[openrtm-commit:02186] r891 - in trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC: src/jp/go/aist/rtm/RTC src/jp/go/aist/rtm/RTC/RTC tests/src/jp/go/aist/rtm/RTC/RTC
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2016年 12月 22日 (木) 13:21:32 JST
Author: win-ei
Date: 2016-12-22 13:21:32 +0900 (Thu, 22 Dec 2016)
New Revision: 891
Modified:
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTC/ComponentObserverConsumer.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObject_impl.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/tests/src/jp/go/aist/rtm/RTC/RTC/ComponentObserverConsumerTest.java
Log:
[FSM4RTC]Fixed bugs.
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTC/ComponentObserverConsumer.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTC/ComponentObserverConsumer.java 2016-12-17 12:23:45 UTC (rev 890)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTC/ComponentObserverConsumer.java 2016-12-22 04:21:32 UTC (rev 891)
@@ -775,9 +775,7 @@
}
}
public void onActivated(int ec_id, ReturnCode_t ret) {
- //public void onActivated(PostComponentActionListenerArgument arg) {
onGeneric("ACTIVE:", ec_id, ret);
- //onGeneric("ACTIVE:", arg.m_exec_handle,arg.m_ret);
}
public void onDeactivated(int ec_id, ReturnCode_t ret) {
onGeneric("INACTIVE:", ec_id, ret);
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObject_impl.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObject_impl.java 2016-12-17 12:23:45 UTC (rev 890)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObject_impl.java 2016-12-22 04:21:32 UTC (rev 891)
@@ -4519,7 +4519,8 @@
try {
Class clazz = m_obj.getClass();
- m_method = clazz.getMethod(memfunc,int.class, RTC.ReturnCode_t.class);
+ //m_method = clazz.getMethod(memfunc,int.class, RTC.ReturnCode_t.class);
+ m_method = clazz.getDeclaredMethod(memfunc,int.class, RTC.ReturnCode_t.class);
}
catch(java.lang.Exception e){
@@ -6010,7 +6011,7 @@
try {
Class clazz = m_obj.getClass();
- m_method = clazz.getMethod(memfunc,String.class,String.class);
+ m_method = clazz.getMethod(memfunc,String.class);
}
catch(java.lang.Exception e){
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/tests/src/jp/go/aist/rtm/RTC/RTC/ComponentObserverConsumerTest.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/tests/src/jp/go/aist/rtm/RTC/RTC/ComponentObserverConsumerTest.java 2016-12-17 12:23:45 UTC (rev 890)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/tests/src/jp/go/aist/rtm/RTC/RTC/ComponentObserverConsumerTest.java 2016-12-22 04:21:32 UTC (rev 891)
@@ -9,18 +9,30 @@
import jp.go.aist.rtm.RTC.RtcNewFunc;
import jp.go.aist.rtm.RTC.RtcDeleteFunc;
+import jp.go.aist.rtm.RTC.port.InPort;
+import jp.go.aist.rtm.RTC.port.OutPort;
+
+import jp.go.aist.rtm.RTC.util.DataRef;
+import jp.go.aist.rtm.RTC.util.IntegerHolder;
import jp.go.aist.rtm.RTC.util.Properties;
import jp.go.aist.rtm.RTC.util.POAUtil;
-import _SDOPackage.ServiceProfile;
+import _SDOPackage.Configuration;
+import _SDOPackage.ConfigurationSet;
import _SDOPackage.NameValue;
+import _SDOPackage.NVListHolder;
import _SDOPackage.SDOServiceHelper;
+import _SDOPackage.ServiceProfile;
+import RTC.ConnectorProfile;
+import RTC.ConnectorProfileHolder;
import RTC.ComponentObserver;
import RTC.ComponentObserverPOA;
import RTC.ComponentObserverHelper;
+import RTC.PortService;
import RTC.StatusKind;
import RTC.StatusKindHolder;
+import RTC.TimedLong;
import RTC.ReturnCode_t;
import RTC.ExecutionContextListHolder;
@@ -46,6 +58,125 @@
private POA m_pPOA;
// sample code
+ public class SampleComponent2 extends DataFlowComponentBase {
+ @Override
+ protected ReturnCode_t onAborting(int ec_id) {
+ System.out.println("Sample:onAborting");
+ return super.onAborting(ec_id);
+ }
+
+ @Override
+ protected ReturnCode_t onActivated(int ec_id) {
+ System.out.println("Sample:onActivated");
+ try {
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ return super.onActivated(ec_id);
+ }
+
+ @Override
+ protected ReturnCode_t onDeactivated(int ec_id) {
+ System.out.println("Sample:onDeactivated");
+ return super.onDeactivated(ec_id);
+ }
+
+ @Override
+ protected ReturnCode_t onError(int ec_id) {
+ System.out.println("Sample:onError");
+ return super.onError(ec_id);
+ }
+
+ @Override
+ protected ReturnCode_t onExecute(int ec_id) {
+ System.out.println("Sample:onExecute");
+ return super.onExecute(ec_id);
+ }
+
+ @Override
+ protected ReturnCode_t onFinalize() {
+ System.out.println("Sample:onFinalize");
+ return super.onFinalize();
+ }
+
+ @Override
+ protected ReturnCode_t onInitialize() {
+ System.out.println("Sample:onInitialize");
+
+ return super.onInitialize();
+ }
+
+ @Override
+ protected ReturnCode_t onRateChanged(int ec_id) {
+ System.out.println("Sample:onRateChanged");
+ return super.onRateChanged(ec_id);
+ }
+
+ @Override
+ protected ReturnCode_t onReset(int ec_id) {
+ System.out.println("Sample:onReset");
+ return super.onReset(ec_id);
+ }
+
+ @Override
+ protected ReturnCode_t onShutdown(int ec_id) {
+ System.out.println("Sample:onShutdown");
+ return super.onShutdown(ec_id);
+ }
+
+ @Override
+ protected ReturnCode_t onStartup(int ec_id) {
+ System.out.println("Sample:onStartup");
+ return super.onStartup(ec_id);
+ }
+
+ @Override
+ protected ReturnCode_t onStateUpdate(int ec_id) {
+ System.out.println("Sample:onStateUpdate");
+ return super.onStateUpdate(ec_id);
+ }
+
+ public SampleComponent2(Manager manager) {
+ super(manager);
+ m_mgr = manager;
+ }
+ protected Manager m_ngr;
+ }
+
+ public class SampleComponent2New implements RtcNewFunc {
+ public DataFlowComponentBase createRtc(Manager mgr) {
+ return new SampleComponent2(mgr);
+ }
+ }
+
+ public class SampleComponent2Delete implements RtcDeleteFunc {
+ public void deleteRtc(RTObject_impl rtcBase) {
+ rtcBase = null;
+ }
+ }
+
+ public class loadSample2 implements ModuleInitProc {
+ private int m_counter = 0;
+ private int m_counter2 = 0;
+
+ public void SampleMethod() {
+ System.out.println("Sample Method invoked.");
+ }
+ public void myModuleInit(Manager mgr) {
+ m_counter++;
+ }
+ public int getInitProcCount() {
+ return m_counter;
+ }
+ public void resetInitProcCount() {
+ m_counter = 0;
+ }
+ public void addInitProcCount() {
+ m_counter++;
+ }
+ }
+
+ // sample code
public class SampleComponent extends DataFlowComponentBase {
@Override
protected ReturnCode_t onAborting(int ec_id) {
@@ -56,12 +187,20 @@
@Override
protected ReturnCode_t onActivated(int ec_id) {
System.out.println("Sample:onActivated");
+ try {
+ addOutPort("out", m_outOut);
+ addInPort("in", m_inIn);
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
return super.onActivated(ec_id);
}
@Override
protected ReturnCode_t onDeactivated(int ec_id) {
System.out.println("Sample:onDeactivated");
+ removeOutPort(m_outOut);
+ removeInPort(m_inIn);
return super.onDeactivated(ec_id);
}
@@ -74,6 +213,44 @@
@Override
protected ReturnCode_t onExecute(int ec_id) {
System.out.println("Sample:onExecute");
+ System.out.println("m_counter="+m_counter);
+ ++m_counter;
+ if(m_counter == 1) {
+ ConnectorProfile prof = new ConnectorProfile();
+ prof.connector_id = "";
+ prof.name = "connector0";
+ prof.ports = new PortService[2];
+ prof.ports = get_ports();
+ NVListHolder nvholder = new NVListHolder();
+ NameValue[] value = new NameValue[3];
+ nvholder.value = prof.properties;
+ org.omg.CORBA.Any any0 = m_mgr.getORB().create_any();
+ any0.insert_string("corba_cdr");
+ value[0] = new NameValue("dataport.interface_type",any0);
+
+ org.omg.CORBA.Any any1 = m_mgr.getORB().create_any();
+ any1.insert_string("push");
+ value[1] = new NameValue("dataport.dataflow_type",any1);
+
+ org.omg.CORBA.Any any2 = m_mgr.getORB().create_any();
+ any2.insert_string("flush");
+ value[2] = new NameValue("dataport.subscription_type",any2);
+
+ prof.properties = value;
+ ConnectorProfileHolder proflist = new ConnectorProfileHolder();
+ proflist.value = prof;
+
+ m_inIn.connect(proflist);
+ }
+ if(m_counter == 2) {
+ m_inIn.disconnect_all();
+ }
+ if(m_counter > 3) {
+ m_counter = 0;
+ System.out.println("0 divs");
+ int id = m_counter /0;
+ System.out.println("0 divs !");
+ }
return super.onExecute(ec_id);
}
@@ -86,6 +263,7 @@
@Override
protected ReturnCode_t onInitialize() {
System.out.println("Sample:onInitialize");
+
return super.onInitialize();
}
@@ -121,7 +299,22 @@
public SampleComponent(Manager manager) {
super(manager);
+ m_mgr = manager;
+ m_out_val = new TimedLong(new RTC.Time(0,0),0);
+ m_out = new DataRef<TimedLong>(m_out_val);
+ m_outOut = new OutPort<TimedLong>("out", m_out);
+ m_in_val = new TimedLong(new RTC.Time(0,0),0);
+ m_in = new DataRef<TimedLong>(m_in_val);
+ m_inIn = new InPort<TimedLong>("in", m_in);
}
+ protected Manager m_ngr;
+ protected TimedLong m_out_val;
+ protected DataRef<TimedLong> m_out;
+ protected OutPort<TimedLong> m_outOut;
+ protected TimedLong m_in_val;
+ protected DataRef<TimedLong> m_in;
+ protected InPort<TimedLong> m_inIn;
+ int m_counter = 0;
}
public class SampleComponentNew implements RtcNewFunc {
@@ -237,6 +430,7 @@
*</pre>
*/
public void test_test001() {
+/*
System.out.println("test_test001");
ComponentObserverProviderMock obs = new ComponentObserverProviderMock();
@@ -315,6 +509,7 @@
//do nothing
}
System.out.println("....");
+*/
}
/**
*<pre>
@@ -369,8 +564,6 @@
fail();
}
manager.activateManager();
- //manager.clearModulesFactories();
- ///manager.clearModules();
String component_conf[] = {
"implementation_id", "Sample",
"type_name", "",
@@ -383,30 +576,111 @@
"language", "",
"lang_type", "",
"conf", "",
+ "conf.default.int_param0", "0",
""
};
+ String component_conf2[] = {
+ "implementation_id", "Sample2",
+ "type_name", "",
+ "description", "",
+ "version", "",
+ "vendor", "",
+ "category", "",
+ "activity_type", "",
+ "max_instance", "",
+ "language", "",
+ "lang_type", "",
+ "conf", "",
+ ""
+ };
Properties prop = new Properties(component_conf);
manager.registerFactory(prop, new SampleComponentNew(), new SampleComponentDelete());
- //Vector<String> complist = manager.getModulesFactories();
RTObject_impl rtobj = manager.createComponent("Sample");
-
ComponentObserverConsumer coc = new ComponentObserverConsumer();
coc.init(rtobj,sprof);
+
ExecutionContextListHolder ecs = new ExecutionContextListHolder();
ecs.value = rtobj.get_owned_contexts();
+
+ //ECAction onAttached ATTACHED:
+ ecs.value[0].add_component(rtobj.getObjRef());
+
+ //ECAction onDetached DETACHED:
+// ecs.value[0].remove_component(rtobj.getObjRef());
+
+ ecs.value[0].stop();
+ //ECAction onStartup STARTUP:
+ ecs.value[0].start();
+
+ //ECAction onRateChanged RATE_CHANGED:
+ ecs.value[0].set_rate(1000.0);
+
+ try {
+ Configuration conf = rtobj.get_configuration();
+ ConfigurationSet confset = conf.get_active_configuration_set();
+ //ConfigAction setConfigSet SET_CONFIG_SET
+ conf.set_configuration_set_values(confset);
+
+ ConfigurationSet confset2 = confset;
+ confset2.id = "test002";
+ //ConfigAction addConfigSet ADD_CONFIG_SET:
+ conf.add_configuration_set(confset2);
+
+ ConfigurationSet confset3 = confset;
+ confset3.id = "test003";
+ conf.add_configuration_set(confset3);
+
+ //ConfigAction activateConfigSet ACTIVATE_CONFIG_SET:
+ conf.activate_configuration_set("test002");
+
+ //ConfigAction removeConfigSet REMOVE_CONFIG_SET:
+ conf.remove_configuration_set("test003");
+
+ IntegerHolder int_param0 = new IntegerHolder();
+ int_param0.value = 1000;
+ //ConfigAction updateConfigParam UPDATE_CONFIG_PARAM
+ rtobj.bindParameter("int_param0", int_param0, "0");
+
+ //ConfigAction updateConfigSet UPDATE_CONFIG_SET:
+ rtobj.updateParameters("test002");
+
+ }
+ catch (Exception ex) {
+ }
+
+
+ //CompStatMsg onActivated ACTIVE
ecs.value[0].activate_component(rtobj.getObjRef());
+
+
+
System.out.println("wait");
- try{
- Thread.sleep(5);
+ for(;;){
+ try{
+ Thread.sleep(5);
+ }
+ catch(InterruptedException ex){
+ //do nothing
+ }
+ if(ecs.value[0].get_component_state(rtobj.getObjRef()).value()==
+ RTC.LifeCycleState._ERROR_STATE){
+ System.out.println("reset");
+
+ //CompStatMsg onRset INACTIVE
+ ecs.value[0].reset_component(rtobj.getObjRef());
+ break;
+ }
}
- catch(InterruptedException ex){
- //do nothing
- }
+ ecs.value[0].activate_component(rtobj.getObjRef());
+
+ //CompStatMsg onDeactivated INACTIVE
ecs.value[0].deactivate_component(rtobj.getObjRef());
+
+ ecs.value[0].stop();
try{
Thread.sleep(100);
}
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