[openrtm-commit:02188] r893 - trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2016年 12月 22日 (木) 17:51:46 JST
Author: win-ei
Date: 2016-12-22 17:51:46 +0900 (Thu, 22 Dec 2016)
New Revision: 893
Added:
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ExtendedFsmServiceProvider.java
Log:
[FSM4RTC]Implemented ExtendedFsmServicePOA interface.
Added: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ExtendedFsmServiceProvider.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ExtendedFsmServiceProvider.java (rev 0)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ExtendedFsmServiceProvider.java 2016-12-22 08:51:46 UTC (rev 893)
@@ -0,0 +1,333 @@
+package jp.go.aist.rtm.RTC;
+
+import RTC.ExtendedFsmService;
+import RTC.ExtendedFsmServiceHelper;
+import RTC.ExtendedFsmServicePOA;
+import RTC.FsmEventProfile;
+import RTC.FsmStructure;
+import RTC.FsmStructureHolder;
+import RTC.ReturnCode_t;
+
+import _SDOPackage.NVListHolder;
+
+import jp.go.aist.rtm.RTC.util.NVUtil;
+import jp.go.aist.rtm.RTC.util.Properties;
+ /**
+ *
+ *
+ *
+ */
+public class ExtendedFsmServiceProvider extends ExtendedFsmServicePOA implements SdoServiceProviderBase , ObjectCreator<SdoServiceProviderBase>, ObjectDestructor{
+ /**
+ * {@.ja ctor of ExtendedFsmServiceProvider}
+ * {@.en ctor of ExtendedFsmServiceProvider}
+ */
+ public ExtendedFsmServiceProvider(){
+ m_rtobj = null;
+ System.out.println("ExtendedFsmServiceProvider()");
+
+ // dummy code
+ m_fsmStructure.name = "dummy_name";
+ m_fsmStructure.structure =
+ "<scxml xmlns=\"http://www.w3.org/2005/07/scxml\""
+ + " version=\"1.0\""
+ + " initial=\"airline-ticket\">"
+ + " <state id=\"state0\">"
+ + " <datamodel>"
+ + " <data id=\"data0\">"
+ + " </data>"
+ + " </datamodel>"
+ + " <transition event=\"toggle\" target=\"state1\" />"
+ + " </state>"
+ + " <state id=\"state1\">"
+ + " <datamodel>"
+ + " <data id=\"data1\">"
+ + " </data>"
+ + " </datamodel>"
+ + " <transition event=\"toggle\" target=\"state0\" />"
+ + " </state>"
+ + " </scxml>" ;
+ m_fsmStructure.event_profiles = new FsmEventProfile[0];
+ FsmEventProfile event0 = new FsmEventProfile();
+ event0.name = "toggle";
+ event0.data_type = "TimedShort";
+ m_fsmStructure.event_profiles[0] = event0;
+ NVListHolder holder = new NVListHolder(m_fsmStructure.properties);
+ NVUtil.appendStringValue(holder,
+ "fsm_structure.format",
+ "scxml");
+ m_fsmStructure.properties = holder.value;
+ System.out.println(m_fsmStructure.structure);
+ }
+
+
+ /**
+ * {@.ja 初期化}
+ * {@.en Initialization}
+ */
+ public boolean init(RTObject_impl rtobj,
+ final _SDOPackage.ServiceProfile profile){
+ m_rtobj = rtobj;
+ m_profile = profile;
+/*
+ NVListHolder nvholder =
+ new NVListHolder(profile.properties);
+ Properties prop = new Properties();
+ NVUtil.copyToProperties(prop, nvholder);
+*/
+ return true;
+
+ }
+
+ /**
+ * {@.ja 再初期化}
+ * {@.en Re-initialization}
+ */
+ public boolean reinit(final _SDOPackage.ServiceProfile profile){
+ m_profile = profile;
+/*
+ NVListHolder nvholder =
+ new NVListHolder(profile.properties);
+ Properties prop = new Properties();
+ NVUtil.copyToProperties(prop, nvholder);
+*/
+ return true;
+ }
+
+ /**
+ * {@.ja ServiceProfile を取得する}
+ * {@.en getting ServiceProfile}
+ */
+ public final _SDOPackage.ServiceProfile getProfile() {
+ return m_profile;
+ }
+
+ /**
+ * {@.ja 終了処理}
+ * {@.en Finalization}
+ */
+ public void finalize(){
+ }
+
+
+ //============================================================
+ // CORBA operations
+ //
+ // string get_current_state();
+ // ReturnCode_t set_fsm_structure(in FsmStructure fsm_structure);
+ // ReturnCode_t get_fsm_structure(out FsmStructure fsm_structure);
+ //============================================================
+
+ /**
+ * {@.ja FSMの現在の状態を取得}
+ * {@.en Get Current FSM State}
+ * <p>
+ * {@.ja このオペレーションはFSMコンポーネントのFSMの現在の状態を返す。
+ * (FSM4RTC spec. p.20)}
+ * {@.en This operation returns the current state of an FSM in the
+ * target FSM component. (FSM4RTC spec. p.20)}
+ *
+ * @return
+ * {@.ja 現在の状態を表す文字列}
+ {@.en A string which represent the current status}
+ *
+ */
+ public String get_current_state() {
+ return m_fsmState;
+ }
+ /**
+ * {@.ja FSMの構造を設定する}
+ * {@.en Set FSM Structure}
+ * <p>
+ * {@.ja このオペレーションは対象のコンポーネントに対して、FSMの構造を保
+ * 持する FsmStruccture を設定する。対象コンポーネントは
+ * fsm_structure に与えられた値を基に状態遷移ルール等のFSM構造を再
+ * 設定する。このオペレーションが未実装の場合は、UNSUPPORTED を返す。}
+ * {@.en This operation sets an FsmStructure to the target
+ * component. Then the target component reconfigures its FSM
+ * structure such as transition rules according to the values of
+ * the given fsm_structure. RTCs may return UNSUPPORTED if this
+ * operation is not implemented.}
+ *
+ * @param fsm_structure
+ * {@.ja FSMの構造を表すFsmStructure構造体。}
+ * {@.en FsmStructure structure which represents}
+ * @return
+ * {@.ja RTC_OK 正常終了
+ * RTC_ERROR その他のエラー
+ * BAD_PARAMETER 不正なパラメータ
+ * UNSUPPORTED 未サポート}
+ * {@.en RTC_OK normal return
+ * RTC_ERROR other error
+ * BAD_PARAMETER invalid parameter
+ * UNSUPPORTED unsupported or not implemented}
+ *
+ */
+ public ReturnCode_t
+ set_fsm_structure(final RTC.FsmStructure fsm_structure) {
+ m_fsmStructure = fsm_structure;
+ return ReturnCode_t.RTC_OK;
+ }
+
+ /**
+ * {@.ja FSMの構造を取得する}
+ * {@.en Set FSM Structure}
+ * <p>
+ * {@.ja このオペレーションは対象のコンポーネントに対して、現在保持してい
+ * るFSMの構造を取得する。ExtendedFsmService 構造体はフィールド
+ * name (FSMの名称), structure (FSMの構造) 、EventProfile などを返
+ * す。structure のフォーマットは、フィールド properties 内に格納さ
+ * れたキー "fsm_structure.format" に指定される。このオペレーション
+ * が未実装の場合は、UNSUPPORTED を返す。
+ *
+ * ref: SCXML https://www.w3.org/TR/scxml/}
+ *
+ * {@.en This operation returns the structure of an FSM in the target
+ * FSM component. ExtendedFsmService returns the name, structure
+ * with format specified by fsm_structure.format and
+ * EventProfiles. RTCs may return UNSUPPORTED if this operation is
+ * not implemented.}
+ *
+ * @param fsm_structure
+ * {@.ja FSMの構造を表すFsmStructure構造体。}
+ * {@.en FsmStructure structure which represents FSM structure}
+ *
+ * @return
+ * {@.ja RTC_OK 正常終了
+ * RTC_ERROR その他のエラー
+ * BAD_PARAMETER 不正なパラメータ
+ * UNSUPPORTED 未サポート}
+ * {@.en RTC_OK normal return
+ * RTC_ERROR other error
+ * BAD_PARAMETER invalid parameter
+ * UNSUPPORTED unsupported or not implemented}
+ *
+ */
+ public ReturnCode_t
+ get_fsm_structure(RTC.FsmStructureHolder fsm_structure) {
+ fsm_structure.value = m_fsmStructure;
+ return ReturnCode_t.RTC_OK;
+ }
+
+ /**
+ * {@.ja RTObjectへのリスナ接続処理}
+ * {@.en Connectiong listeners to RTObject}
+ */
+ protected void setListeners(Properties prop) {
+ }
+
+ /**
+ * {@.ja FSM状態遷移}
+ * {@.en FSM status change}
+ */
+ protected void changeStatus(String state) {
+ m_fsmState = state;
+ }
+
+ /**
+ * {@.ja ハートビートを解除する}
+ * {@.en Unsetting heartbeat}
+ */
+ protected void changeStructure(String fsm_structure) {
+ m_fsmStructure.structure = fsm_structure;
+ }
+
+ //============================================================
+ // FSM status related functions
+ /**
+ * {@.ja FSM状態変化リスナの設定処理}
+ * {@.en Setting FSM status listeners}
+ */
+ protected void setFSMStatusListeners(){
+ // TODO: here should be inmplemented after FSM API defined.
+ ;
+ }
+
+ /**
+ * {@.ja FSM状態変化リスナの解除処理}
+ * {@.en Unsetting FSM status listeners}
+ */
+ protected void unsetFSMStatusListeners(){
+ // TODO: here should be inmplemented after FSM API defined.
+ ;
+ }
+
+
+
+
+
+ //============================================================
+ // FsmProfile related functions
+ /**
+ * {@.ja FsmProfile状態変化リスナの設定}
+ * {@.en Setting FsmProfile listener}
+ */
+ protected void setFSMProfileListeners(){
+ ;
+ }
+
+ /**
+ * {@.ja FsmProfile状態変化リスナの解除}
+ * {@.en Unsetting FsmProfile listener}
+ */
+ protected void unsetFSMProfileListeners(){
+ ;
+ }
+
+ //============================================================
+ // FsmStructure related functions
+ /**
+ * {@.ja FsmStructure状態変化リスナの設定}
+ * {@.en Setting FsmStructure listener}
+ */
+ protected void setFSMStructureListeners(){
+ }
+
+ /**
+ * {@.ja FsmStructure状態変化リスナの解除}
+ * {@.en Unsetting FsmStructure listener}
+ */
+ protected void unsetFSMStructureListeners(){
+ ;
+ }
+
+
+ /**
+ * <p> creator_ </p>
+ *
+ * @return Object Created instances
+ *
+ */
+ public SdoServiceProviderBase creator_() {
+ return new ExtendedFsmServiceProvider();
+ }
+ /**
+ * <p> destructor_ </p>
+ *
+ * @param obj The target instances for destruction
+ *
+ */
+ public void destructor_(Object obj) {
+ obj = null;
+ }
+ /**
+ * <p> ExtendedFsmServiceProviderInit </p>
+ *
+ */
+ public static void ExtendedFsmServiceProviderInit() {
+ final SdoServiceProviderFactory<SdoServiceProviderBase,String> factory
+ = SdoServiceProviderFactory.instance();
+
+ factory.addFactory(ExtendedFsmServiceHelper.id(),
+ new ExtendedFsmServiceProvider(),
+ new ExtendedFsmServiceProvider());
+
+ }
+
+ private _SDOPackage.ServiceProfile m_profile;
+ private RTObject_impl m_rtobj;
+ private FsmStructure m_fsmStructure = new FsmStructure();
+ private String m_fsmState = new String();
+
+};
+
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