[openrtm-commit:01174] r484 - branches/work_ForRTMSafety/rtmtools/jp.go.aist.rtm.systemeditor/src/jp/go/aist/rtm/systemeditor/template

[openrtm ＠ openrtm.org]

Author: win-ei
Date: 2014-01-22 10:21:11 +0900 (Wed, 22 Jan 2014)
New Revision: 484

Modified:
   branches/work_ForRTMSafety/rtmtools/jp.go.aist.rtm.systemeditor/src/jp/go/aist/rtm/systemeditor/template/RtcEcCreateTbl.c.vsl
Log:
Daily work.

Modified: branches/work_ForRTMSafety/rtmtools/jp.go.aist.rtm.systemeditor/src/jp/go/aist/rtm/systemeditor/template/RtcEcCreateTbl.c.vsl
===================================================================
--- branches/work_ForRTMSafety/rtmtools/jp.go.aist.rtm.systemeditor/src/jp/go/aist/rtm/systemeditor/template/RtcEcCreateTbl.c.vsl	2014-01-22 00:58:23 UTC (rev 483)
+++ branches/work_ForRTMSafety/rtmtools/jp.go.aist.rtm.systemeditor/src/jp/go/aist/rtm/systemeditor/template/RtcEcCreateTbl.c.vsl	2014-01-22 01:21:11 UTC (rev 484)
@@ -1,110 +1,47 @@
 // -*- C -*-
 /*!
- * @file ${rtcParam.name}Comp.c
- * @brief Standalone component
+ * @file RtcEcCreateTbl.c
+ * @brief RTC EC creation table
 #set( $Date$ = "dummy" )
  * @date \$Date$
-#if( ${rtcParam.docCreator.length()} > 0 )
  *
- * @author ${tmpltHelper.convertAuthorDoc(${rtcParam.docCreator})}
-#end
-#if( ${rtcParam.docLicense.length()} > 0 )
- *
- * ${tmpltHelper.convertDoc(${rtcParam.docLicense})}
-#end
- *
 #set( $Id$ = "dummy" )
  * \$Id$
  */
 
-import jp.go.aist.rtm.RTC.Manager;
-import jp.go.aist.rtm.RTC.ModuleInitProc;
-import jp.go.aist.rtm.RTC.RTObject_impl;
-import jp.go.aist.rtm.RTC.util.Properties;
+${sharp}include "UserCommon.h"
+${sharp}include "UserConfig.h"
+${sharp}include "RtcEc.h"
+${sharp}include "MyObjectKey.h"
 
-/*!
- * @class ${rtcParam.name}Comp
- * @brief Standalone component Class
- *
- */
-public class ${rtcParam.name}Comp implements ModuleInitProc {
+/* RTC EC creation table */
+const RtcEcCreate_t gsRtcEcCreate[RTCEC_NUM] =
+{
+#foreach($comp in $comps)
+    {/* ExecutionContext setting */
+        EC_INDEX_MYRTCEC_${comp.toUpperCase()},    /* ECIndex */
+        RESERVE_FOR_RTCEC_CREATE_TBL,          /* Reserve */
+        0,                                     /* taskId(Only uiTRON, the setup is required.) */
+        {/* sets up RTCIndex belonging to an execution context.(set up 0, when there is nothing) */
+            RTC_INDEX_${comp.toUpperCase()},       /* InputRTC */
+            0,
+            0,
+            0,
+            0,
+            0,
+            0,
+            0,
+            0,
+            0,
+            0,
+            0,
+            0,
+            0,
+            0,
+            0
+        }/* A maximum of 16 */
+    } #if($velocityHasNext) , 
+#end
+#end
 
-    public void myModuleInit(Manager mgr) {
-      Properties prop = new Properties(${rtcParam.name}.component_conf);
-      mgr.registerFactory(prop, new ${rtcParam.name}(), new ${rtcParam.name}());
-
-      // Create a component
-      RTObject_impl comp = mgr.createComponent("${rtcParam.name}");
-      if( comp==null ) {
-    	  System.err.println("Component create failed.");
-    	  System.exit(0);
-      }
-      
-      // Example
-      // The following procedure is examples how handle RT-Components.
-      // These should not be in this function.
-
-//      // Get the component's object reference
-//      Manager manager = Manager.instance();
-//      RTObject rtobj = null;
-//      try {
-//          rtobj = RTObjectHelper.narrow(manager.getPOA().servant_to_reference(comp));
-//      } catch (ServantNotActive e) {
-//          e.printStackTrace();
-//      } catch (WrongPolicy e) {
-//          e.printStackTrace();
-//      }
-//
-//      // Get the port list of the component
-//      PortListHolder portlist = new PortListHolder();
-//      portlist.value = rtobj.get_ports();
-//
-//      // getting port profiles
-//      System.out.println( "Number of Ports: " );
-//      System.out.println( portlist.value.length );
-//      for( int intIdx=0;intIdx<portlist.value.length;++intIdx ) {
-//          Port port = portlist.value[intIdx];
-//          System.out.println( "Port" + intIdx + " (name): ");
-//          System.out.println( port.get_port_profile().name );
-//        
-//          PortInterfaceProfileListHolder iflist = new PortInterfaceProfileListHolder();
-//          iflist.value = port.get_port_profile().interfaces;
-//          System.out.println( "---interfaces---" );
-//          for( int intIdx2=0;intIdx2<iflist.value.length;++intIdx2 ) {
-//              System.out.println( "I/F name: " );
-//              System.out.println( iflist.value[intIdx2].instance_name  );
-//              System.out.println( "I/F type: " );
-//              System.out.println( iflist.value[intIdx2].type_name );
-//              if( iflist.value[intIdx2].polarity==PortInterfacePolarity.PROVIDED ) {
-//                  System.out.println( "Polarity: PROVIDED" );
-//              } else {
-//                  System.out.println( "Polarity: REQUIRED" );
-//              }
-//          }
-//          System.out.println( "---properties---" );
-//          NVUtil.dump( new NVListHolder(port.get_port_profile().properties) );
-//          System.out.println( "----------------" );
-//      }
-    }
-
-    public static void main(String[] args) {
-        // Initialize manager
-        final Manager manager = Manager.init(args);
-
-        // Set module initialization proceduer
-        // This procedure will be invoked in activateManager() function.
-        ${rtcParam.name}Comp init = new ${rtcParam.name}Comp();
-        manager.setModuleInitProc(init);
-
-        // Activate manager and register to naming service
-        manager.activateManager();
-
-        // run the manager in blocking mode
-        // runManager(false) is the default.
-        manager.runManager();
-
-        // If you want to run the manager in non-blocking mode, do like this
-        // manager.runManager(true);
-    }
-
-}
+};