[openrtm-commit:02017] r2762 - in branches/FSM4RTC/OpenRTM-aist: . src/ext/sdo src/ext/sdo/extended_fsm src/ext/sdo/extended_fsm/test src/lib/rtm

openrtm ＠ openrtm.org openrtm ＠ openrtm.org
2016年 10月 6日 (木) 15:25:12 JST 

Author: n-ando
Date: 2016-10-06 15:25:12 +0900 (Thu, 06 Oct 2016)
New Revision: 2762

Added:
   branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/extended_fsm/
   branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/extended_fsm/ExtendedFsmService.idl
   branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/extended_fsm/ExtendedFsmServiceProvider.cpp
   branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/extended_fsm/ExtendedFsmServiceProvider.h
   branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/extended_fsm/Makefile.am
   branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/extended_fsm/Makefile.in
   branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/extended_fsm/test/
   branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/extended_fsm/test/test.sh
Modified:
   branches/FSM4RTC/OpenRTM-aist/configure.ac
   branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/Makefile.am
   branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/SdoServiceAdmin.cpp
   branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/SdoServiceProviderBase.h
Log:
[incompat,2.0,FSM4] FSM4RTC ExtendedFsmService initial implementation has been added. refs #3593

Modified: branches/FSM4RTC/OpenRTM-aist/configure.ac
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/configure.ac	2016-10-05 06:33:21 UTC (rev 2761)
+++ branches/FSM4RTC/OpenRTM-aist/configure.ac	2016-10-06 06:25:12 UTC (rev 2762)
@@ -1659,6 +1659,7 @@
 	src/ext/sdo/Makefile
 	src/ext/sdo/observer/Makefile
 	src/ext/sdo/fsm4rtc_observer/Makefile
+	src/ext/sdo/extended_fsm/Makefile
 	src/ext/local_service/Makefile
 	src/ext/local_service/nameservice_file/Makefile
 	utils/Makefile

Modified: branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/Makefile.am
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/Makefile.am	2016-10-05 06:33:21 UTC (rev 2761)
+++ branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/Makefile.am	2016-10-06 06:25:12 UTC (rev 2762)
@@ -7,6 +7,6 @@
 
 AUTOMAKE_OPTIONS = 1.4
 
-SUBDIRS = observer fsm4rtc_observer
+SUBDIRS = observer fsm4rtc_observer extended_fsm
 
 

Added: branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/extended_fsm/ExtendedFsmService.idl
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/extended_fsm/ExtendedFsmService.idl	                        (rev 0)
+++ branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/extended_fsm/ExtendedFsmService.idl	2016-10-06 06:25:12 UTC (rev 2762)
@@ -0,0 +1,37 @@
+#ifndef _EXTENDED_FSM_SERVICE_IDL_
+#define _EXTENDED_FSM_SERVICE_IDL_
+
+#include <RTC.idl>
+
+#pragma prefix "omg.org"
+
+module RTC
+{
+    struct FsmEventProfile
+    {
+        string name;
+        string data_type;
+    };
+    #pragma version FsmEventProfile 1.0
+    typedef sequence<FsmEventProfile> FsmEventProfileList;
+
+    struct FsmStructure
+    {
+        string name;
+        string structure;
+        FsmEventProfileList event_profiles;
+        NVList properties;
+    };
+    #pragma version FsmStructure 1.0
+
+    interface ExtendedFsmService : SDOPackage::SDOService
+    {
+        string get_current_state();
+        ReturnCode_t set_fsm_structure(in FsmStructure fsm_structure);
+        ReturnCode_t get_fsm_structure(out FsmStructure fsm_structure);
+    };
+    #pragma version ExtendedFsmService 1.0
+};
+
+#endif // _EXTENDED_FSM_SERVICE_IDL_
+

Added: branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/extended_fsm/ExtendedFsmServiceProvider.cpp
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/extended_fsm/ExtendedFsmServiceProvider.cpp	                        (rev 0)
+++ branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/extended_fsm/ExtendedFsmServiceProvider.cpp	2016-10-06 06:25:12 UTC (rev 2762)
@@ -0,0 +1,326 @@
+// -*- C++ -*-
+/*!
+ * @file ExtendedFsmServiceProvider.h
+ * @brief Component observer SDO service consumer implementation
+ * @date $Date$
+ * @author Noriaki Ando <n-ando at aist.go.jp>
+ *
+ * Copyright (C) 2016
+ *     Noriaki Ando
+ *     Robot Innovation Research Center,
+ *     National Institute of
+ *         Advanced Industrial Science and Technology (AIST), Japan
+ *     All rights reserved.
+ *
+ * $Id$
+ *
+ */
+
+#include <coil/stringutil.h>
+#include <rtm/Typename.h>
+#include "ExtendedFsmServiceStub.h"
+#include "ExtendedFsmServiceProvider.h"
+#include <iostream>
+
+namespace RTC
+{
+  /*!
+   * @if jp
+   * @brief ctor of ExtendedFsmServiceProvider
+   * @else
+   * @brief ctor of ExtendedFsmServiceProvider
+   * @endif
+   */
+  ExtendedFsmServiceProvider::ExtendedFsmServiceProvider()
+    : m_rtobj(NULL)
+  {
+    std::cout << "ExtendedFsmServiceProvider()" << std::endl;
+
+    // dummy code
+    m_fsmStructure.name = CORBA::string_dup("dummy_name");
+    m_fsmStructure.structure = CORBA::string_dup(
+    "<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.length(1);
+    FsmEventProfile event0;
+    event0.name = CORBA::string_dup("toggle");
+    event0.data_type = CORBA::string_dup("TimedShort");
+    m_fsmStructure.event_profiles[0] = event0;
+    NVUtil::appendStringValue(m_fsmStructure.properties,
+                              "fsm_structure.format",
+                              "scxml");
+    std::cout << m_fsmStructure.structure << std::endl;
+  }
+
+  /*!
+   * @if jp
+   * @brief dtor
+   * @else
+   * @brief dtor
+   * @endif
+   */
+  ExtendedFsmServiceProvider::~ExtendedFsmServiceProvider()
+  {
+  }
+
+  /*!
+   * @if jp
+   * @brief ‰Šú‰»
+   * @else
+   * @brief Initialization
+   * @endif
+   */
+  bool
+  ExtendedFsmServiceProvider::init(RTObject_impl& rtobj,
+                                  const SDOPackage::ServiceProfile& profile)
+  {
+    m_rtobj = &rtobj;
+    m_profile = profile;
+    //    coil::Properties prop;
+    //    NVUtil::copyToProperties(prop, profile.properties);
+    return true;
+  }
+
+  /*!
+   * @if jp
+   * @brief Ä‰Šú‰»
+   * @else
+   * @brief Re-initialization
+   * @endif
+   */
+  bool
+  ExtendedFsmServiceProvider::reinit(const SDOPackage::ServiceProfile& profile)
+  {
+    m_profile= profile;
+    //    coil::Properties prop;
+    //    NVUtil::copyToProperties(prop, profile.properties);
+    return true;
+  }
+
+  /*!
+   * @if jp
+   * @brief ServiceProfile ‚ðŽæ“¾‚·‚é
+   * @else
+   * @brief getting ServiceProfile
+   * @endif
+   */
+  const SDOPackage::ServiceProfile&
+  ExtendedFsmServiceProvider::getProfile() const
+  {
+    return m_profile;
+  }
+
+  /*!
+   * @if jp
+   * @brief I—¹ˆ—
+   * @else
+   * @brief Finalization
+   * @endif
+   */
+  void ExtendedFsmServiceProvider::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);
+  //============================================================
+
+  /*!
+   * @if jp
+   * @brief FSM‚ÌŒ»Ý‚̏ó‘Ô‚ðŽæ“¾
+   * @else
+   * @brief Get Current FSM State
+   * @endif
+   */
+  char* ExtendedFsmServiceProvider::get_current_state()
+  {
+    return CORBA::string_dup(m_fsmState.c_str());
+  }
+
+  /*!
+   * @if jp
+   * @brief FSM‚̍\‘¢‚ðÝ’è‚·‚é
+   * @else
+   * @brief Set FSM Structure
+   * @endif
+   */
+  ReturnCode_t ExtendedFsmServiceProvider::
+  set_fsm_structure(const ::RTC::FsmStructure& fsm_structure)
+  {
+    m_fsmStructure = fsm_structure; 
+    return RTC::RTC_OK;
+  }
+
+
+  /*!
+   * @if jp
+   * @brief FSM‚̍\‘¢‚ðŽæ“¾‚·‚é
+   * @else
+   * @brief Set FSM Structure
+   * @endif
+   */
+  ReturnCode_t ExtendedFsmServiceProvider::
+  get_fsm_structure(::RTC::FsmStructure_out fsm_structure)
+  {
+    fsm_structure = new FsmStructure(m_fsmStructure);
+    return RTC::RTC_OK;
+  }
+
+
+  //============================================================
+  // protected functions
+
+  /*!
+   * @if jp
+   * @brief RTObject‚ւ̃ŠƒXƒiÚ‘±ˆ—
+   * @else
+   * @brief Connectiong listeners to RTObject
+   * @endif
+   */
+  void ExtendedFsmServiceProvider::setListeners(coil::Properties& prop)
+  {
+  }
+
+  //============================================================
+  // RTC Heartbeat related functions
+
+  /*!
+   * @if jp
+   * @brief ƒn[ƒgƒr[ƒg‚ðƒIƒuƒU[ƒo‚É“`‚¦‚é
+   * @else
+   * @brief Sending a heartbeart signal to observer
+   * @endif
+   */
+  void ExtendedFsmServiceProvider::changeStatus(std::string state)
+  {
+    m_fsmState = state;
+  }
+
+  /*!
+   * @if jp
+   * @brief ƒn[ƒgƒr[ƒg‚ðƒIƒuƒU[ƒo‚É“`‚¦‚é
+   * @else
+   * @brief Sending a heartbeart signal to observer
+   * @endif
+   */
+  void ExtendedFsmServiceProvider::changeStructure(std::string fsm_structure)
+  {
+    m_fsmStructure.structure = fsm_structure.c_str();
+  }
+
+  //============================================================
+  // FSM status related functions
+  /*!
+   * @if jp
+   * @brief RTCó‘ԕω»ƒŠƒXƒi‚̐ݒ菈—
+   * @else
+   * @brief Setting RTC status listeners
+   * @endif
+   */
+  void ExtendedFsmServiceProvider::setFSMStatusListeners()
+  {
+    // TODO: here should be inmplemented after FSM API defined.
+  }
+  
+  /*!
+   * @if jp
+   * @brief RTCó‘ԕω»ƒŠƒXƒi‚Ì‰ðœˆ—
+   * @else
+   * @brief Unsetting RTC status listeners
+   * @endif
+   */
+  void ExtendedFsmServiceProvider::unsetFSMStatusListeners()
+  {
+    // TODO: here should be inmplemented after FSM API defined.
+  }
+
+  //============================================================
+  // FsmProfile related functions
+  /*!
+   * @if jp
+   * @brief FsmProfileó‘ԕω»ƒŠƒXƒi‚̐ݒè
+   * @else
+   * @brief Setting FsmProfile listener
+   * @endif
+   */
+  void ExtendedFsmServiceProvider::setFSMProfileListeners()
+  {
+  }
+
+  /*!
+   * @if jp
+   * @brief FsmProfileó‘ԕω»ƒŠƒXƒi‚̉ðœ
+   * @else
+   * @brief Unsetting FsmProfile listener
+   * @endif
+   */
+  void ExtendedFsmServiceProvider::unsetFSMProfileListeners()
+  {
+  }
+
+  //============================================================
+  // FsmStructure related functions
+  /*!
+   * @if jp
+   * @brief FsmStructureó‘ԕω»ƒŠƒXƒi‚̐ݒè
+   * @else
+   * @brief Setting FsmStructure listener
+   * @endif
+   */
+  void ExtendedFsmServiceProvider::setFSMStructureListeners()
+  {
+  }
+
+  /*!
+   * @if jp
+   * @brief FsmStructureó‘ԕω»ƒŠƒXƒi‚̉ðœ
+   * @else
+   * @brief Unsetting FsmStructure listener
+   * @endif
+   */
+  void ExtendedFsmServiceProvider::unsetFSMStructureListeners()
+  {
+  }
+
+}; // namespace RTC
+
+extern "C"
+{
+  void ExtendedFsmServiceProviderInit()
+  {
+    RTC::SdoServiceProviderFactory& factory
+      = RTC::SdoServiceProviderFactory::instance();
+#ifndef ORB_IS_RTORB
+    factory.addFactory(CORBA_Util::toRepositoryId<RTC::ExtendedFsmService>(),
+#else
+    factory.addFactory(CORBA_Util::
+                       toRepositoryIdOfObject<RTC::ExtendedFsmService>(),
+#endif
+                       ::coil::Creator< ::RTC::SdoServiceProviderBase,
+                       ::RTC::ExtendedFsmServiceProvider>,
+                       ::coil::Destructor< ::RTC::SdoServiceProviderBase,
+                       ::RTC::ExtendedFsmServiceProvider>);
+                       std::cout << "Init()" << std::endl;
+  }
+};


Property changes on: branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/extended_fsm/ExtendedFsmServiceProvider.cpp
___________________________________________________________________
Added: svn:executable
   + *

Added: branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/extended_fsm/ExtendedFsmServiceProvider.h
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/extended_fsm/ExtendedFsmServiceProvider.h	                        (rev 0)
+++ branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/extended_fsm/ExtendedFsmServiceProvider.h	2016-10-06 06:25:12 UTC (rev 2762)
@@ -0,0 +1,310 @@
+// -*- C++ -*-
+/*!
+ * @file ExtendedFsmServiceProvider.h
+ * @brief Component observer SDO service consumer implementation
+ * @date $Date$
+ * @author Noriaki Ando <n-ando at aist.go.jp>
+ *
+ * Copyright (C) 2016
+ *     Noriaki Ando
+ *     Intelligent Systems Research Institute,
+ *     National Institute of
+ *         Advanced Industrial Science and Technology (AIST), Japan
+ *     All rights reserved.
+ *
+ * $Id$
+ *
+ */
+
+
+#ifndef RTC_EXTENDEDFSMSERVICEPROVIDER_H
+#define RTC_EXTENDEDFSMSERVICEPROVIDER_H
+
+#include <coil/Mutex.h>
+#include <coil/Factory.h>
+#include <coil/stringutil.h>
+#include <rtm/SdoServiceProviderBase.h>
+#include <rtm/ComponentActionListener.h>
+#include <rtm/idl/SDOPackageStub.h>
+#include "ExtendedFsmServiceSkel.h"
+
+namespace RTC
+{
+
+  /*!
+   * @if jp
+   * @else
+   * @endif
+   */
+  class ExtendedFsmServiceProvider
+    : public virtual POA_RTC::ExtendedFsmService,
+      public SdoServiceProviderBase
+  {
+  public:
+    /*!
+     * @if jp
+     * @brief ctor of ExtendedFsmServiceProvider
+     * @else
+     * @brief ctor of ExtendedFsmServiceProvider
+     * @endif
+     */
+    ExtendedFsmServiceProvider();
+
+    /*!
+     * @if jp
+     * @brief dtor
+     * @else
+     * @brief dtor
+     * @endif
+     */
+    virtual ~ExtendedFsmServiceProvider();
+
+    /*!
+     * @if jp
+     * @brief ‰Šú‰»
+     * @else
+     * @brief Initialization
+     * @endif
+     */
+    virtual bool init(RTObject_impl& rtobj,
+                      const SDOPackage::ServiceProfile& profile);
+
+    /*!
+     * @if jp
+     * @brief Ä‰Šú‰»
+     * @else
+     * @brief Re-initialization
+     * @endif
+     */
+    virtual bool reinit(const SDOPackage::ServiceProfile& profile);
+
+    /*!
+     * @if jp
+     * @brief ServiceProfile ‚ðŽæ“¾‚·‚é
+     * @else
+     * @brief getting ServiceProfile
+     * @endif
+     */
+    virtual const SDOPackage::ServiceProfile& getProfile() const;
+    
+    /*!
+     * @if jp
+     * @brief I—¹ˆ—
+     * @else
+     * @brief Finalization
+     * @endif
+     */
+    virtual 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);
+    //============================================================
+
+    /*!
+     * @if jp
+     * @brief FSM‚ÌŒ»Ý‚̏ó‘Ô‚ðŽæ“¾
+     *
+     * ‚±‚̃IƒyƒŒ[ƒVƒ‡ƒ“‚ÍFSMƒRƒ“ƒ|[ƒlƒ“ƒg‚ÌFSM‚ÌŒ»Ý‚̏ó‘Ô‚ð•Ô‚·B
+     * (FSM4RTC spec. p.20)
+     *
+     * @return Œ»Ý‚̏ó‘Ô‚ð•\‚·•¶Žš—ñ
+     *
+     * @else
+     * @brief Get Current FSM State
+     *
+     * This operation returns the current state of an FSM in the
+     * target FSM component. (FSM4RTC spec. p.20)
+     *
+     * @return A string which represent the current status
+     *
+     * @endif
+     */
+    virtual char* get_current_state();
+    /*!
+     * @if jp
+     * @brief FSM‚̍\‘¢‚ðÝ’è‚·‚é
+     *
+     * ‚±‚̃IƒyƒŒ[ƒVƒ‡ƒ“‚͑Ώۂ̃Rƒ“ƒ|[ƒlƒ“ƒg‚ɑ΂µ‚āAFSM‚̍\‘¢‚ð•Û
+     * Ž‚·‚é FsmStruccture ‚ðÝ’è‚·‚éB‘ΏۃRƒ“ƒ|[ƒlƒ“ƒg‚Í
+     * fsm_structure ‚É—^‚¦‚ç‚ꂽ’l‚ðŠî‚ɏó‘Ô‘JˆÚƒ‹[ƒ‹“™‚ÌFSM\‘¢‚ðÄ
+     * Ý’è‚·‚éB‚±‚̃IƒyƒŒ[ƒVƒ‡ƒ“‚ª–¢ŽÀ‘•‚̏ꍇ‚́AUNSUPPORTED ‚ð•Ô‚·B
+     *
+     * @param fsm_structure FSM‚̍\‘¢‚ð•\‚·FsmStructure\‘¢‘́B
+     * @return RTC_OK ³íI—¹
+     *         RTC_ERROR ‚»‚Ì‘¼‚̃Gƒ‰[
+     *         BAD_PARAMETER •s³‚ȃpƒ‰ƒ[ƒ^
+     *         UNSUPPORTED –¢ƒTƒ|[ƒg
+     *
+     * @else
+     * @brief Set FSM Structure
+     *
+     * 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 FsmStructure structure which represents
+     *        FSM structure
+     * @return RTC_OK normal return
+     *         RTC_ERROR other error
+     *         BAD_PARAMETER invalid parameter
+     *         UNSUPPORTED unsupported or not implemented
+     *
+     * @endif
+     */
+    virtual ReturnCode_t
+    set_fsm_structure(const ::RTC::FsmStructure& fsm_structure);
+    /*!
+     * @if jp
+     * @brief FSM‚̍\‘¢‚ðŽæ“¾‚·‚é
+     *
+     * ‚±‚̃IƒyƒŒ[ƒVƒ‡ƒ“‚͑Ώۂ̃Rƒ“ƒ|[ƒlƒ“ƒg‚ɑ΂µ‚āAŒ»Ý•ÛŽ‚µ‚Ä‚¢
+     * ‚éFSM‚̍\‘¢‚ðŽæ“¾‚·‚éBExtendedFsmService \‘¢‘̂̓tƒB[ƒ‹ƒh
+     * name (FSM‚Ì–¼Ì), structure (FSM‚̍\‘¢) AEventProfile ‚È‚Ç‚ð•Ô
+     * ‚·Bstructure ‚̃tƒH[ƒ}ƒbƒg‚́AƒtƒB[ƒ‹ƒh properties “à‚ÉŠi”[‚³
+     * ‚ꂽƒL[ "fsm_structure.format" ‚ÉŽw’肳‚ê‚éB‚±‚̃IƒyƒŒ[ƒVƒ‡ƒ“
+     * ‚ª–¢ŽÀ‘•‚̏ꍇ‚́AUNSUPPORTED ‚ð•Ô‚·B
+     *
+     * ref: SCXML https://www.w3.org/TR/scxml/
+     *
+     * @param fsm_structure FSM‚̍\‘¢‚ð•\‚·FsmStructure\‘¢‘́B
+     * @return RTC_OK ³íI—¹
+     *         RTC_ERROR ‚»‚Ì‘¼‚̃Gƒ‰[
+     *         BAD_PARAMETER •s³‚ȃpƒ‰ƒ[ƒ^
+     *         UNSUPPORTED –¢ƒTƒ|[ƒg
+     *
+     * @else
+     * @brief Set FSM Structure
+     *
+     * 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 FsmStructure structure which represents
+     *        FSM structure
+     * @return RTC_OK normal return
+     *         RTC_ERROR other error
+     *         BAD_PARAMETER invalid parameter
+     *         UNSUPPORTED unsupported or not implemented
+     *
+     * @endif
+     */
+    virtual ReturnCode_t
+    get_fsm_structure(::RTC::FsmStructure_out fsm_structure);
+
+    
+
+  protected:
+    /*!
+     * @if jp
+     * @brief RTObject‚ւ̃ŠƒXƒiÚ‘±ˆ—
+     * @else
+     * @brief Connectiong listeners to RTObject
+     * @endif
+     */
+    void setListeners(coil::Properties& prop);
+
+    /*!
+     * @if jp
+     * @brief FSMó‘Ô‘JˆÚ
+     * @else
+     * @brief FSM status change
+     * @endif
+     */
+    void changeStatus(std::string state);
+
+    /*!
+     * @if jp
+     * @brief ƒn[ƒgƒr[ƒg‚ð‰ðœ‚·‚é
+     * @else
+     * @brief Unsetting heartbeat
+     * @endif
+     */
+    void changeStructure(std::string fsm_structure);
+
+    //============================================================
+    // FSM status related functions
+    /*!
+     * @if jp
+     * @brief FSMó‘ԕω»ƒŠƒXƒi‚̐ݒ菈—
+     * @else
+     * @brief Setting FSM status listeners
+     * @endif
+     */
+    void setFSMStatusListeners();
+
+    /*!
+     * @if jp
+     * @brief FSMó‘ԕω»ƒŠƒXƒi‚Ì‰ðœˆ—
+     * @else
+     * @brief Unsetting FSM status listeners
+     * @endif
+     */
+    void unsetFSMStatusListeners();
+
+    //============================================================
+    // FsmProfile related functions
+    /*!
+     * @if jp
+     * @brief FsmProfileó‘ԕω»ƒŠƒXƒi‚̐ݒè
+     * @else
+     * @brief Setting FsmProfile listener
+     * @endif
+     */
+    void setFSMProfileListeners();
+
+    /*!
+     * @if jp
+     * @brief FsmProfileó‘ԕω»ƒŠƒXƒi‚̉ðœ
+     * @else
+     * @brief Unsetting FsmProfile listener
+     * @endif
+     */
+    void unsetFSMProfileListeners();
+
+    //============================================================
+    // FsmStructure related functions
+    /*!
+     * @if jp
+     * @brief FsmStructureó‘ԕω»ƒŠƒXƒi‚̐ݒè
+     * @else
+     * @brief Setting FsmStructure listener
+     * @endif
+     */
+    void setFSMStructureListeners();
+
+    /*!
+     * @if jp
+     * @brief FsmStructureó‘ԕω»ƒŠƒXƒi‚̉ðœ
+     * @else
+     * @brief Unsetting FsmStructure listener
+     * @endif
+     */
+    void unsetFSMStructureListeners();
+
+  private:
+    RTC::RTObject_impl* m_rtobj;
+    SDOPackage::ServiceProfile m_profile;
+    coil::Properties m_properties;
+    FsmStructure m_fsmStructure;
+    std::string m_fsmState;
+
+  };
+
+}; // namespace RTC
+
+extern "C"
+{
+  DLL_EXPORT void ExtendedFsmServiceProviderInit();
+};
+
+#endif // RTC_EXTENDEDFSMSERVICEPROVIDER_H
+
+


Property changes on: branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/extended_fsm/ExtendedFsmServiceProvider.h
___________________________________________________________________
Added: svn:executable
   + *

Added: branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/extended_fsm/Makefile.am
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/extended_fsm/Makefile.am	                        (rev 0)
+++ branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/extended_fsm/Makefile.am	2016-10-06 06:25:12 UTC (rev 2762)
@@ -0,0 +1,199 @@
+## -*- Makefile -*-
+##---------------------------------------------------------------------------
+## Makefile.am for ExtendedFsmService implementation
+##
+## $Id$
+##---------------------------------------------------------------------------
+
+AUTOMAKE_OPTIONS = 1.9
+
+IDLC = @IDLC@
+IDLFLAGS = @IDL_FLAGS@ -I../$(top_srcdir)/src/lib/rtm/idl
+LIBS = @LIBS@
+
+AM_CPPFLAGS=-I$(top_srcdir)/src/lib -I$(top_srcdir)/src/lib/coil/include -I$(top_srcdir)/src/lib/rtm/idl
+AM_LDFLAGS=-L$(top_builddir) -L$(top_builddir)/src/lib/rtm -L$(top_builddir)/src/lib/rtm/idl
+
+#------------------------------------------------------------
+# Some rules for IDL compile
+#------------------------------------------------------------
+SUFFIXES = .o .so .idl Skel.cpp Stub.cpp Stub.o Skel.o
+
+WRAPPER  = $(top_builddir)/utils/rtm-skelwrapper/rtm-skelwrapper
+WRAPPER_FLAGS = --include-dir="" --skel-suffix=Skel --stub-suffix=Stub
+
+idl-stamp: $(IDL_SOURCES)
+	@touch idl-stamp
+	mkdir -p idl
+	(cd $(top_builddir)/utils/rtm-config; $(MAKE))
+	@for f in $(IDL_SOURCES) ; do \
+		cp $$f idl/ ; \
+		(cd idl ; $(IDLC) $(IDLFLAGS) $$f ; cd ..) ; \
+		PYTHONPATH="$(top_srcdir)/build:$(PYTHONPATH)" \
+		PATH="$(top_srcdir)/utils/rtm-config:$(PATH)"  \
+		$(WRAPPER) $(WRAPPER_FLAGS) --idl-file=$$f --include-dir=idl/ ; \
+	done ;
+
+$(ALL_SRC): idl-stamp
+	@if test -f $@ ; then \
+		touch $@ ; \
+	else \
+		rm -f idl-stamp ; \
+		$(MAKE) $(AM_MAKEFLAGS) idl-stamp ; \
+	fi ;
+
+#------------------------------------------------------------
+# Source list
+#------------------------------------------------------------
+IDL_SOURCES = ExtendedFsmService.idl
+
+EXT_FSM_SVC_DIST_SRC   = ExtendedFsmServiceProvider.cpp
+EXT_FSM_SVC_NODIST_SRC = $(IDL_SOURCES:.idl=Stub.cpp)
+EXT_FSM_SVC_NDWIN_SRC   = $(IDL_SOURCES:.idl=Stub.cpp)
+EXT_FSM_SVC_SRC        = $(EXT_FSM_SVC_DIST_SRC) $(EXT_FSM_SVC_NODIST_SRC)
+EXT_FSM_SVC_WIN_SRC     = $(EXT_FSM_SVC_DIST_SRC) $(EXT_FSM_SVC_NDWIN_SRC)
+
+EXT_FSM_SVC_DIST_H     = $(EXT_FSM_SVC_DIST_SRC:.cpp=.h)
+EXT_FSM_SVC_NODIST_H   = $(EXT_FSM_SVC_NODIST_SRC:.cpp=.h)
+EXT_FSM_SVC_NODWIN_H    = $(EXT_FSM_SVC_NODWIN_SRC:.cpp=.h)
+EXT_FSM_SVC_H          = $(EXT_FSM_SVC_DIST_H) $(EXT_FSM_SVC_NODIST_H)
+EXT_FSM_SVC_WIN_H       = $(EXT_FSM_SVC_DIST_H) $(EXT_FSM_SVC_NOWIN__H)
+
+#------------------------------------------------------------
+# Object list
+#------------------------------------------------------------
+EXT_FSM_SVC_OBJ=$(EXT_FSM_SVC_DIST_SRC:.cpp=.o)
+
+#------------------------------------------------------------
+# Targets
+#------------------------------------------------------------
+# Targets directories
+socompdir = $(rtm_sdodir)
+
+# Loadable Module
+noinst_LTLIBRARIES = libExtendedFsmServiceStub.la
+nodist_libExtendedFsmServiceStub_la_SOURCES =  $(IDL_SOURCES:.idl=Stub.cpp)
+
+socomp_LTLIBRARIES = ExtendedFsmServiceProvider.la
+
+dist_ExtendedFsmServiceProvider_la_SOURCES = \
+	$(EXT_FSM_SVC_DIST_SRC) $(EXT_FSM_SVC_DIST_H)
+ExtendedFsmServiceProvider_la_LDFLAGS = -module
+ExtendedFsmServiceProvider_la_DEPENDENCIES = libExtendedFsmServiceStub.la
+ExtendedFsmServiceProvider_la_LIBADD  =                \
+	libExtendedFsmServiceStub.la                   \
+	$(top_builddir)/src/lib/rtm/libRTC.la         \
+	$(top_builddir)/src/lib/coil/lib/libcoil.la
+
+#------------------------------------------------------------
+# Extra distributed files
+#------------------------------------------------------------
+EXTRA_DIST = $(IDL_SOURCES)
+
+ALL_SRC = $(EXT_FSM_SVC_SRC)
+
+#------------------------------------------------------------
+# File list for deb/ports packages
+#------------------------------------------------------------
+lst:
+	echo $(ALL_SRC) > src.lst
+	echo $(EXTRA_DIST) > other.lst
+
+#------------------------------------------------------------
+# Visual Studio Project
+#------------------------------------------------------------
+win32_builddir=$(top_builddir)/win32/OpenRTM-aist/ext/sdo/extended_fsm
+PROJNAME=ExtendedFsmServiceProvider
+
+vcproj: vc8proj vc9proj vc10proj vc11proj vc12proj vc14proj
+
+vc8proj: 
+	$(top_builddir)/build/vcprojtool.py vcproj             \
+		--type DLL                                         \
+		--vcversion "8.00"                                 \
+		--projectname "$(PROJNAME)"                        \
+		--version $(RTM_VERSION)                           \
+		--out $(win32_builddir)/$(PROJNAME)Dll_vc8.vcproj  \
+		--yaml $(top_builddir)/examples/rtcdll.vcproj.yaml \
+		--source $(EXT_FSM_SVC_WIN_SRC)                    \
+		--header $(EXT_FSM_SVC_WIN_H)
+	qkc -O- -sm $(win32_builddir)/$(PROJNAME)Dll_vc8.vcproj
+
+vc9proj:
+	$(top_builddir)/build/vcprojtool.py vcproj             \
+		--type DLL                                         \
+		--vcversion "9.00"                                 \
+		--projectname "$(PROJNAME)"                        \
+		--version $(RTM_VERSION)                           \
+		--out $(win32_builddir)/$(PROJNAME)Dll_vc9.vcproj  \
+		--yaml $(top_builddir)/examples/rtcdll.vcproj.yaml \
+		--source $(EXT_FSM_SVC_WIN_SRC)                    \
+		--header $(EXT_FSM_SVC_WIN_H)
+	qkc -O- -sm $(win32_builddir)/$(PROJNAME)Dll_vc9.vcproj
+
+vc10proj:
+	$(top_builddir)/build/vcxprojtool.py vcxproj            \
+		--type DLL                                          \
+		--vcversion "10.00"                                 \
+		--projectname "$(PROJNAME)"                         \
+		--version $(RTM_VERSION)                            \
+		--out $(win32_builddir)/$(PROJNAME)Dll_vc10.vcxproj \
+		--yaml $(top_builddir)/examples/rtcdll.vcproj.yaml  \
+		--source $(EXT_FSM_SVC_WIN_SRC)                     \
+		--header $(EXT_FSM_SVC_WIN_H)
+	qkc -O- -sm $(win32_builddir)/$(PROJNAME)Dll_vc10.vcxproj
+
+vc11proj:
+	$(top_builddir)/build/vcxprojtool.py vcxproj            \
+		--type DLL                                          \
+		--vcversion "11.00"                                 \
+		--projectname "$(PROJNAME)"                         \
+		--version $(RTM_VERSION)                            \
+		--out $(win32_builddir)/$(PROJNAME)Dll_vc11.vcxproj \
+		--yaml $(top_builddir)/examples/rtcdll.vcproj.yaml  \
+		--source $(EXT_FSM_SVC_WIN_SRC)                     \
+		--header $(EXT_FSM_SVC_WIN_H)
+	qkc -O- -sm $(win32_builddir)/$(PROJNAME)Dll_vc11.vcxproj
+
+vc12proj:
+	$(top_builddir)/build/vcxprojtool.py vcxproj            \
+		--type DLL                                          \
+		--vcversion "12.00"                                 \
+		--projectname "$(PROJNAME)"                         \
+		--version $(RTM_VERSION)                            \
+		--out $(win32_builddir)/$(PROJNAME)Dll_vc12.vcxproj \
+		--yaml $(top_builddir)/examples/rtcdll.vcproj.yaml  \
+		--source $(EXT_FSM_SVC_WIN_SRC)                     \
+		--header $(EXT_FSM_SVC_WIN_H)
+	qkc -O- -sm $(win32_builddir)/$(PROJNAME)Dll_vc12.vcxproj
+
+vc14proj:
+	$(top_builddir)/build/vcxprojtool.py vcxproj            \
+		--type DLL                                          \
+		--vcversion "14.00"                                 \
+		--projectname "$(PROJNAME)"                         \
+		--version $(RTM_VERSION)                            \
+		--out $(win32_builddir)/$(PROJNAME)Dll_vc14.vcxproj \
+		--yaml $(top_builddir)/examples/rtcdll.vcproj.yaml  \
+		--source $(EXT_FSM_SVC_WIN_SRC)                     \
+		--header $(EXT_FSM_SVC_WIN_H)
+	qkc -O- -sm $(win32_builddir)/$(PROJNAME)Dll_vc14.vcxproj
+	
+dist-hook: lst vcproj
+
+
+clean_objs:
+	rm -f $(OBJS)
+
+clean_skelstub:
+	rm -f *Skel.h *Skel.cpp
+	rm -f *Stub.h *Stub.cpp
+	rm -rf idl
+	rm -f *.hh *SK.cc
+	rm -f *C.cpp *C.h *S.cpp *S.h *_T.cpp *_T.h *.inl
+
+clean-local: clean_objs clean_skelstub
+	rm -f *.bak *.rpo *.sym lib*.*_pure_*
+	rm -f *.lst *core *~ *loT *.log
+	rm -f Makefile.old
+	rm -rf idl-stamp


Property changes on: branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/extended_fsm/Makefile.am
___________________________________________________________________
Added: svn:executable
   + *

Added: branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/extended_fsm/Makefile.in
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/extended_fsm/Makefile.in	                        (rev 0)
+++ branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/extended_fsm/Makefile.in	2016-10-06 06:25:12 UTC (rev 2762)
@@ -0,0 +1,900 @@
+# Makefile.in generated by automake 1.14.1 from Makefile.am.
+# @configure_input@
+
+# Copyright (C) 1994-2013 Free Software Foundation, Inc.
+
+# This Makefile.in is free software; the Free Software Foundation
+# gives unlimited permission to copy and/or distribute it,
+# with or without modifications, as long as this notice is preserved.
+
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY, to the extent permitted by law; without
+# even the implied warranty of MERCHANTABILITY or FITNESS FOR A
+# PARTICULAR PURPOSE.
+
+ at SET_MAKE@
+
+VPATH = @srcdir@
+am__is_gnu_make = test -n '$(MAKEFILE_LIST)' && test -n '$(MAKELEVEL)'
+am__make_running_with_option = \
+  case $${target_option-} in \
+      ?) ;; \
+      *) echo "am__make_running_with_option: internal error: invalid" \
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+         exit 1;; \
+  esac; \
+  has_opt=no; \
+  sane_makeflags=$$MAKEFLAGS; \
+  if $(am__is_gnu_make); then \
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+          | sed "s/$$bs$$bs[$$bs $$bs	]*//g"`;; \
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+  strip_trailopt () \
+  { \
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+         $(am__cd) "$$dir" && rm -f $$files; }; \
+  }
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+am__objects_2 =
+am__objects_3 = $(am__objects_2)
+dist_ExtendedFsmServiceProvider_la_OBJECTS = $(am__objects_1) \
+	$(am__objects_3)
+ExtendedFsmServiceProvider_la_OBJECTS =  \
+	$(dist_ExtendedFsmServiceProvider_la_OBJECTS)
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+am__v_lt_0 = --silent
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+ExtendedFsmServiceProvider_la_LINK = $(LIBTOOL) $(AM_V_lt) --tag=CXX \
+	$(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) --mode=link $(CXXLD) \
+	$(AM_CXXFLAGS) $(CXXFLAGS) \
+	$(ExtendedFsmServiceProvider_la_LDFLAGS) $(LDFLAGS) -o $@
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+am__objects_4 = ExtendedFsmServiceStub.lo
+nodist_libExtendedFsmServiceStub_la_OBJECTS = $(am__objects_4)
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+	$(nodist_libExtendedFsmServiceStub_la_OBJECTS)
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+	$(nodist_libExtendedFsmServiceStub_la_SOURCES)
+DIST_SOURCES = $(dist_ExtendedFsmServiceProvider_la_SOURCES)
+am__can_run_installinfo = \
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+AM_LDFLAGS = -L$(top_builddir) -L$(top_builddir)/src/lib/rtm -L$(top_builddir)/src/lib/rtm/idl
+
+#------------------------------------------------------------
+# Some rules for IDL compile
+#------------------------------------------------------------
+SUFFIXES = .o .so .idl Skel.cpp Stub.cpp Stub.o Skel.o
+WRAPPER = $(top_builddir)/utils/rtm-skelwrapper/rtm-skelwrapper
+WRAPPER_FLAGS = --include-dir="" --skel-suffix=Skel --stub-suffix=Stub
+
+#------------------------------------------------------------
+# Source list
+#------------------------------------------------------------
+IDL_SOURCES = ExtendedFsmService.idl
+EXT_FSM_SVC_DIST_SRC = ExtendedFsmServiceProvider.cpp
+EXT_FSM_SVC_NODIST_SRC = $(IDL_SOURCES:.idl=Stub.cpp)
+EXT_FSM_SVC_NDWIN_SRC = $(IDL_SOURCES:.idl=Stub.cpp)
+EXT_FSM_SVC_SRC = $(EXT_FSM_SVC_DIST_SRC) $(EXT_FSM_SVC_NODIST_SRC)
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+EXT_FSM_SVC_DIST_H = $(EXT_FSM_SVC_DIST_SRC:.cpp=.h)
+EXT_FSM_SVC_NODIST_H = $(EXT_FSM_SVC_NODIST_SRC:.cpp=.h)
+EXT_FSM_SVC_NODWIN_H = $(EXT_FSM_SVC_NODWIN_SRC:.cpp=.h)
+EXT_FSM_SVC_H = $(EXT_FSM_SVC_DIST_H) $(EXT_FSM_SVC_NODIST_H)
+EXT_FSM_SVC_WIN_H = $(EXT_FSM_SVC_DIST_H) $(EXT_FSM_SVC_NOWIN__H)
+
+#------------------------------------------------------------
+# Object list
+#------------------------------------------------------------
+EXT_FSM_SVC_OBJ = $(EXT_FSM_SVC_DIST_SRC:.cpp=.o)
+
+#------------------------------------------------------------
+# Targets
+#------------------------------------------------------------
+# Targets directories
+socompdir = $(rtm_sdodir)
+
+# Loadable Module
+noinst_LTLIBRARIES = libExtendedFsmServiceStub.la
+nodist_libExtendedFsmServiceStub_la_SOURCES = $(IDL_SOURCES:.idl=Stub.cpp)
+socomp_LTLIBRARIES = ExtendedFsmServiceProvider.la
+dist_ExtendedFsmServiceProvider_la_SOURCES = \
+	$(EXT_FSM_SVC_DIST_SRC) $(EXT_FSM_SVC_DIST_H)
+
+ExtendedFsmServiceProvider_la_LDFLAGS = -module
+ExtendedFsmServiceProvider_la_DEPENDENCIES = libExtendedFsmServiceStub.la
+ExtendedFsmServiceProvider_la_LIBADD = \
+	libExtendedFsmServiceStub.la                   \
+	$(top_builddir)/src/lib/rtm/libRTC.la         \
+	$(top_builddir)/src/lib/coil/lib/libcoil.la
+
+
+#------------------------------------------------------------
+# Extra distributed files
+#------------------------------------------------------------
+EXTRA_DIST = $(IDL_SOURCES)
+ALL_SRC = $(EXT_FSM_SVC_SRC)
+
+#------------------------------------------------------------
+# Visual Studio Project
+#------------------------------------------------------------
+win32_builddir = $(top_builddir)/win32/OpenRTM-aist/ext/sdo/extended_fsm
+PROJNAME = ExtendedFsmServiceProvider
+all: all-am
+
+.SUFFIXES:
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+	test -z "$$locs" || { \
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+install-socompLTLIBRARIES: $(socomp_LTLIBRARIES)
+	@$(NORMAL_INSTALL)
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+	  $(LIBTOOL) $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) --mode=install $(INSTALL) $(INSTALL_STRIP_FLAG) $$list2 "$(DESTDIR)$(socompdir)"; \
+	}
+
+uninstall-socompLTLIBRARIES:
+	@$(NORMAL_UNINSTALL)
+	@list='$(socomp_LTLIBRARIES)'; test -n "$(socompdir)" || list=; \
+	for p in $$list; do \
+	  $(am__strip_dir) \
+	  echo " $(LIBTOOL) $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) --mode=uninstall rm -f '$(DESTDIR)$(socompdir)/$$f'"; \
+	  $(LIBTOOL) $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) --mode=uninstall rm -f "$(DESTDIR)$(socompdir)/$$f"; \
+	done
+
+clean-socompLTLIBRARIES:
+	-test -z "$(socomp_LTLIBRARIES)" || rm -f $(socomp_LTLIBRARIES)
+	@list='$(socomp_LTLIBRARIES)'; \
+	locs=`for p in $$list; do echo $$p; done | \
+	      sed 's|^[^/]*$$|.|; s|/[^/]*$$||; s|$$|/so_locations|' | \
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+	test -z "$$locs" || { \
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+	$(AM_V_CXXLD)$(ExtendedFsmServiceProvider_la_LINK) -rpath $(socompdir) $(ExtendedFsmServiceProvider_la_OBJECTS) $(ExtendedFsmServiceProvider_la_LIBADD) $(LIBS)
+
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+	$(AM_V_CXXLD)$(CXXLINK)  $(libExtendedFsmServiceStub_la_OBJECTS) $(libExtendedFsmServiceStub_la_LIBADD) $(LIBS)
+
+mostlyclean-compile:
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+
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+html: html-am
+
+html-am:
+
+info: info-am
+
+info-am:
+
+install-data-am: install-socompLTLIBRARIES
+
+install-dvi: install-dvi-am
+
+install-dvi-am:
+
+install-exec-am:
+
+install-html: install-html-am
+
+install-html-am:
+
+install-info: install-info-am
+
+install-info-am:
+
+install-man:
+
+install-pdf: install-pdf-am
+
+install-pdf-am:
+
+install-ps: install-ps-am
+
+install-ps-am:
+
+installcheck-am:
+
+maintainer-clean: maintainer-clean-am
+	-rm -rf ./$(DEPDIR)
+	-rm -f Makefile
+maintainer-clean-am: distclean-am maintainer-clean-generic
+
+mostlyclean: mostlyclean-am
+
+mostlyclean-am: mostlyclean-compile mostlyclean-generic \
+	mostlyclean-libtool
+
+pdf: pdf-am
+
+pdf-am:
+
+ps: ps-am
+
+ps-am:
+
+uninstall-am: uninstall-socompLTLIBRARIES
+
+.MAKE: install-am install-strip
+
+.PHONY: CTAGS GTAGS TAGS all all-am check check-am clean clean-generic \
+	clean-libtool clean-local clean-noinstLTLIBRARIES \
+	clean-socompLTLIBRARIES cscopelist-am ctags ctags-am dist-hook \
+	distclean distclean-compile distclean-generic \
+	distclean-libtool distclean-tags distdir dvi dvi-am html \
+	html-am info info-am install install-am install-data \
+	install-data-am install-dvi install-dvi-am install-exec \
+	install-exec-am install-html install-html-am install-info \
+	install-info-am install-man install-pdf install-pdf-am \
+	install-ps install-ps-am install-socompLTLIBRARIES \
+	install-strip installcheck installcheck-am installdirs \
+	maintainer-clean maintainer-clean-generic mostlyclean \
+	mostlyclean-compile mostlyclean-generic mostlyclean-libtool \
+	pdf pdf-am ps ps-am tags tags-am uninstall uninstall-am \
+	uninstall-socompLTLIBRARIES
+
+
+idl-stamp: $(IDL_SOURCES)
+	@touch idl-stamp
+	mkdir -p idl
+	(cd $(top_builddir)/utils/rtm-config; $(MAKE))
+	@for f in $(IDL_SOURCES) ; do \
+		cp $$f idl/ ; \
+		(cd idl ; $(IDLC) $(IDLFLAGS) $$f ; cd ..) ; \
+		PYTHONPATH="$(top_srcdir)/build:$(PYTHONPATH)" \
+		PATH="$(top_srcdir)/utils/rtm-config:$(PATH)"  \
+		$(WRAPPER) $(WRAPPER_FLAGS) --idl-file=$$f --include-dir=idl/ ; \
+	done ;
+
+$(ALL_SRC): idl-stamp
+	@if test -f $@ ; then \
+		touch $@ ; \
+	else \
+		rm -f idl-stamp ; \
+		$(MAKE) $(AM_MAKEFLAGS) idl-stamp ; \
+	fi ;
+
+#------------------------------------------------------------
+# File list for deb/ports packages
+#------------------------------------------------------------
+lst:
+	echo $(ALL_SRC) > src.lst
+	echo $(EXTRA_DIST) > other.lst
+
+vcproj: vc8proj vc9proj vc10proj vc11proj vc12proj vc14proj
+
+vc8proj: 
+	$(top_builddir)/build/vcprojtool.py vcproj             \
+		--type DLL                                         \
+		--vcversion "8.00"                                 \
+		--projectname "$(PROJNAME)"                        \
+		--version $(RTM_VERSION)                           \
+		--out $(win32_builddir)/$(PROJNAME)Dll_vc8.vcproj  \
+		--yaml $(top_builddir)/examples/rtcdll.vcproj.yaml \
+		--source $(EXT_FSM_SVC_WIN_SRC)                    \
+		--header $(EXT_FSM_SVC_WIN_H)
+	qkc -O- -sm $(win32_builddir)/$(PROJNAME)Dll_vc8.vcproj
+
+vc9proj:
+	$(top_builddir)/build/vcprojtool.py vcproj             \
+		--type DLL                                         \
+		--vcversion "9.00"                                 \
+		--projectname "$(PROJNAME)"                        \
+		--version $(RTM_VERSION)                           \
+		--out $(win32_builddir)/$(PROJNAME)Dll_vc9.vcproj  \
+		--yaml $(top_builddir)/examples/rtcdll.vcproj.yaml \
+		--source $(EXT_FSM_SVC_WIN_SRC)                    \
+		--header $(EXT_FSM_SVC_WIN_H)
+	qkc -O- -sm $(win32_builddir)/$(PROJNAME)Dll_vc9.vcproj
+
+vc10proj:
+	$(top_builddir)/build/vcxprojtool.py vcxproj            \
+		--type DLL                                          \
+		--vcversion "10.00"                                 \
+		--projectname "$(PROJNAME)"                         \
+		--version $(RTM_VERSION)                            \
+		--out $(win32_builddir)/$(PROJNAME)Dll_vc10.vcxproj \
+		--yaml $(top_builddir)/examples/rtcdll.vcproj.yaml  \
+		--source $(EXT_FSM_SVC_WIN_SRC)                     \
+		--header $(EXT_FSM_SVC_WIN_H)
+	qkc -O- -sm $(win32_builddir)/$(PROJNAME)Dll_vc10.vcxproj
+
+vc11proj:
+	$(top_builddir)/build/vcxprojtool.py vcxproj            \
+		--type DLL                                          \
+		--vcversion "11.00"                                 \
+		--projectname "$(PROJNAME)"                         \
+		--version $(RTM_VERSION)                            \
+		--out $(win32_builddir)/$(PROJNAME)Dll_vc11.vcxproj \
+		--yaml $(top_builddir)/examples/rtcdll.vcproj.yaml  \
+		--source $(EXT_FSM_SVC_WIN_SRC)                     \
+		--header $(EXT_FSM_SVC_WIN_H)
+	qkc -O- -sm $(win32_builddir)/$(PROJNAME)Dll_vc11.vcxproj
+
+vc12proj:
+	$(top_builddir)/build/vcxprojtool.py vcxproj            \
+		--type DLL                                          \
+		--vcversion "12.00"                                 \
+		--projectname "$(PROJNAME)"                         \
+		--version $(RTM_VERSION)                            \
+		--out $(win32_builddir)/$(PROJNAME)Dll_vc12.vcxproj \
+		--yaml $(top_builddir)/examples/rtcdll.vcproj.yaml  \
+		--source $(EXT_FSM_SVC_WIN_SRC)                     \
+		--header $(EXT_FSM_SVC_WIN_H)
+	qkc -O- -sm $(win32_builddir)/$(PROJNAME)Dll_vc12.vcxproj
+
+vc14proj:
+	$(top_builddir)/build/vcxprojtool.py vcxproj            \
+		--type DLL                                          \
+		--vcversion "14.00"                                 \
+		--projectname "$(PROJNAME)"                         \
+		--version $(RTM_VERSION)                            \
+		--out $(win32_builddir)/$(PROJNAME)Dll_vc14.vcxproj \
+		--yaml $(top_builddir)/examples/rtcdll.vcproj.yaml  \
+		--source $(EXT_FSM_SVC_WIN_SRC)                     \
+		--header $(EXT_FSM_SVC_WIN_H)
+	qkc -O- -sm $(win32_builddir)/$(PROJNAME)Dll_vc14.vcxproj
+
+dist-hook: lst vcproj
+
+clean_objs:
+	rm -f $(OBJS)
+
+clean_skelstub:
+	rm -f *Skel.h *Skel.cpp
+	rm -f *Stub.h *Stub.cpp
+	rm -rf idl
+	rm -f *.hh *SK.cc
+	rm -f *C.cpp *C.h *S.cpp *S.h *_T.cpp *_T.h *.inl
+
+clean-local: clean_objs clean_skelstub
+	rm -f *.bak *.rpo *.sym lib*.*_pure_*
+	rm -f *.lst *core *~ *loT *.log
+	rm -f Makefile.old
+	rm -rf idl-stamp
+
+# Tell versions [3.59,3.63) of GNU make to not export all variables.
+# Otherwise a system limit (for SysV at least) may be exceeded.
+.NOEXPORT:

Added: branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/extended_fsm/test/test.sh
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/extended_fsm/test/test.sh	                        (rev 0)
+++ branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/extended_fsm/test/test.sh	2016-10-06 06:25:12 UTC (rev 2762)
@@ -0,0 +1,4 @@
+#!/bin/sh
+rm -f *.log
+../../../../../examples/SimpleIO/ConsoleInComp -o "logger.log_level:DEBUG" -o "manager.local_service.modules:../.libs/ExtendedFsmServiceProvider.so(ExtendedFsmServiceProviderInit)"
+


Property changes on: branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/extended_fsm/test/test.sh
___________________________________________________________________
Added: svn:executable
   + *

Modified: branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/SdoServiceAdmin.cpp
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/SdoServiceAdmin.cpp	2016-10-05 06:33:21 UTC (rev 2761)
+++ branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/SdoServiceAdmin.cpp	2016-10-06 06:25:12 UTC (rev 2762)
@@ -114,8 +114,13 @@
         std::string propkey = ifrToKey(activeProviderTypes[i]);
         NVUtil::copyFromProperties(prof.properties,
                                    prop.getNode(propkey.c_str()));
-
-        svc->init(rtobj, prof);
+        // TODO: return value must be concerned
+        if (svc->init(rtobj, prof) != true)
+          {
+            svc->finalize();
+            delete svc;
+            continue;
+          }
         m_providers.push_back(svc);
       }
 

Modified: branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/SdoServiceProviderBase.h
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/SdoServiceProviderBase.h	2016-10-05 06:33:21 UTC (rev 2761)
+++ branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/SdoServiceProviderBase.h	2016-10-06 06:25:12 UTC (rev 2762)
@@ -55,7 +55,7 @@
    *    ビスのためのコンフィギュレーションオプションが coil::Propertyに
    *    より渡される。
    * -# インスタンス化されたSDOサービスプロバイダは
-   *    SDO::get_get_sdo_service() により外部からアクセスされる。このと
+   *    SDO::get_sdo_service() により外部からアクセスされる。このと
    *    き、サービスを指定するIDはIFR IDと同じである。このときのアタッ
    *    チシーケンスは以下の通り。
    * -# RTCがfinalizeされ解体されると同時にSDOサービスプロバイダも解体
@@ -101,7 +101,7 @@
    * イル名の basename + "Init" にしておく。以下に、クラス名、ファイル
    * 名、エントリポイント関数名の推奨例を示す。
    *
-   * - 実装クラス名: MySdoServiceConusmer 
+   * - 実装クラス名: MySdoServiceProvider 
    * - ファイル名: MySdoServiceProvider.h. MySdoServiceProvider.cpp
    * - 共有オブジェクト名: MySdoServiceProvider.so (or DLL)
    * - エントリポイント関数名: MySdoServiceProviderInit()
@@ -149,17 +149,32 @@
      * @if jp
      * @brief コンシューマクラスの初期化関数
      *
-     * このオブジェクトの初期化を行う。外部からSDOサービスが
-     * ServiceProfile とともにアタッチされると、SDOコンシューマがインス
-     * タンス化され、その直後に SDO サービスがアタッチされた RTC と与え
-     * られた ServiceProfile を引数としてこの関数が呼ばれる。
+     * 初期化関数。与えられた RTObject および ServiceProfile から、当該
+     * オブジェクトを初期化します。このサービスが
+     * ''sdo.service.provider.enabled_services'' で有効化されていれば、
+     * この関数は対応するRTCがインスタンス化された直後に呼び出されます。
      *
-     * 関数内では、ServiceProfile 内の SDO サービスリファレンスを
-     * CorbaProvider クラス等を利用しオブジェクト内に保持するとともに、
-     * properties から設定内容を読み込みサービス固有の設定等を行う。与
-     * えられたサービスのオブジェクトリファレンスが不正、あるいは
-     * properties の内容が不正、等の場合は戻り値に false を返す。
+     * ServiceProfile には以下の情報が入った状態で呼び出されます。
      *
+     * - ServiceProfile.id: 当該サービスのIFR型
+     * - ServiceProfile.interface_type: 当該サービスのIFR型
+     * - ServiceProfile.service: 当該サービスのオブジェクト参照
+     * - ServiceProfile.properties: rtc.conf や <component>.conf 等で与
+     *                   えられたSDOサービス固有のオプションが渡される。
+     *                   confファイル内で
+     *                   は、''<pragma>.<module_name>.<interface_name>''
+     *                   というプリフィックスをつけたオプションとして与
+     *                   えることができ、properties 内には、このプリ
+     *                   フィックスを除いたオプションがkey:value形式で
+     *                   含まれている。
+     *
+     * 関数内では、主に properties から設定内容を読み込みサービス固有の
+     * 設定等を行います。与えられた ServiceProfileの内容が不正、あるい
+     * はその他の理由で当該サービスをインスタンス化しない場合は false
+     * を返します。その場合、finalize() が呼び出されその後オブジェクト
+     * は削除されます。それ以外の場合は true を返すと、サービスオブジェ
+     * クトは RTC 内に保持されます。
+     *
      * @param rtobj このオブジェクトがインスタンス化された RTC
      * @param profile 外部から与えられた SDO ServiceProfile
      * @return 与えられた SDO Service や ServiceProfile が不正の場合 false

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