[openrtm-commit:02189] r894 - in trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC: src/jp/go/aist/rtm/RTC tests/src/jp/go/aist/rtm/RTC
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2016年 12月 22日 (木) 18:43:07 JST
Author: win-ei
Date: 2016-12-22 18:43:07 +0900 (Thu, 22 Dec 2016)
New Revision: 894
Added:
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/tests/src/jp/go/aist/rtm/RTC/ExtendedFsmServiceProviderTest.java
Modified:
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ExtendedFsmServiceProvider.java
Log:
[FSM4RTC]Fixed bugs.
Modified: 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 2016-12-22 08:51:46 UTC (rev 893)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ExtendedFsmServiceProvider.java 2016-12-22 09:43:07 UTC (rev 894)
@@ -47,7 +47,7 @@
+ " <transition event=\"toggle\" target=\"state0\" />"
+ " </state>"
+ " </scxml>" ;
- m_fsmStructure.event_profiles = new FsmEventProfile[0];
+ m_fsmStructure.event_profiles = new FsmEventProfile[1];
FsmEventProfile event0 = new FsmEventProfile();
event0.name = "toggle";
event0.data_type = "TimedShort";
Added: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/tests/src/jp/go/aist/rtm/RTC/ExtendedFsmServiceProviderTest.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/tests/src/jp/go/aist/rtm/RTC/ExtendedFsmServiceProviderTest.java (rev 0)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/tests/src/jp/go/aist/rtm/RTC/ExtendedFsmServiceProviderTest.java 2016-12-22 09:43:07 UTC (rev 894)
@@ -0,0 +1,260 @@
+package jp.go.aist.rtm.RTC;
+
+import junit.framework.TestCase;
+
+import jp.go.aist.rtm.RTC.ExtendedFsmServiceProvider;
+
+import jp.go.aist.rtm.RTC.Manager;
+import jp.go.aist.rtm.RTC.DataFlowComponentBase;
+import jp.go.aist.rtm.RTC.RTObject_impl;
+import jp.go.aist.rtm.RTC.ModuleInitProc;
+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.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;
+
+
+import org.omg.CORBA.ORB;
+import org.omg.PortableServer.POA;
+import org.omg.PortableServer.POAHelper;
+
+import java.util.UUID;
+import java.util.Date;
+import java.text.SimpleDateFormat;
+
+
+/**
+*
+*
+*/
+public class ExtendedFsmServiceProviderTest extends TestCase {
+
+
+ private Manager m_mgr;
+ private ORB m_pORB;
+ private POA m_pPOA;
+
+
+ // sample code
+ public class SampleComponent 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 {
+ 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);
+ }
+
+ @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");
+ 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);
+ }
+
+ @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 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 {
+ public DataFlowComponentBase createRtc(Manager mgr) {
+ return new SampleComponent(mgr);
+ }
+ }
+
+ public class SampleComponentDelete implements RtcDeleteFunc {
+ public void deleteRtc(RTObject_impl rtcBase) {
+ rtcBase = null;
+ }
+ }
+
+ public class loadSample 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++;
+ }
+ }
+
+ protected void setUp() throws Exception {
+ super.setUp();
+ //m_mgr = Manager.init(null);
+ //m_pORB = m_mgr.getORB();
+ //m_pPOA = m_mgr.getPOA();
+ //m_pPOA.the_POAManager().activate();
+ }
+
+ protected void tearDown() throws Exception {
+ super.tearDown();
+ m_mgr = null;
+ }
+
+
+ /**
+ *<pre>
+ *</pre>
+ */
+ public void test_test001() {
+
+ ExtendedFsmServiceProvider.ExtendedFsmServiceProviderInit();
+ }
+
+}
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