[openrtm-commit:01140] r450 - branches/work_ForRTMSafety/rtmtools/jp.go.aist.rtm.rtcbuilder.safety/src/jp/go/aist/rtm/rtcbuilder/safety/template/safety
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2014年 1月 5日 (日) 01:48:28 JST
Author: win-ei
Date: 2014-01-05 01:48:28 +0900 (Sun, 05 Jan 2014)
New Revision: 450
Modified:
branches/work_ForRTMSafety/rtmtools/jp.go.aist.rtm.rtcbuilder.safety/src/jp/go/aist/rtm/rtcbuilder/safety/template/safety/Safety_RTC.c.vsl
Log:
Daily work.
Modified: branches/work_ForRTMSafety/rtmtools/jp.go.aist.rtm.rtcbuilder.safety/src/jp/go/aist/rtm/rtcbuilder/safety/template/safety/Safety_RTC.c.vsl
===================================================================
--- branches/work_ForRTMSafety/rtmtools/jp.go.aist.rtm.rtcbuilder.safety/src/jp/go/aist/rtm/rtcbuilder/safety/template/safety/Safety_RTC.c.vsl 2014-01-04 11:57:11 UTC (rev 449)
+++ branches/work_ForRTMSafety/rtmtools/jp.go.aist.rtm.rtcbuilder.safety/src/jp/go/aist/rtm/rtcbuilder/safety/template/safety/Safety_RTC.c.vsl 2014-01-04 16:48:28 UTC (rev 450)
@@ -1,8 +1,9 @@
-// -*- Java -*-
+// -*- RTMSafety -*-
/*!
- * @file ${rtcParam.name}.java
+ * @file ${rtcParam.name}.c
+ * @brief ${rtcParam.description}
+ * @date ${dol}Date${dol}
#set( $Date$ = "dummy" )
- * @date \$Date$
#if( ${rtcParam.docCreator.length()} > 0 )
*
* @author ${tmpltHelper.convertAuthorDoc(${rtcParam.docCreator})}
@@ -16,74 +17,245 @@
* \$Id$
*/
-import jp.go.aist.rtm.RTC.Manager;
-import jp.go.aist.rtm.RTC.RTObject_impl;
-import jp.go.aist.rtm.RTC.RtcDeleteFunc;
-import jp.go.aist.rtm.RTC.RtcNewFunc;
-import jp.go.aist.rtm.RTC.RegisterModuleFunc;
-import jp.go.aist.rtm.RTC.util.Properties;
+${sharp}include "${rtcParam.name}.h"
/*!
- * @class ${rtcParam.name}
* @brief ${rtcParam.description}
+ * @return
+ * @retval
+ * @retval
*/
-public class ${rtcParam.name} implements RtcNewFunc, RtcDeleteFunc, RegisterModuleFunc {
+PUBLIC ReturnCode_t ${rtcParam.name}_create(${rtcParam.name}* pself)
+{
+ ReturnCode_t retVal = RTC_OK;
+
+ if( pself == NULL )
+ {
+ retVal = RTC_ERROR;
+ }
+
+ if( retVal == RTC_OK )
+ {
+ pself->onInitialize = ${rtcParam.name}_on_initialize;
+#if(${rtcParam.IsNotImplemented(1)})
+// pself->onFinalize = ${rtcParam.name}_on_finalize;
+#else
+ pself->onFinalize = ${rtcParam.name}_on_finalize;
+#end
+#if(${rtcParam.IsNotImplemented(2)})
+// pself->onStartup = ${rtcParam.name}_on_startup;
+#else
+ pself->onStartup = ${rtcParam.name}_on_startup;
+#end
+#if(${rtcParam.IsNotImplemented(3)})
+// pself->onShutdown = ${rtcParam.name}_on_shutdown;
+#else
+ pself->onShutdown = ${rtcParam.name}_on_shutdown;
+#end
+#if(${rtcParam.IsNotImplemented(4)})
+// pself->onActivated = ${rtcParam.name}_on_activated;
+#else
+ pself->onActivated = ${rtcParam.name}_on_activated;
+#end
+#if(${rtcParam.IsNotImplemented(5)})
+// pself->onDeactivated = ${rtcParam.name}_on_deactivated;
+#else
+ pself->onDeactivated = ${rtcParam.name}_on_deactivated;
+#end
+#if(${rtcParam.IsNotImplemented(6)})
+// pself->onAborting = ${rtcParam.name}_on_aborting;
+#else
+ pself->onAborting = ${rtcParam.name}_on_aborting;
+#end
+#if(${rtcParam.IsNotImplemented(7)})
+// pself->onError = ${rtcParam.name}_on_error;
+#else
+ pself->onError = ${rtcParam.name}_on_error;
+#end
+#if(${rtcParam.IsNotImplemented(8)})
+// pself->onReset = ${rtcParam.name}_on_reset;
+#else
+ pself->onReset = ${rtcParam.name}_on_reset;
+#end
+#if(${rtcParam.IsNotImplemented(9)})
+// pself->onExecute = ${rtcParam.name}_on_execute;
+#else
+ pself->onExecute = ${rtcParam.name}_on_execute;
+#end
+ }
-// Module specification
-// <rtc-template block="module_spec">
- public static String component_conf[] = {
- "implementation_id", "${rtcParam.name}",
- "type_name", "${rtcParam.name}",
- "description", "${rtcParam.description}",
- "version", "${rtcParam.version}",
- "vendor", "${rtcParam.vender}",
- "category", "${rtcParam.category}",
- "activity_type", "${rtcParam.componentType}",
- "max_instance", "${rtcParam.maxInstance}",
- "language", "Java",
- "lang_type", "compile",
-#if( ${rtcParam.configParams.size()} > 0 )
- // Configuration variables
-#foreach($configParam in ${rtcParam.configParams})
- "conf.default.${configParam.name}", "${configParam.defaultVal}",
+ return retVal;
+}
+
+#if(${rtcParam.getDocActionOverView(0).length()}>0)/*!
+ * ${tmpltHelper.convertDoc(${rtcParam.getDocActionOverView(0)})}
+ */#end
+#if(${rtcParam.configParams.size()}==0 && ${rtcParam.IsNotImplemented(0)} && ${rtcParam.inports.size()}==0 && ${rtcParam.outports.size()}==0 && ${rtcParam.servicePorts.size()}==0)/*#end
+
+PUBLIC ReturnCode_t ${rtcParam.name}_on_initialize( void )
+{
+ // Please insert your code here
+
+ return RTC_OK;
+}
+#if(${rtcParam.configParams.size()}==0 && ${rtcParam.IsNotImplemented(0)} && ${rtcParam.inports.size()}==0 && ${rtcParam.outports.size()}==0 && ${rtcParam.servicePorts.size()}==0)*/
#end
+
+#if(${rtcParam.getDocActionOverView(1).length()}>0)/*!
+ * ${tmpltHelper.convertDoc(${rtcParam.getDocActionOverView(1)})}
+ */
#end
-#if( ${rtcParam.configParams.size()} > 0 )
- // Widget
-#foreach($configParam in ${rtcParam.configParams})
-#if( ${configParam.widget.length()} > 0 )
- "conf.__widget__.${configParam.name}", "${configParam.widget}#if( ${configParam.step.length()} > 0 ).${configParam.step}#end",
+#if(${rtcParam.IsNotImplemented(1)})/*#end
+
+PUBLIC ReturnCode_t ${rtcParam.name}_on_finalize( void )
+{
+#if(${tmpltHelper.checkDetailContent(1,${rtcParam})})${rtcParam.getDetailContent(1)}
#end
+ // Please insert your code here
+
+ return RTC_OK;
+}
+#if(${rtcParam.IsNotImplemented(1)})*/
#end
- // Constraints
-#foreach($configParam in ${rtcParam.configParams})
-#if( ${configParam.constraint.length()} > 0 )
- "conf.__constraints__.${configParam.name}", "${configParam.constraint}",
+
+
+#if(${rtcParam.getDocActionOverView(2).length()}>0)/*!
+ * ${tmpltHelper.convertDoc(${rtcParam.getDocActionOverView(2)})}
+ */
#end
+#if(${rtcParam.IsNotImplemented(2)})/*#end
+
+PUBLIC ReturnCode_t ${rtcParam.name}_on_startup( void )
+{
+#if(${tmpltHelper.checkDetailContent(2,${rtcParam})})${rtcParam.getDetailContent(2)}
#end
+ // Please insert your code here
+
+ return RTC_OK;
+}
+#if(${rtcParam.IsNotImplemented(2)})*/
#end
-#if( ${rtcParam.configParameterParams.size()} > 0 )
- // System Configuration
-#foreach($parameterParam in ${rtcParam.configParameterParams})
-#if( ${parameterParam.isNonPeriodic()} )
- "${parameterParam.configName}", "${parameterParam.defaultVal}",
+
+#if(${rtcParam.getDocActionOverView(3).length()}>0)/*!
+ * ${tmpltHelper.convertDoc(${rtcParam.getDocActionOverView(3)})}
+ */
#end
+#if(${rtcParam.IsNotImplemented(3)})/*#end
+
+PUBLIC ReturnCode_t ${rtcParam.name}_on_shutdown( void )
+{
+#if(${tmpltHelper.checkDetailContent(3,${rtcParam})})${rtcParam.getDetailContent(3)}
#end
+ // Please insert your code here
+
+ return RTC_OK;
+}
+#if(${rtcParam.IsNotImplemented(3)})*/
#end
- ""
- };
-// </rtc-template>
- public RTObject_impl createRtc(Manager mgr) {
- return new ${rtcParam.name}Impl(mgr);
- }
+#if(${rtcParam.getDocActionOverView(4).length()}>0)/*!
+ * ${tmpltHelper.convertDoc(${rtcParam.getDocActionOverView(4)})}
+ */
+#end
+#if(${rtcParam.IsNotImplemented(4)})/*#end
- public void deleteRtc(RTObject_impl rtcBase) {
- rtcBase = null;
- }
- public void registerModule() {
- Properties prop = new Properties(component_conf);
- final Manager manager = Manager.instance();
- manager.registerFactory(prop, new ${rtcParam.name}(), new ${rtcParam.name}());
- }
+PUBLIC ReturnCode_t ${rtcParam.name}_on_activated( void )
+{
+#if(${tmpltHelper.checkDetailContent(4,${rtcParam})})${rtcParam.getDetailContent(4)}
+#end
+ // Please insert your code here
+
+ return RTC_OK;
}
+#if(${rtcParam.IsNotImplemented(4)})*/
+#end
+
+#if(${rtcParam.getDocActionOverView(5).length()}>0)/*!
+ * ${tmpltHelper.convertDoc(${rtcParam.getDocActionOverView(5)})}
+ */
+#end
+#if(${rtcParam.IsNotImplemented(5)})/*#end
+
+PUBLIC ReturnCode_t ${rtcParam.name}_on_deactivated( void )
+{
+#if(${tmpltHelper.checkDetailContent(5,${rtcParam})})${rtcParam.getDetailContent(5)}
+#end
+ // Please insert your code here
+
+ return RTC_OK;
+}
+#if(${rtcParam.IsNotImplemented(5)})*/
+#end
+
+#if(${rtcParam.getDocActionOverView(6).length()}>0)/*!
+ * ${tmpltHelper.convertDoc(${rtcParam.getDocActionOverView(6)})}
+ */
+#end
+#if(${rtcParam.IsNotImplemented(6)})/*#end
+
+PUBLIC ReturnCode_t ${rtcParam.name}_on_aborting( void )
+{
+#if(${tmpltHelper.checkDetailContent(6,${rtcParam})})${rtcParam.getDetailContent(6)}
+#end
+ // Please insert your code here
+
+ return RTC_OK;
+
+}
+#if(${rtcParam.IsNotImplemented(6)})*/
+#end
+
+#if(${rtcParam.getDocActionOverView(7).length()}>0)/*!
+ * ${tmpltHelper.convertDoc(${rtcParam.getDocActionOverView(7)})}
+ */
+#end
+#if(${rtcParam.IsNotImplemented(7)})/*#end
+
+PUBLIC ReturnCode_t ${rtcParam.name}_on_error( void )
+{
+#if(${tmpltHelper.checkDetailContent(7,${rtcParam})})${rtcParam.getDetailContent(7)}
+#end
+ // Please insert your code here
+
+ return RTC_OK;
+}
+#if(${rtcParam.IsNotImplemented(7)})*/
+#end
+
+#if(${rtcParam.getDocActionOverView(8).length()}>0)/*!
+ * ${tmpltHelper.convertDoc(${rtcParam.getDocActionOverView(8)})}
+ */
+#end
+#if(${rtcParam.IsNotImplemented(8)})/*#end
+
+PUBLIC ReturnCode_t ${rtcParam.name}_on_reset( void )
+{
+#if(${tmpltHelper.checkDetailContent(8,${rtcParam})})${rtcParam.getDetailContent(8)}
+#end
+ // Please insert your code here
+
+ return RTC_OK;
+}
+#if(${rtcParam.IsNotImplemented(8)})*/
+#end
+
+#if(${rtcParam.getDocActionOverView(9).length()}>0)/*!
+ * ${tmpltHelper.convertDoc(${rtcParam.getDocActionOverView(9)})}
+ */
+#end
+#if(${rtcParam.IsNotImplemented(9)})/*#end
+
+PUBLIC ReturnCode_t ${rtcParam.name}_on_execute( void )
+{
+#if(${tmpltHelper.checkDetailContent(9,${rtcParam})})${rtcParam.getDetailContent(9)}
+#end
+ // Please insert your code here
+
+ return RTC_OK;
+}
+#if(${rtcParam.IsNotImplemented(9)})*/
+#end
+
+
+
+
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