}
+ */
+ public RTObjectStateMachine rtobjsm;
+}
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 2013-01-31 12:46:19 UTC (rev 678)
+++ trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObject_impl.java 2013-01-31 12:54:12 UTC (rev 679)
@@ -1295,7 +1295,7 @@
preOnInitialize(0);
rtcout.println(Logbuf.DEBUG, "Calling onInitialize().");
ret = onInitialize();
- if (ret == ReturnCode_t.RTC_OK) {
+ if (ret != ReturnCode_t.RTC_OK) {
rtcout.println(Logbuf.ERROR,
"onInitialize() returns an ERROR ("
+ret
Modified: trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/StateMachine.java
===================================================================
--- trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/StateMachine.java 2013-01-31 12:46:19 UTC (rev 678)
+++ trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/StateMachine.java 2013-01-31 12:54:12 UTC (rev 679)
@@ -1,9 +1,11 @@
package jp.go.aist.rtm.RTC;
import java.util.HashMap;
+import RTC.LifeCycleState;
+
/**
* {@.ja 状態マシンクラス。}
* {@.en State machine class}
@@ -427,7 +429,9 @@
*
*/
public StateHolder<STATE> getStates() {
- return m_states;
+ synchronized (m_states) {
+ return m_states;
+ }
}
/**
@@ -440,8 +444,10 @@
* {@.en Current state}
*
*/
- public synchronized STATE getState() {
- return m_states.curr;
+ public STATE getState() {
+ synchronized (m_states) {
+ return m_states.curr;
+ }
}
/**
@@ -461,9 +467,11 @@
* {@.ja 状態確認結果}
* {@.en Check state result}
*/
- public synchronized boolean isIn(STATE state) {
- if( m_states.curr == state ) return true;
- return false;
+ public boolean isIn(STATE state) {
+ synchronized (m_states) {
+ if( m_states.curr == state ) return true;
+ return false;
+ }
}
/**
@@ -487,8 +495,10 @@
* {@.ja 遷移先状態}
* {@.en State of the transition destination}
*/
- public synchronized void goTo(STATE state) {
- m_states.next = state;
+ public void goTo(STATE state) {
+ synchronized (m_states) {
+ m_states.next = state;
+ }
}
/**
@@ -597,7 +607,6 @@
public void worker_post() {
StateHolder state;
-
synchronized (m_states) {
state = new StateHolder(m_states);
}
Modified: trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/ExecutionContextBase.java
===================================================================
--- trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/ExecutionContextBase.java 2013-01-31 12:46:19 UTC (rev 678)
+++ trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/ExecutionContextBase.java 2013-01-31 12:54:12 UTC (rev 679)
@@ -232,12 +232,11 @@
* {@.en This function gets RTC::ExecutionContextProfile.}
*
* @return
- * {@.ja RTC.ExecutionContextProfile}
- * {@.en RTC.ExecutionContextProfile}
+ * {@.ja ExecutionContextProfile}
+ * {@.en ExecutionContextProfile}
*
*/
public RTC.ExecutionContextProfile getProfile() ;
- public boolean finalizeExecutionContext();
/**
* {@.ja Propertiesから実行コンテキストをセットする}
* {@.en Setting execution rate from given properties.}
@@ -247,6 +246,15 @@
*/
public boolean setExecutionRate(Properties props);
/**
+ * <p>transitionMode保持用クラスです。</p>
+ */
+ public class transitionModeHolder {
+ public boolean flag;
+ public transitionModeHolder() {
+ flag = false;
+ }
+ }
+ /**
* {@.ja Propertiesから状態遷移モードをセットする}
* {@.en Setting state transition mode from given properties.}
* @param props
@@ -255,7 +263,7 @@
* @param key
* @param flag
*/
- public boolean setTransitionMode(Properties props, String key, boolean flag);
+ public boolean setTransitionMode(Properties props, String key, transitionModeHolder flag);
/**
* {@.ja Propertiesから状態遷移Timeoutをセットする}
* {@.en Setting state transition timeout from given properties.}
@@ -287,7 +295,7 @@
public LifeCycleState onGetComponentState(LifeCycleState state);
public ExecutionKind onGetKind(ExecutionKind kind);
- public ExecutionContextProfile onGetProfile(ExecutionContextProfile profile);
+ public RTC.ExecutionContextProfile onGetProfile(RTC.ExecutionContextProfile profile);
/**
* {@.ja onWaitingActivated() template function}
@@ -306,5 +314,18 @@
* {@.en onWaitingReset() template function}
*/
public ReturnCode_t onWaitingReset(RTObjectStateMachine comp, long count);
+
+ /*! ============================================================
+ * Delegated functions to ExecutionContextWorker
+ * ============================================================ */
+ public boolean isAllCurrentState(RTC.LifeCycleState state);
+ public boolean isAllNextState(RTC.LifeCycleState state);
+ public boolean isOneOfCurrentState(RTC.LifeCycleState state);
+ public boolean isOneOfNextState(RTC.LifeCycleState state);
+
+ public void invokeWorker();
+ public void invokeWorkerPreDo();
+ public void invokeWorkerDo();
+ public void invokeWorkerPostDo();
}
Modified: trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/ExecutionContextWorker.java
===================================================================
--- trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/ExecutionContextWorker.java 2013-01-31 12:46:19 UTC (rev 678)
+++ trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/ExecutionContextWorker.java 2013-01-31 12:54:12 UTC (rev 679)
@@ -5,6 +5,8 @@
import jp.go.aist.rtm.RTC.RTObject_impl;
import jp.go.aist.rtm.RTC.RTObjectStateMachine;
+import jp.go.aist.rtm.RTC.RTObjectStateMachineHolder;
+import jp.go.aist.rtm.RTC.util.Properties;
import jp.go.aist.rtm.RTC.util.TimeValue;
import jp.go.aist.rtm.RTC.log.Logbuf;
@@ -178,8 +180,8 @@
* error if the callback does.}
*
* @param comp
- * {@.ja アクティブ化対象RTコンポーネント}
- * {@.en The target RT-Component for activation}
+ * {@.ja アクティブ化対象RTコンポーネントホルダークラス}
+ * {@.en The target RT-Component holder for activation}
*
* @return
* {@.ja ReturnCode_t 型のリターンコード}
@@ -187,25 +189,24 @@
*
*/
public ReturnCode_t activateComponent(LightweightRTObject comp,
- RTObjectStateMachine rtobj) {
+ RTObjectStateMachineHolder rtobjhldr) {
rtcout.println(Logbuf.TRACE, "activateComponent()");
synchronized (m_mutex){
- RTObjectStateMachine obj = findComponent(comp);
- if (obj == null) {
+ rtobjhldr.rtobjsm = findComponent(comp);
+ if (rtobjhldr.rtobjsm == null) {
rtcout.println(Logbuf.ERROR,
"Given RTC is not participant of this EC.");
return ReturnCode_t.BAD_PARAMETER;
}
rtcout.println(Logbuf.DEBUG, "Component found in the EC.");
- if (!(obj.isCurrentState(LifeCycleState.INACTIVE_STATE))) {
+ if (!(rtobjhldr.rtobjsm.isCurrentState(LifeCycleState.INACTIVE_STATE))) {
rtcout.println(Logbuf.ERROR,
"State of the RTC is not INACTIVE_STATE.");
return ReturnCode_t.PRECONDITION_NOT_MET;
}
rtcout.println(Logbuf.DEBUG,
"Component is in INACTIVE state. Going to ACTIVE state.");
- obj.goTo(LifeCycleState.ACTIVE_STATE);
- rtobj = obj;
+ rtobjhldr.rtobjsm.goTo(LifeCycleState.ACTIVE_STATE);
rtcout.println(Logbuf.DEBUG,"activateComponent() done.");
return ReturnCode_t.RTC_OK;
}
@@ -244,8 +245,8 @@
* error if the callback does.}
*
* @param comp
- * {@.ja 非アクティブ化対象RTコンポーネント}
- * {@.en The target RT-Component for deactivate}
+ * {@.ja 非アクティブ化対象RTコンポーネントホルダー}
+ * {@.en The target RT-Component holder for deactivate}
*
* @return
* {@.ja ReturnCode_t 型のリターンコード}
@@ -253,21 +254,21 @@
*
*/
public ReturnCode_t deactivateComponent(LightweightRTObject comp,
- RTObjectStateMachine rtobj){
+ RTObjectStateMachineHolder rtobjhldr){
rtcout.println(Logbuf.TRACE, "deactivateComponent()");
synchronized (m_mutex){
- rtobj = findComponent(comp);
- if (rtobj == null) {
+ rtobjhldr.rtobjsm = findComponent(comp);
+ if (rtobjhldr.rtobjsm == null) {
rtcout.println(Logbuf.ERROR,
"Given RTC is not participant of this EC.");
return ReturnCode_t.BAD_PARAMETER;
}
- if (!(rtobj.isCurrentState(LifeCycleState.ACTIVE_STATE))) {
+ if (!(rtobjhldr.rtobjsm.isCurrentState(LifeCycleState.ACTIVE_STATE))) {
rtcout.println(Logbuf.ERROR,
"State of the RTC is not ACTIVE_STATE.");
return ReturnCode_t.PRECONDITION_NOT_MET;
}
- rtobj.goTo(LifeCycleState.INACTIVE_STATE);
+ rtobjhldr.rtobjsm.goTo(LifeCycleState.INACTIVE_STATE);
return ReturnCode_t.RTC_OK;
}
}
@@ -305,8 +306,8 @@
* may be returned to a valid state.}
*
* @param comp
- * {@.ja リセット対象RTコンポーネント}
- * {@.en The target RT-Component for reset}
+ * {@.ja リセット対象RTコンポーネントホルダー}
+ * {@.en The target RT-Component holder for reset}
*
* @return
* {@.ja ReturnCode_t 型のリターンコード}
@@ -314,22 +315,22 @@
*
*/
public ReturnCode_t resetComponent(LightweightRTObject comp,
- RTObjectStateMachine rtobj) {
+ RTObjectStateMachineHolder rtobjhldr) {
rtcout.println(Logbuf.TRACE, "resetComponent()");
synchronized (m_mutex){
- rtobj = findComponent(comp);
- if (rtobj == null) {
+ rtobjhldr.rtobjsm = findComponent(comp);
+ if (rtobjhldr.rtobjsm == null) {
rtcout.println(Logbuf.ERROR,
"Given RTC is not participant of this EC.");
return ReturnCode_t.BAD_PARAMETER;
}
- if (!(rtobj.isCurrentState(LifeCycleState.ERROR_STATE))) {
+ if (!(rtobjhldr.rtobjsm.isCurrentState(LifeCycleState.ERROR_STATE))) {
rtcout.println(Logbuf.ERROR,
"State of the RTC is not ERROR_STATE.");
return ReturnCode_t.PRECONDITION_NOT_MET;
}
- rtobj.goTo(LifeCycleState.INACTIVE_STATE);
+ rtobjhldr.rtobjsm.goTo(LifeCycleState.INACTIVE_STATE);
return ReturnCode_t.RTC_OK;
}
}
@@ -475,9 +476,8 @@
"bindContext returns id = "+id);
// rtc is owner of this EC
- LightweightRTObject comp
- = (LightweightRTObject)rtc.getObjRef()._duplicate();
- // RTObjectStateMachine o(id, comp);
+ RTC.LightweightRTObject comp
+ = (RTC.LightweightRTObject)rtc.getObjRef()._duplicate();
m_comps.add(new RTObjectStateMachine(id, comp));
rtcout.println(Logbuf.DEBUG,"bindComponent() succeeded.");
return ReturnCode_t.RTC_OK;
@@ -694,13 +694,13 @@
* {@.ja コンポーネントの参加者リスト}
* {@.en List of the participating component}
*/
- protected ArrayList<RTObjectStateMachine> m_comps;
+ protected ArrayList<RTObjectStateMachine> m_comps = new ArrayList<RTObjectStateMachine>();
// protected String m_mutex;
protected String m_mutex = new String();
- protected ArrayList<RTObjectStateMachine> m_addedComps;
+ protected ArrayList<RTObjectStateMachine> m_addedComps = new ArrayList<RTObjectStateMachine>();
// protected String m_addedMutex;
protected String m_addedMutex = new String();
- ArrayList<RTObjectStateMachine> m_removedComps;
+ protected ArrayList<RTObjectStateMachine> m_removedComps = new ArrayList<RTObjectStateMachine>();
// protected String m_removedMutex;
protected String m_removedMutex = new String();
Modified: trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/ExtTrigExecutionContext.java
===================================================================
--- trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/ExtTrigExecutionContext.java 2013-01-31 12:46:19 UTC (rev 678)
+++ trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/ExtTrigExecutionContext.java 2013-01-31 12:54:12 UTC (rev 679)
@@ -7,9 +7,11 @@
import jp.go.aist.rtm.RTC.ObjectDestructor;
import jp.go.aist.rtm.RTC.RTObject_impl;
import jp.go.aist.rtm.RTC.RTObjectStateMachine;
+import jp.go.aist.rtm.RTC.RTObjectStateMachineHolder;
import jp.go.aist.rtm.RTC.StateAction;
import jp.go.aist.rtm.RTC.StateHolder;
import jp.go.aist.rtm.RTC.StateMachine;
+import jp.go.aist.rtm.RTC.executionContext.ExecutionContextBase.transitionModeHolder;
import jp.go.aist.rtm.RTC.log.Logbuf;
import jp.go.aist.rtm.RTC.util.POAUtil;
import jp.go.aist.rtm.RTC.util.Properties;
@@ -57,10 +59,9 @@
rtcout = new Logbuf("ExtTrigExecutionContext");
m_svc = false;
- m_profile.setObjRef((ExecutionContextService)this.__this());
-
- m_profile.setKind(ExecutionKind.PERIODIC);
- m_profile.setRate(1000);
+ setObjRef((ExecutionContextService)this.__this());
+ setKind(ExecutionKind.PERIODIC);
+ setRate(1000);
rtcout.println(Logbuf.DEBUG, "Actual period: " + m_profile.getPeriod().sec() + " [sec], "
+ m_profile.getPeriod().usec() + " [usec]");
}
@@ -84,25 +85,6 @@
return this.m_ref;
}
- /**
- * <p>終了処理用関数</p>
- */
- public boolean finalizeExecutionContext() {
- synchronized (m_worker) {
- //m_worker.running_ = true;
- m_worker.ticked_ = true ;
- m_worker.notifyAll();
- }
- m_svc = false;
- try {
- m_thread.join();
- }
- catch (InterruptedException e) {
- System.out.println(e);
- }
-
- return true;
- }
/**
* {@.ja ExecutionContextの処理を進める}
@@ -114,13 +96,15 @@
*
*/
public void tick() throws SystemException {
-
rtcout.println(Logbuf.TRACE, "ExtTrigExecutionContext.tick()");
-
- synchronized (m_worker) {
- m_worker.ticked_ = true;
- m_worker.notifyAll();
+ if (!isRunning()) {
+ rtcout.println(Logbuf.DEBUG, "EC is not running. do nothing.");
+ return;
}
+ synchronized (m_workerthread.mutex_) {
+ m_workerthread.ticked_ = true;
+ m_workerthread.mutex_.notifyAll();
+ }
}
/**
@@ -141,35 +125,32 @@
* 全Componentの処理を呼び出した後、次のイベントが発生するまで休止します。</p>
*/
public int svc() {
- int count = 0 ;
rtcout.println(Logbuf.TRACE, "ExtTrigExecutionContext.svc()");
do {
- synchronized (m_worker) {
- rtcout.println(Logbuf.DEBUG, "Start of worker invocation. ticked = "+ (m_worker.ticked_ ? "true" : "false"));
- while (!m_worker.ticked_) {
+ synchronized (m_workerthread.mutex_) {
+ rtcout.println(Logbuf.DEBUG, "Start of worker invocation. ticked = "+ (m_workerthread.ticked_ ? "true" : "false"));
+ while (!m_workerthread.ticked_) {
try {
- m_worker.wait();
+ m_workerthread.mutex_.wait();
rtcout.println(Logbuf.DEBUG, "Thread was woken up.");
} catch (InterruptedException e) {
break;
}
}
- if(!m_worker.ticked_){continue;}
+ if(!m_workerthread.ticked_){continue;}
}
TimeValue t0 = new TimeValue();
- t0.convert(System.nanoTime()/1000);
+ t0.convert(System.nanoTime()/1000000000.0);
m_worker.invokeWorkerPreDo();
m_worker.invokeWorkerDo();
m_worker.invokeWorkerPostDo();
TimeValue t1 = new TimeValue();
- t1.convert(System.nanoTime()/1000);
- synchronized (m_worker) {
- m_worker.ticked_ = false ;
+ t1.convert(System.nanoTime()/1000000000.0);
+ synchronized (m_workerthread.mutex_) {
+ m_workerthread.ticked_ = false ;
}
TimeValue period = getPeriod();
- TimeValue t2 = new TimeValue();
- t2.convert(System.nanoTime()/1000);
if(true){
TimeValue t1_w = t1;
TimeValue period_w = period ;
@@ -177,28 +158,23 @@
rtcout.println(Logbuf.PARANOID, "Execution: " + t1_w.minus(t0) + " [s]");
rtcout.println(Logbuf.PARANOID, "Sleep: " + period_w.minus(t1_w) + " [s]");
}
- if( period.getUsec() > 0)
+ TimeValue t1_d = t1;
+ t1_d = t1_d.minus(t0);
+ if( period.toDouble() > t1_d.toDouble())
{
if(true)
{
rtcout.println(Logbuf.PARANOID, "sleeping...");
}
try {
- Thread.sleep(period.getUsec());
+ period = period.minus(t1_d);
+ Thread.sleep((int)(period.toDouble() * 1000),(int)(period.toDouble() * 1000000000));
} catch (InterruptedException e){
e.printStackTrace();
}
}
- TimeValue t3 = new TimeValue();
- t3.convert(System.nanoTime()/1000);
- if(true)
- {
- rtcout.println(Logbuf.PARANOID, "Slept: " + t3.minus(t2) + " [s]");
- count = 0;
- }
- ++count;
- } while (m_running);
+ } while (threadRunning());
return 0;
}
@@ -232,7 +208,10 @@
*
*/
public boolean is_running() {
- rtcout.println(Logbuf.TRACE, "ExtTrigExecutionContext.is_running()");
+ return isRunning();
+ }
+ public boolean isRunning() {
+ rtcout.println(Logbuf.TRACE, "ExtTrigExecutionContext.isRunning()");
return m_worker.isRunning();
}
@@ -247,7 +226,7 @@
public ReturnCode_t onStarted()
{
// change EC thread state
- synchronized (m_worker) {
+ synchronized (m_svcmutex) {
if (!m_svc)
{ // If start() is called first time, start the worker thread.
m_svc = true;
@@ -314,6 +293,12 @@
{
return ReturnCode_t.RTC_OK;
}
+ public boolean threadRunning()
+ {
+ synchronized(m_svcmutex) {
+ return m_svc;
+ }
+ }
public ReturnCode_t onReset(RTObjectStateMachine comp, long count)
{
return ReturnCode_t.RTC_OK;
@@ -327,7 +312,7 @@
{
return kind;
}
- public ExecutionContextProfile onGetProfile(ExecutionContextProfile profile)
+ public RTC.ExecutionContextProfile onGetProfile(RTC.ExecutionContextProfile profile)
{
return profile;
}
@@ -344,8 +329,9 @@
// "curr: " + comp.getStatus() +", next: " + comp.getStatus());
// Now comp's next state must be ACTIVE state
// If worker thread is stopped, restart worker thread.
- synchronized (m_worker) {
- m_worker.notifyAll();
+ synchronized (m_workerthread.mutex_) {
+ m_workerthread.ticked_ = true;
+ m_workerthread.mutex_.notifyAll();
return ReturnCode_t.RTC_OK;
}
}
@@ -358,8 +344,8 @@
{
rtcout.println(Logbuf.TRACE,
"ExtTrigExecutionContext.onWaitingDeactivated(count = " + count +")");
- synchronized (m_worker) {
- m_worker.notifyAll();
+ synchronized (m_workerthread.mutex_) {
+ m_workerthread.mutex_.notifyAll();
return ReturnCode_t.RTC_OK;
}
}
@@ -371,8 +357,8 @@
{
rtcout.println(Logbuf.TRACE,
"ExtTrigExecutionContext.onWaitingReset(count = " + count +")");
- synchronized (m_worker) {
- m_worker.notifyAll();
+ synchronized (m_workerthread.mutex_) {
+ m_workerthread.mutex_.notifyAll();
return ReturnCode_t.RTC_OK;
}
}
@@ -547,12 +533,14 @@
rtcout.println(Logbuf.ERROR,"onActivating() failed.");
return ret;
}
- RTObjectStateMachine rtobj = null;
- ret = m_worker.activateComponent(comp, rtobj); // Actual activateComponent()
+
+ RTObjectStateMachineHolder rtobjhldr = new RTObjectStateMachineHolder();
+ ret = m_worker.activateComponent(comp, rtobjhldr); // Actual activateComponent()
+
if (ret != ReturnCode_t.RTC_OK) { return ret; }
if (!m_syncActivation) // Asynchronous activation mode
{
- ret = onActivated(rtobj, -1);
+ ret = onActivated(rtobjhldr.rtobjsm, -1);
if (ret != ReturnCode_t.RTC_OK)
{
rtcout.println(Logbuf.ERROR,"onActivated() failed.");
@@ -563,7 +551,7 @@
// Synchronized activation mode
rtcout.println(Logbuf.DEBUG,"Synchronous activation mode. "
+"Waiting for the RTC to be ACTIVE state. ");
- return waitForActivated(rtobj);
+ return waitForActivated(rtobjhldr.rtobjsm);
}
public ReturnCode_t waitForActivated(RTObjectStateMachine rtobj)
@@ -578,9 +566,9 @@
long cycle =
(long )(m_activationTimeout.toDouble() / getPeriod().toDouble());
rtcout.println(Logbuf.DEBUG,"Timeout is "+ m_activationTimeout.toDouble() + "[s] ("+ getRate() + "[s] in "+ cycle + " times");
- // Wating INACTIVE -> ACTIVE
+ // Wating INACTIVE -> ACTIVE
TimeValue starttime = new TimeValue();
- starttime.convert(System.nanoTime()/1000);
+ starttime.convert(System.nanoTime()/1000000000.0);
while (rtobj.isCurrentState(LifeCycleState.INACTIVE_STATE))
{
ret = onWaitingActivated(rtobj, count); // Template method
@@ -591,14 +579,14 @@
}
try
{
- Thread.sleep(getPeriod().getUsec());
+ Thread.sleep((int)(getPeriod().toDouble()*1000),(int)(getPeriod().toDouble()*1000000000));
}catch(InterruptedException e){}
TimeValue delta= new TimeValue();
- delta.convert(System.nanoTime()/1000);
- delta.minus(starttime);
+ delta.convert(System.nanoTime()/1000000000.0);
+ delta = delta.minus(starttime);
rtcout.println(Logbuf.DEBUG,"Waiting to be ACTIVE state. " + delta + " [s] slept (" + count +"/" + cycle);
++count;
- if (delta.getUsec() > m_activationTimeout.getUsec() || count > cycle)
+ if (delta.toDouble() > m_activationTimeout.toDouble() || count > cycle)
{
rtcout.println(Logbuf.WARN,"The component is not responding.");
break;
@@ -644,12 +632,12 @@
return ret;
}
// Deactivate all the RTCs
- RTObjectStateMachine rtobj = null;
- ret = m_worker.deactivateComponent(comp, rtobj);
+ RTObjectStateMachineHolder rtobjhldr = new RTObjectStateMachineHolder();
+ ret = m_worker.deactivateComponent(comp, rtobjhldr);
if (ret != ReturnCode_t.RTC_OK) { return ret; }
if (!m_syncDeactivation)
{
- ret = onDeactivated(rtobj, -1);
+ ret = onDeactivated(rtobjhldr.rtobjsm, -1);
if (ret != ReturnCode_t.RTC_OK)
{
rtcout.println(Logbuf.ERROR,"onDeactivated() failed.");
@@ -660,7 +648,7 @@
// Waiting for synchronized deactivation
rtcout.println(Logbuf.DEBUG,"Synchronous deactivation mode. "
+"Waiting for the RTC to be INACTIVE state. ");
- return waitForDeactivated(rtobj);
+ return waitForDeactivated(rtobjhldr.rtobjsm);
}
public ReturnCode_t waitForDeactivated(RTObjectStateMachine rtobj)
{
@@ -676,7 +664,7 @@
rtcout.println(Logbuf.DEBUG,"Timeout is "+ m_deactivationTimeout.toDouble() + "[s] ("+ getRate() + "[s] in "+ cycle + " times");
// Wating ACTIVE -> INACTIVE
TimeValue starttime = new TimeValue();
- starttime.convert(System.nanoTime()/1000);
+ starttime.convert(System.nanoTime()/1000000000.0);
while (rtobj.isCurrentState(LifeCycleState.ACTIVE_STATE))
{
ret = onWaitingDeactivated(rtobj, count); // Template method
@@ -687,14 +675,14 @@
}
try
{
- Thread.sleep(getPeriod().getUsec());
+ Thread.sleep((int)(getPeriod().toDouble()*1000),(int)(getPeriod().toDouble()*1000000000));
}catch(InterruptedException e){}
TimeValue delta = new TimeValue();
- delta.convert(System.nanoTime()/1000);
- delta.minus(starttime);
+ delta.convert(System.nanoTime()/1000000000.0);
+ delta = delta.minus(starttime);
rtcout.println(Logbuf.DEBUG,"Waiting to be INACTIVE state. Sleeping " + delta + " [s] (" + count +"/" + cycle);
++count;
- if (delta.getUsec() > m_activationTimeout.getUsec() || count > cycle)
+ if (delta.toDouble() > m_activationTimeout.toDouble() || count > cycle)
{
rtcout.println(Logbuf.WARN,"The component is not responding.");
break;
@@ -739,12 +727,12 @@
rtcout.println(Logbuf.ERROR,"onResetting() failed.");
return ret;
}
- RTObjectStateMachine rtobj = null;
- ret = m_worker.resetComponent(comp, rtobj); // Actual resetComponent()
+ RTObjectStateMachineHolder rtobjhldr = new RTObjectStateMachineHolder();
+ ret = m_worker.resetComponent(comp, rtobjhldr); // Actual resetComponent()
if (ret != ReturnCode_t.RTC_OK) { return ret; }
if (!m_syncReset)
{
- ret = onReset(rtobj, -1);
+ ret = onReset(rtobjhldr.rtobjsm, -1);
if (ret != ReturnCode_t.RTC_OK)
{
rtcout.println(Logbuf.ERROR,"onReset() failed.");
@@ -755,7 +743,7 @@
// Waiting for synchronized reset
rtcout.println(Logbuf.DEBUG,"Synchronous reset mode. "
+"Waiting for the RTC to be INACTIVE state. ");
- return waitForReset(rtobj);
+ return waitForReset(rtobjhldr.rtobjsm);
}
public ReturnCode_t waitForReset(RTObjectStateMachine rtobj)
{
@@ -771,7 +759,7 @@
rtcout.println(Logbuf.DEBUG,"Timeout is "+ m_resetTimeout.toDouble() + "[s] ("+ getRate() + "[s] in "+ cycle + " times");
// Wating ERROR -> INACTIVE
TimeValue starttime = new TimeValue();
- starttime.convert(System.nanoTime()/1000);
+ starttime.convert(System.nanoTime()/1000000000.0);
while (rtobj.isCurrentState(LifeCycleState.ERROR_STATE))
{
ret = onWaitingReset(rtobj, count); // Template method
@@ -782,14 +770,14 @@
}
try
{
- Thread.sleep(getPeriod().getUsec());
+ Thread.sleep((int)(getPeriod().toDouble()*1000),(int)(getPeriod().toDouble()*1000000000));
}catch(InterruptedException e){}
TimeValue delta = new TimeValue();
- delta.convert(System.nanoTime()/1000);
- delta.minus(starttime);
+ delta.convert(System.nanoTime()/1000000000.0);
+ delta = delta.minus(starttime);
rtcout.println(Logbuf.DEBUG,"Waiting to be INACTIVE state. Sleeping " + delta + " [s] (" + count +"/" + cycle);
++count;
- if (delta.getUsec() > m_resetTimeout.getUsec() || count > cycle)
+ if (delta.toDouble() > m_resetTimeout.toDouble() || count > cycle)
{
rtcout.println(Logbuf.WARN,"The component is not responding.");
break;
@@ -1393,18 +1381,22 @@
* <p>ExecutionContext のスレッド実行フラグです。</p>
*/
private boolean m_svc;
+ private String m_svcmutex = new String();
- private class Worker {
-
- public Worker() {
- this._called = false;
+ /**
+ * <p>Worke用状態変数クラスです。</p>
+ */
+ private class WorkerThreadCtrl {
+ private String mutex_ = new String();
+ private boolean ticked_;
+ public WorkerThreadCtrl() {
+ ticked_ = false;
}
-
- public boolean _called;
}
-// private Worker m_worker = new Worker();
- private ExecutionContextWorker m_worker = new ExecutionContextWorker();
+ // A condition variable for external triggered worker
+ private WorkerThreadCtrl m_workerthread = new WorkerThreadCtrl();
+ protected ExecutionContextWorker m_worker = new ExecutionContextWorker();
/**
* <p>ExecutionContextProfileです。</p>
@@ -1494,17 +1486,20 @@
// getting rate
setExecutionRate(props);
// getting sync/async mode flag
- boolean transitionMode=true;
+ transitionModeHolder transitionMode = new transitionModeHolder();
if(setTransitionMode(props, "sync_transition", transitionMode))
{
- m_syncActivation = transitionMode;
- m_syncDeactivation = transitionMode;
- m_syncReset = transitionMode;
+ m_syncActivation = transitionMode.flag;
+ m_syncDeactivation = transitionMode.flag;
+ m_syncReset = transitionMode.flag;
}
- setTransitionMode(props, "sync_activation", m_syncActivation);
- setTransitionMode(props, "sync_deactivation", m_syncDeactivation);
- setTransitionMode(props, "sync_reset", m_syncReset);
+ setTransitionMode(props, "sync_activation", transitionMode);
+ m_syncActivation = transitionMode.flag;
+ setTransitionMode(props, "sync_deactivation", transitionMode);
+ m_syncDeactivation = transitionMode.flag;
+ setTransitionMode(props, "sync_reset", transitionMode);
+ m_syncReset = transitionMode.flag;
// getting transition timeout
TimeValue timeout = new TimeValue(0.0);
if (setTimeout(props, "transition_timeout", timeout))
@@ -1542,7 +1537,9 @@
*
*/
public void setObjRef(final ExecutionContextService ref) {
+ m_worker.setECRef(ref);
m_profile.setObjRef(ref);
+ m_ref = ref;
}
/**
* {@.ja CORBA オブジェクト参照の取得}
@@ -1790,17 +1787,44 @@
* @brief Setting state transition timeout from given properties.
* @endif
*/
- public boolean setTransitionMode(Properties props, String key, boolean flag)
+ public boolean setTransitionMode(Properties props, String key, transitionModeHolder tmhldr)
{
rtcout.println(Logbuf.TRACE, "ExtTrigExecutionContext.setTransitionMode(" + key +")");
if (props.findNode(key) != null)
{
- flag = props.getNode(key).getValue() == "YES";
- rtcout.println(Logbuf.DEBUG, "Transition Mode: " + key +" = " + ( flag ? "YES" : "NO"));
+ tmhldr.flag = props.getNode(key).getValue() == "YES";
+ rtcout.println(Logbuf.DEBUG, "Transition Mode: " + key +" = " + ( tmhldr.flag ? "YES" : "NO"));
return true;
}
rtcout.println(Logbuf.DEBUG, "Configuration " + key +" not found.");
return false;
}
+ /*! ============================================================
+ * Delegated functions to ExecutionContextWorker
+ * ============================================================ */
+ public boolean isAllCurrentState(RTC.LifeCycleState state)
+ {
+ return m_worker.isAllCurrentState(state);
+ }
+
+ public boolean isAllNextState(RTC.LifeCycleState state)
+ {
+ return m_worker.isAllNextState(state);
+ }
+
+ public boolean isOneOfCurrentState(RTC.LifeCycleState state)
+ {
+ return m_worker.isOneOfCurrentState(state);
+ }
+
+ public boolean isOneOfNextState(RTC.LifeCycleState state)
+ {
+ return m_worker.isOneOfNextState(state);
+ }
+
+ public void invokeWorker() { m_worker.invokeWorker(); }
+ public void invokeWorkerPreDo() { m_worker.invokeWorkerPreDo(); }
+ public void invokeWorkerDo() { m_worker.invokeWorkerDo(); }
+ public void invokeWorkerPostDo() { m_worker.invokeWorkerPostDo(); }
}
Modified: trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/IExecutionContextBase.java
===================================================================
--- trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/IExecutionContextBase.java 2013-01-31 12:46:19 UTC (rev 678)
+++ trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/IExecutionContextBase.java 2013-01-31 12:54:12 UTC (rev 679)
@@ -33,7 +33,6 @@
*/
public ReturnCode_t bindComponent(RTObject_impl rtc);
- public boolean finalizeExecutionContext();
/*
public ExecutionContextProfile m_profile
= new jp.go.aist.rtm.RTC.executionContext.ExecutionContextProfile();
Modified: trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/PeriodicExecutionContext.java
===================================================================
--- trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/PeriodicExecutionContext.java 2013-01-31 12:46:19 UTC (rev 678)
+++ trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/PeriodicExecutionContext.java 2013-01-31 12:54:12 UTC (rev 679)
@@ -1,11 +1,13 @@
package jp.go.aist.rtm.RTC.executionContext;
+import java.util.ArrayList;
import java.util.Vector;
import jp.go.aist.rtm.RTC.Manager;
import jp.go.aist.rtm.RTC.ObjectCreator;
import jp.go.aist.rtm.RTC.ObjectDestructor;
import jp.go.aist.rtm.RTC.RTObjectStateMachine;
+import jp.go.aist.rtm.RTC.RTObjectStateMachineHolder;
import jp.go.aist.rtm.RTC.RTObject_impl;
import jp.go.aist.rtm.RTC.StateAction;
import jp.go.aist.rtm.RTC.StateHolder;
@@ -65,28 +67,13 @@
rtcout = new Logbuf("PeriodicExecutionContext");
m_svc = false;
m_nowait = false;
- m_profile.setObjRef((ExecutionContextService)this.__this());
-
- m_profile.setKind(ExecutionKind.PERIODIC);
- m_profile.setRate(1000);
+ setObjRef((ExecutionContextService)this.__this());
+ setKind(ExecutionKind.PERIODIC);
+ setRate(1000);
rtcout.println(Logbuf.DEBUG, "Actual period: " + m_profile.getPeriod().sec() + " [sec], "
+ m_profile.getPeriod().usec() + " [usec]");
}
- /**
- * <p>終了処理用関数</p>
- */
- public boolean finalizeExecutionContext() {
- synchronized (m_svcmutex) {
- m_svc = false;
- }
- synchronized (mutex_) {
- m_workerthread.running_ = true;
- mutex_.notifyAll();
- }
-
- return true;
- }
/**
* <p> __this() </p>
@@ -116,8 +103,9 @@
public void setObjRef(final ExecutionContextService ref) {
rtcout.println(Logbuf.TRACE, "PeriodicExecutionContext.setObjRef()");
-
- m_ref = ref;
+ m_worker.setECRef(ref);
+ m_profile.setObjRef(ref);
+ m_ref = ref;
}
/**
@@ -154,54 +142,48 @@
rtcout.println(Logbuf.TRACE, "PeriodicExecutionContext.svc()");
do {
-
- m_workerthread.invokeWorkerPreDo();
- synchronized (mutex_) {
+ invokeWorkerPreDo();
+ synchronized (m_workerthread.mutex_) {
while (!m_workerthread.running_) {
try {
- mutex_.wait();
+ m_workerthread.mutex_.wait();
} catch (InterruptedException e) {
break;
}
}
}
TimeValue t0 = new TimeValue();
- t0.convert(System.nanoTime()/1000);
- m_workerthread.invokeWorkerDo();
- m_workerthread.invokeWorkerPostDo();
+ t0.convert(System.nanoTime()/1000000000.0);
+ invokeWorkerDo();
+ invokeWorkerPostDo();
TimeValue t1 = new TimeValue();
- t1.convert(System.nanoTime()/1000);
-
+ t1.convert(System.nanoTime()/1000000000.0);
TimeValue period = getPeriod();
- if(true){
- rtcout.println(Logbuf.PARANOID, "Period: " + period + " [s]");
- rtcout.println(Logbuf.PARANOID, "Execution: " + t1.minus(t0) + " [s]");
- rtcout.println(Logbuf.PARANOID, "Sleep: " + period.minus(t1) + " [s]");
+ if(count > 1000){
+ TimeValue t1_w = t1;
+ TimeValue period_w = period;
+ rtcout.println(Logbuf.PARANOID, "Period: " + period.getSec() + " [s]");
+ rtcout.println(Logbuf.PARANOID, "Execution: " + t1_w.minus(t0).getSec() + " [s]");
+ rtcout.println(Logbuf.PARANOID, "Sleep: " + period_w.minus(t1_w).getSec() + " [s]");
}
- TimeValue t2 = new TimeValue();
- t2.convert(System.nanoTime()/1000);
- if( !m_nowait && period.getUsec() > 0)
+ TimeValue delta = t1.minus(t0);
+ if( !m_nowait && period.toDouble() > delta.toDouble())
{
if(count > 1000)
{
rtcout.println(Logbuf.PARANOID, "sleeping...");
+ count = 0;
}
try {
- Thread.sleep(period.getUsec());
+ delta = period.minus(delta);
+ Thread.sleep((int)(delta.toDouble()*1000),(int)(delta.toDouble()*1000000000)); // sec -> millisec, sec -> nanosec
} catch (InterruptedException e){
e.printStackTrace();
}
}
- if(true)
- {
- TimeValue t3 = new TimeValue();
- t3.convert(System.nanoTime()/1000);
- rtcout.println(Logbuf.PARANOID, "Slept: " + t3.minus(t2) + " [s]");
- count = 0;
- }
++count;
- } while (m_running);
+ } while (threadRunning());
return 0;
}
@@ -238,11 +220,16 @@
* @return 実行判定結果
*/
public boolean is_running() {
+ return isRunning();
+ }
+ public boolean isRunning() {
- rtcout.println(Logbuf.TRACE, "PeriodicExecutionContext.is_running()");
+ rtcout.println(Logbuf.TRACE, "PeriodicExecutionContext.isRunning()");
- return m_workerthread.isRunning();
+ return m_worker.isRunning();
}
+ public boolean onIsRunning(boolean running) { return running; }
+
public ReturnCode_t onStarting() { return ReturnCode_t.RTC_OK; }
//============================================================
@@ -261,25 +248,25 @@
this.open();
}
}
- if(m_workerthread.isAllNextState(LifeCycleState.INACTIVE_STATE))
+ if(isAllNextState(LifeCycleState.INACTIVE_STATE))
{
- synchronized(mutex_)
+ synchronized(m_workerthread.mutex_)
{
m_workerthread.running_ = false ;
}
}
else
{
- synchronized (mutex_) {
+ synchronized (m_workerthread.mutex_) {
m_workerthread.running_ = true ;
- mutex_.notifyAll();
+ m_workerthread.mutex_.notifyAll();
}
}
return ReturnCode_t.RTC_OK;
}
public ReturnCode_t onStopping()
{
- synchronized (mutex_) {
+ synchronized (m_workerthread.mutex_) {
m_workerthread.running_ = false ;
return ReturnCode_t.RTC_OK;
}
@@ -320,8 +307,17 @@
// template virtual functions related to activation/deactivation/reset
public ReturnCode_t onActivating(LightweightRTObject comp)
{
- return ReturnCode_t.RTC_OK;
+ synchronized (m_workerthread.mutex_) {
+ if(m_workerthread.running_ == false)
+ {
+ m_workerthread.running_ = true ;
+ m_workerthread.mutex_.notifyAll();
+ }
+ return ReturnCode_t.RTC_OK;
+ }
+// return ReturnCode_t.RTC_OK;
}
+
public ReturnCode_t onActivated(RTObjectStateMachine comp, long count)
{
rtcout.println(Logbuf.TRACE,
@@ -330,11 +326,11 @@
// "curr: " + comp.getStatus() +", next: " + comp.getStatus());
// Now comp's next state must be ACTIVE state
// If worker thread is stopped, restart worker thread.
- synchronized (mutex_) {
+ synchronized (m_workerthread.mutex_) {
if(m_workerthread.running_ == false)
{
m_workerthread.running_ = true ;
- mutex_.notifyAll();
+ m_workerthread.mutex_.notifyAll();
}
return ReturnCode_t.RTC_OK;
}
@@ -351,9 +347,9 @@
// "curr: " + comp.getStatus() +", next: " + comp.getStatus());
// Now comp's next state must be ACTIVE state
// If worker thread is stopped, restart worker thread.
- if(m_workerthread.isAllCurrentState(LifeCycleState.INACTIVE_STATE))
+ if(isAllCurrentState(LifeCycleState.INACTIVE_STATE))
{
- synchronized (mutex_) {
+ synchronized (m_workerthread.mutex_) {
if(m_workerthread.running_ == true)
{
m_workerthread.running_ = false ;
@@ -375,9 +371,9 @@
// "curr: " + comp.getStatus() +", next: " + comp.getStatus());
// Now comp's next state must be ACTIVE state
// If worker thread is stopped, restart worker thread.
- if(m_workerthread.isAllCurrentState(LifeCycleState.INACTIVE_STATE))
+ if(isAllCurrentState(LifeCycleState.INACTIVE_STATE))
{
- synchronized (mutex_) {
+ synchronized (m_workerthread.mutex_) {
if(m_workerthread.running_ == true)
{
m_workerthread.running_ = false ;
@@ -388,6 +384,13 @@
return ReturnCode_t.RTC_OK;
}
+ public boolean threadRunning()
+ {
+ synchronized(m_svcmutex) {
+ return m_svc;
+ }
+ }
+
public LifeCycleState onGetComponentState(LifeCycleState state)
{
return state;
@@ -396,7 +399,7 @@
{
return kind;
}
- public ExecutionContextProfile onGetProfile(ExecutionContextProfile profile)
+ public RTC.ExecutionContextProfile onGetProfile(RTC.ExecutionContextProfile profile)
{
return profile;
}
@@ -413,11 +416,11 @@
// "curr: " + comp.getStatus() +", next: " + comp.getStatus());
// Now comp's next state must be ACTIVE state
// If worker thread is stopped, restart worker thread.
- synchronized (mutex_) {
+ synchronized (m_workerthread.mutex_) {
if(m_workerthread.running_ == false)
{
m_workerthread.running_ = true ;
- mutex_.notifyAll();
+ m_workerthread.mutex_.notifyAll();
}
return ReturnCode_t.RTC_OK;
}
@@ -431,9 +434,9 @@
{
rtcout.println(Logbuf.TRACE,
"PeriodicExecutionContext.onWaitingDeactivated(count = " + count +")");
- if(m_workerthread.isAllNextState(LifeCycleState.INACTIVE_STATE))
+ if(isAllNextState(LifeCycleState.INACTIVE_STATE))
{
- synchronized (mutex_) {
+ synchronized (m_workerthread.mutex_) {
if(m_workerthread.running_ == true)
{
m_workerthread.running_ = false ;
@@ -451,9 +454,9 @@
{
rtcout.println(Logbuf.TRACE,
"PeriodicExecutionContext.onWaitingReset(count = " + count +")");
- if(m_workerthread.isAllNextState(LifeCycleState.INACTIVE_STATE))
+ if(isAllNextState(LifeCycleState.INACTIVE_STATE))
{
- synchronized (mutex_) {
+ synchronized (m_workerthread.mutex_) {
if(m_workerthread.running_ == true)
{
m_workerthread.running_ = false ;
@@ -479,7 +482,7 @@
rtcout.println(Logbuf.ERROR, "onStarting() failed. Starting EC aborted.");
return ret;
}
- ret = m_workerthread.start();
+ ret = m_worker.start();
if(ret!=ReturnCode_t.RTC_OK)
{
rtcout.println(Logbuf.ERROR, "Invoking on_startup() for each RTC failed.");
@@ -489,7 +492,7 @@
if(ret!=ReturnCode_t.RTC_OK)
{
rtcout.println(Logbuf.ERROR, "Invoking on_startup() for each RTC failed.");
- m_workerthread.stop();
+ m_worker.stop();
rtcout.println(Logbuf.ERROR, "on_shutdown() was invoked, because of on_startup");
return ret;
}
@@ -511,7 +514,7 @@
rtcout.println(Logbuf.ERROR, "onStopping() failed. Stopping EC aborted.");
return ret;
}
- ret = m_workerthread.stop(); // Actual stop()
+ ret = m_worker.stop(); // Actual stop()
if (ret != ReturnCode_t.RTC_OK)
{
rtcout.println(Logbuf.ERROR, "Invoking on_shutdown() for each RTC failed.");
@@ -534,8 +537,8 @@
public double get_rate() {
rtcout.println(Logbuf.TRACE, "PeriodicExecutionContext.get_rate()");
-
- return m_profile.getRate();
+ double rate = m_profile.getRate();
+ return onGetRate(rate);
}
public TimeValue getPeriod()
{
@@ -585,19 +588,20 @@
public ReturnCode_t activateComponent(LightweightRTObject comp) {
rtcout.println(Logbuf.TRACE, "PeriodicExecutionContext.activateComponent()");
-
ReturnCode_t ret = onActivating(comp); // Template
if (ret != ReturnCode_t.RTC_OK)
{
rtcout.println(Logbuf.ERROR,"onActivating() failed.");
return ret;
}
- RTObjectStateMachine rtobj = null;
- ret = m_workerthread.activateComponent(comp, rtobj); // Actual activateComponent()
+
+ RTObjectStateMachineHolder rtobjhldr = new RTObjectStateMachineHolder();
+ ret = m_worker.activateComponent(comp, rtobjhldr); // Actual activateComponent()
+ RTObjectStateMachine rtobj = rtobjhldr.rtobjsm;
if (ret != ReturnCode_t.RTC_OK) { return ret; }
if (!m_syncActivation) // Asynchronous activation mode
{
- ret = onActivated(rtobj, -1);
+ ret = onActivated(rtobjhldr.rtobjsm, -1);
if (ret != ReturnCode_t.RTC_OK)
{
rtcout.println(Logbuf.ERROR,"onActivated() failed.");
@@ -608,7 +612,7 @@
// Synchronized activation mode
rtcout.println(Logbuf.DEBUG,"Synchronous activation mode. "
+"Waiting for the RTC to be ACTIVE state. ");
- return waitForActivated(rtobj);
+ return waitForActivated(rtobjhldr.rtobjsm);
}
public ReturnCode_t waitForActivated(RTObjectStateMachine rtobj)
{
@@ -624,7 +628,7 @@
rtcout.println(Logbuf.DEBUG,"Timeout is "+ m_activationTimeout.toDouble() + "[s] ("+ getRate() + "[s] in "+ cycle + " times");
// Wating INACTIVE -> ACTIVE
TimeValue starttime = new TimeValue();
- starttime.convert(System.nanoTime()/1000);
+ starttime.convert(System.nanoTime()/1000000000);
while (rtobj.isCurrentState(LifeCycleState.INACTIVE_STATE))
{
ret = onWaitingActivated(rtobj, count); // Template method
@@ -635,14 +639,14 @@
}
try
{
- Thread.sleep(getPeriod().getUsec());
+ Thread.sleep((int)(getPeriod().toDouble()*1000),(int)(getPeriod().toDouble()*1000000000)); // sec -> millisec, sec -> nanosec
}catch(InterruptedException e){}
TimeValue delta= new TimeValue();
- delta.convert(System.nanoTime()/1000);
- delta.minus(starttime);
+ delta.convert(System.nanoTime()/1000000000);
+ delta = delta.minus(starttime);
rtcout.println(Logbuf.DEBUG,"Waiting to be ACTIVE state. " + delta + " [s] slept (" + count +"/" + cycle);
++count;
- if (delta.getUsec() > m_activationTimeout.getUsec() || count > cycle)
+ if (delta.toDouble() > m_activationTimeout.toDouble() || count > cycle)
{
rtcout.println(Logbuf.WARN,"The component is not responding.");
break;
@@ -686,8 +690,9 @@
return ret;
}
// Deactivate all the RTCs
- RTObjectStateMachine rtobj = null;
- ret = m_workerthread.deactivateComponent(comp, rtobj);
+ RTObjectStateMachineHolder rtobjhldr = new RTObjectStateMachineHolder();
+ ret = m_worker.deactivateComponent(comp, rtobjhldr);
+ RTObjectStateMachine rtobj = rtobjhldr.rtobjsm;
if (ret != ReturnCode_t.RTC_OK) { return ret; }
if (!m_syncDeactivation)
{
@@ -729,14 +734,14 @@
}
try
{
- Thread.sleep(getPeriod().getUsec());
+ Thread.sleep((int)(getPeriod().toDouble()*1000),(int)(getPeriod().toDouble()*1000000000)); // sec -> millisec, sec -> nanosec
}catch(InterruptedException e){}
TimeValue delta = new TimeValue();
delta.convert(System.nanoTime()/1000);
- delta.minus(starttime);
+ delta = delta.minus(starttime);
rtcout.println(Logbuf.DEBUG,"Waiting to be INACTIVE state. Sleeping " + delta + " [s] (" + count +"/" + cycle);
++count;
- if (delta.getUsec() > m_activationTimeout.getUsec() || count > cycle)
+ if (delta.toDouble() > m_activationTimeout.toDouble() || count > cycle)
{
rtcout.println(Logbuf.WARN,"The component is not responding.");
break;
@@ -768,9 +773,9 @@
public ReturnCode_t reset_component(LightweightRTObject comp){
rtcout.println(Logbuf.TRACE, "PeriodicExecutionContext.reset_component()");
- return reset_component(comp);
+ return resetComponent(comp);
}
- public ReturnCode_t resetCcomponent(LightweightRTObject comp){
+ public ReturnCode_t resetComponent(LightweightRTObject comp){
rtcout.println(Logbuf.TRACE, "PeriodicExecutionContext.resetComponent()");
@@ -780,8 +785,9 @@
rtcout.println(Logbuf.ERROR,"onResetting() failed.");
return ret;
}
- RTObjectStateMachine rtobj = null;
- ret = m_workerthread.resetComponent(comp, rtobj); // Actual resetComponent()
+ RTObjectStateMachineHolder rtobjhldr = new RTObjectStateMachineHolder();
+ ret = m_worker.resetComponent(comp, rtobjhldr); // Actual resetComponent()
+ RTObjectStateMachine rtobj = rtobjhldr.rtobjsm;
if (ret != ReturnCode_t.RTC_OK) { return ret; }
if (!m_syncReset)
{
@@ -823,21 +829,21 @@
}
try
{
- Thread.sleep(getPeriod().getUsec());
+ Thread.sleep((int)(getPeriod().toDouble()*1000),(int)(getPeriod().toDouble()*1000000000)); // sec -> millisec, sec -> nanosec
}catch(InterruptedException e){}
TimeValue delta = new TimeValue();
delta.convert(System.nanoTime()/1000);
- delta.minus(starttime);
+ delta = delta.minus(starttime);
rtcout.println(Logbuf.DEBUG,"Waiting to be INACTIVE state. Sleeping " + delta + " [s] (" + count +"/" + cycle);
++count;
- if (delta.getUsec() > m_resetTimeout.getUsec() || count > cycle)
+ if (delta.toDouble() > m_resetTimeout.toDouble() || count > cycle)
{
rtcout.println(Logbuf.WARN,"The component is not responding.");
break;
}
}
// Now State must be INACTIVE
- if (rtobj.isCurrentState(LifeCycleState.INACTIVE_STATE))
+ if (!rtobj.isCurrentState(LifeCycleState.INACTIVE_STATE))
{
rtcout.println(Logbuf.ERROR,"Unknown error: Invalid state transition.");
return ReturnCode_t.RTC_ERROR;
@@ -866,8 +872,8 @@
}
public LifeCycleState getComponentState(LightweightRTObject comp) {
- LifeCycleState state = m_workerthread.getComponentState(comp);
- rtcout.println(Logbuf.TRACE, "PeriodicExecutionContext.getComponentState() = " + state);
+ LifeCycleState state = m_worker.getComponentState(comp);
+ rtcout.println(Logbuf.TRACE, "PeriodicExecutionContext.getComponentState() = " + getStateString(state));
if (state == LifeCycleState.CREATED_STATE)
{
rtcout.println(Logbuf.ERROR,"CREATED state: not initialized "
@@ -876,6 +882,10 @@
return onGetComponentState(state);
}
+ public final String getStateString(LifeCycleState state) {
+ return m_worker.getStateString(state);
+ }
+
/**
* <p>ExecutionKindを取得します。</p>
*
@@ -941,7 +951,7 @@
rtcout.println(Logbuf.ERROR,"Error: onAddingComponent(). RTC is not attached.");
return ret;
}
- ret = m_workerthread.addComponent(comp); // Actual addComponent()
+ ret = m_worker.addComponent(comp); // Actual addComponent()
if (ret != ReturnCode_t.RTC_OK)
{
rtcout.println(Logbuf.ERROR,"Error: ECWorker addComponent() faild.");
@@ -958,7 +968,7 @@
{
rtcout.println(Logbuf.ERROR,"Error: onAddedComponent() faild.");
rtcout.println(Logbuf.INFO,"Removing attached RTC.");
- m_workerthread.removeComponent(comp);
+ m_worker.removeComponent(comp);
m_profile.removeComponent(comp);
return ret;
}
@@ -986,7 +996,7 @@
rtcout.println(Logbuf.TRACE,
"PeriodicExecutionContext.bindComponent()");
- return m_workerthread.bindComponent(rtc);
+ return m_worker.bindComponent(rtc);
}
/**
@@ -1031,7 +1041,7 @@
+"RTC will not not attached.");
return ret;
}
- ret = m_workerthread.removeComponent(comp); // Actual removeComponent()
+ ret = m_worker.removeComponent(comp); // Actual removeComponent()
if (ret != ReturnCode_t.RTC_OK)
{
rtcout.println(Logbuf.ERROR,"Error: ECWorker removeComponent() faild.");
@@ -1048,7 +1058,7 @@
{
rtcout.println(Logbuf.ERROR,"Error: onRemovedComponent() faild.");
rtcout.println(Logbuf.INFO,"Removing attached RTC.");
- m_workerthread.removeComponent(comp);
+ m_worker.removeComponent(comp);
m_profile.removeComponent(comp);
return ret;
}
@@ -1435,24 +1445,42 @@
*/
protected Vector<Comp> m_comps = new Vector<Comp>();
/**
- * <p>ExecutionContextの実行状態です。</p>
- */
- protected boolean m_running;
- /**
* <p>ExecutionContext のスレッド実行フラグです。</p>
*/
private boolean m_svc;
private String m_svcmutex = new String();
- private boolean running_;
- private String mutex_ = new String() ;
+ /**
+ * <p>Worke用状態変数クラスです。</p>
+ */
+ private class WorkerThreadCtrl {
+ private String mutex_ = new String();
+ private boolean running_;
+ public WorkerThreadCtrl() {
+ running_ = false;
+ }
+ }
-
+ /**
+ * <p>transitionMode保持用クラスです。</p>
+ */
+ /*!
+ private class transitionModeHolder {
+ private boolean flag;
+ public transitionModeHolder() {
+ flag = false;
+ }
+ }
+*/
// A condition variable for external triggered worker
- private ExecutionContextWorker m_workerthread = new ExecutionContextWorker();
+ private WorkerThreadCtrl m_workerthread = new WorkerThreadCtrl();
/**
+ * <p>ExecutionContextWorkerです。</p>
+ */
+ protected ExecutionContextWorker m_worker = new ExecutionContextWorker();
+ /**
* <p>ExecutionContextProfileです。</p>
*/
protected ExecutionContextProfile m_profile = new ExecutionContextProfile();
@@ -1545,6 +1573,49 @@
* {@.en Initialization function of ExecutionContext class}
*/
public void init(Properties props) {
+ String str = new String();
+ str = props._dump(str,props,0);
+ rtcout.println(Logbuf.TRACE,str);
+
+ // getting rate
+ setExecutionRate(props);
+
+ // getting sync/async mode flag
+ transitionModeHolder transitionMode = new transitionModeHolder();
+ if (setTransitionMode(props, "sync_transition", transitionMode)) {
+ m_syncActivation = transitionMode.flag;
+ m_syncDeactivation = transitionMode.flag;
+ m_syncReset = transitionMode.flag;
+ }
+ setTransitionMode(props, "sync_activation", transitionMode);
+ m_syncActivation = transitionMode.flag;
+ setTransitionMode(props, "sync_deactivation", transitionMode);
+ m_syncDeactivation = transitionMode.flag;
+ setTransitionMode(props, "sync_reset", transitionMode);
+ m_syncReset = transitionMode.flag;
+ TimeValue timeout = new TimeValue();
+ if (setTimeout(props, "transition_timeout", timeout)) {
+ m_activationTimeout = timeout;
+ m_deactivationTimeout = timeout;
+ m_resetTimeout = timeout;
+ }
+ setTimeout(props, "activation_timeout", m_activationTimeout);
+ setTimeout(props, "deactivation_timeout", m_deactivationTimeout);
+ setTimeout(props, "reset_timeout", m_resetTimeout);
+
+ rtcout.println(Logbuf.DEBUG, "ExecutionContext's configurations:");
+ rtcout.println(Logbuf.DEBUG, "Exec rate : "+getRate()+" [Hz]");
+ rtcout.println(Logbuf.DEBUG, "Activation : Sync ="
+ + (m_syncActivation == true ? "YES":"NO")
+ + ", Timeout = "+m_activationTimeout.toDouble());
+ rtcout.println(Logbuf.DEBUG, "Deactivation : Sync ="
+ + (m_syncDeactivation == true ? "YES":"NO")
+ + ", Timeout = "+m_deactivationTimeout.toDouble());
+ rtcout.println(Logbuf.DEBUG, "Reset : Sync ="
+ + (m_syncReset == true ? "YES":"NO")
+ + ", Timeout = "+m_resetTimeout.toDouble());
+ // Setting given Properties to EC's profile::properties
+ setProperties(props);
}
@@ -1748,11 +1819,23 @@
*
*/
public RTC.ExecutionContextProfile getProfile(){
- return m_profile.getProfile();
+ rtcout.println(Logbuf.TRACE, "PeriodicExecutionContext.getProfile()");
+ RTC.ExecutionContextProfile profile = m_profile.getProfile();
+ rtcout.println(Logbuf.DEBUG, "kind: "+getKindString(profile.kind));
+ rtcout.println(Logbuf.DEBUG, "rate: "+profile.rate);
+ rtcout.println(Logbuf.DEBUG, "properties: ");
+ String str = new String();
+ Properties prop = new Properties();
+ NVListHolder nvholder =
+ new NVListHolder(profile.properties);
+ NVUtil.copyToProperties(prop,nvholder);
+ str = prop._dump(str,prop,0);
+ rtcout.println(Logbuf.TRACE,str);
+ return onGetProfile(profile);
}
public boolean setTimeout(Properties props, String key,TimeValue timevalue)
{
- rtcout.println(Logbuf.TRACE, "ExtTrigExecutionContext.setTimeout(" + key +")");
+ rtcout.println(Logbuf.TRACE, "PeriodicExecutionContext.setTimeout(" + key +")");
if (props.findNode(key) != null)
{
timevalue.convert(Double.valueOf(props.getNode(key).getValue())) ;
@@ -1782,22 +1865,49 @@
}
/*!
* @if jp
- * @brief Propertiesから状態遷移Timeoutをセットする
+ * @brief Propertiesから状態遷移モードをセットする
* @else
- * @brief Setting state transition timeout from given properties.
+ * @brief Setting state transition mode from given properties.
* @endif
*/
- public boolean setTransitionMode(Properties props, String key, boolean flag)
+ public boolean setTransitionMode(Properties props, String key, transitionModeHolder tmhldr)
{
rtcout.println(Logbuf.TRACE, "ExtTrigExecutionContext.setTransitionMode(" + key +")");
if (props.findNode(key) != null)
{
- flag = props.getNode(key).getValue() == "YES";
- rtcout.println(Logbuf.DEBUG, "Transition Mode: " + key +" = " + ( flag ? "YES" : "NO"));
+ tmhldr.flag = props.getNode(key).getValue() == "YES";
+ rtcout.println(Logbuf.DEBUG, "Transition Mode: " + key +" = " + ( tmhldr.flag ? "YES" : "NO"));
return true;
}
rtcout.println(Logbuf.DEBUG, "Configuration " + key +" not found.");
return false;
}
+ /*! ============================================================
+ * Delegated functions to ExecutionContextWorker
+ * ============================================================ */
+ public boolean isAllCurrentState(RTC.LifeCycleState state)
+ {
+ return m_worker.isAllCurrentState(state);
+ }
+
+ public boolean isAllNextState(RTC.LifeCycleState state)
+ {
+ return m_worker.isAllNextState(state);
+ }
+
+ public boolean isOneOfCurrentState(RTC.LifeCycleState state)
+ {
+ return m_worker.isOneOfCurrentState(state);
+ }
+
+ public boolean isOneOfNextState(RTC.LifeCycleState state)
+ {
+ return m_worker.isOneOfNextState(state);
+ }
+
+ public void invokeWorker() { m_worker.invokeWorker(); }
+ public void invokeWorkerPreDo() { m_worker.invokeWorkerPreDo(); }
+ public void invokeWorkerDo() { m_worker.invokeWorkerDo(); }
+ public void invokeWorkerPostDo() { m_worker.invokeWorkerPostDo(); }
}
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