[openrtm-commit:01811] r565 - trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java/template/java

[openrtm ＠ openrtm.org]

Author: ga
Date: 2016-03-05 18:42:44 +0900 (Sat, 05 Mar 2016)
New Revision: 565

Modified:
   trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java/template/java/Java_RTC.java.vsl
   trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java/template/java/Java_RTC_Impl.java.vsl
   trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java/template/java/classpath.vsl
Log:
Modified Configuration Parameter #3072

Modified: trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java/template/java/Java_RTC.java.vsl
===================================================================
--- trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java/template/java/Java_RTC.java.vsl	2016-03-05 09:42:21 UTC (rev 564)
+++ trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java/template/java/Java_RTC.java.vsl	2016-03-05 09:42:44 UTC (rev 565)
@@ -47,8 +47,13 @@
 #foreach($configParam in ${rtcParam.configParams})  
             "conf.default.${configParam.name}", "${configParam.defaultVal}",
 #end
+
+#foreach($configParam in ${rtcParam.configParams})
+            "conf.default.__${configParam.name}", "${configParam.type}#if( ${configParam.step.length()} > 0 ).${configParam.step}#end",
 #end
+#end
 #if( ${rtcParam.configParams.size()} > 0 )
+
             // Widget
 #foreach($configParam in ${rtcParam.configParams})
 #if( ${configParam.widget.length()} > 0 )

Modified: trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java/template/java/Java_RTC_Impl.java.vsl
===================================================================
--- trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java/template/java/Java_RTC_Impl.java.vsl	2016-03-05 09:42:21 UTC (rev 564)
+++ trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java/template/java/Java_RTC_Impl.java.vsl	2016-03-05 09:42:44 UTC (rev 565)
@@ -17,6 +17,14 @@
  * \$Id$
  */
 
+#if( ${rtcParam.inports.size()} > 0 || ${rtcParam.outports.size()} > 0 )
+import java.lang.reflect.Array;
+import java.lang.reflect.Constructor;
+import java.lang.reflect.Field;
+import java.lang.reflect.InvocationTargetException;
+import java.lang.reflect.Method;
+#end
+
 #foreach($type in ${javaConv.getPortTypes(${rtcParam})})  
 ${javaConv.getDataportPackageName(${type})}
 #end
@@ -90,6 +98,7 @@
         // <rtc-template block="initializer">
 #foreach($port in ${rtcParam.inports})  
         m_${port.tmplVarName}_val = new ${javaConv.getDataTypeName(${port.type})}();
+        initializeParam(m_${port.tmplVarName}_val);
         m_${port.tmplVarName} = new DataRef<${javaConv.getDataTypeName(${port.type})}>(m_${port.tmplVarName}_val);
         m_${port.name}In = new InPort<${javaConv.getDataTypeName(${port.type})}>("${port.name}", m_${port.tmplVarName});
 #end
@@ -624,4 +633,62 @@
 #if(${tmpltHelper.checkContents(${rtcParam.privateOpeSource})})${rtcParam.privateOpeSource}
 #end
 
+#if( ${rtcParam.inports.size()} > 0 || ${rtcParam.outports.size()} > 0 )
+	private void initializeParam(Object target) {
+		Class<?> targetClass = target.getClass();
+		ClassLoader loader = target.getClass().getClassLoader();
+		//
+		Field[] fields = targetClass.getFields();
+		for(Field field : fields) {
+			if(field.getType().isPrimitive()) continue;
+			
+			try {
+				if(field.getType().isArray()) {
+					Object arrayValue = null;
+					Class<?> clazz = null;
+					if(field.getType().getComponentType().isPrimitive()) {
+						clazz = field.getType().getComponentType();
+					} else {
+							clazz = loader.loadClass(field.getType().getComponentType().getName());
+					}
+					arrayValue = Array.newInstance(clazz, 1);
+					if(clazz.isPrimitive()==false) {
+						Object objArray = clazz.newInstance();
+						initializeParam(objArray);
+						Array.set(arrayValue, 0, objArray);
+					}						
+					field.set(target, arrayValue);
+					
+				} else {
+					Constructor<?>[] constList = field.getType().getConstructors();
+					if(constList.length==0) {
+						Method[] methodList = field.getType().getMethods();
+						for(Method method : methodList) {
+							if(method.getName().equals("from_int")==false) continue;
+							Object objFld = method.invoke(target, new Object[]{ new Integer(0) });
+							field.set(target, objFld);
+							break;
+						}
+						
+					} else {
+			            Class<?> classFld = Class.forName(field.getType().getName(), true, loader);
+						Object objFld = classFld.newInstance();
+						initializeParam(objFld);
+						field.set(target, objFld);
+					}
+				}
+			} catch (ClassNotFoundException e) {
+				e.printStackTrace();
+			} catch (InstantiationException e) {
+				e.printStackTrace();
+			} catch (IllegalAccessException e) {
+				e.printStackTrace();
+			} catch (IllegalArgumentException e) {
+				e.printStackTrace();
+			} catch (InvocationTargetException e) {
+				e.printStackTrace();
+			}
+		}
+	}
+#end
 }

Modified: trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java/template/java/classpath.vsl
===================================================================
--- trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java/template/java/classpath.vsl	2016-03-05 09:42:21 UTC (rev 564)
+++ trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java/template/java/classpath.vsl	2016-03-05 09:42:44 UTC (rev 565)
@@ -4,6 +4,7 @@
 	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER"/>
 #if( ${tmpltHelperJava.notNullRTMRoot()} )
 	<classpathentry kind="lib" path="${javaRoot}/jar/OpenRTM-aist-${rtcParam.rtmJavaVersion}.jar"/>
+	<classpathentry kind="lib" path="${javaRoot}/jar/commons-cli-1.1.jar"/>
 #end
 	<classpathentry kind="output" path="bin"/>
 </classpath>
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