[openrtm-commit:02048] r2778 - trunk/OpenRTM-aist/src/lib/rtm
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2016年 10月 13日 (木) 01:51:33 JST
Author: n-ando
Date: 2016-10-13 01:51:33 +0900 (Thu, 13 Oct 2016)
New Revision: 2778
Modified:
trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextBase.cpp
trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextBase.h
trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextWorker.cpp
trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextWorker.h
trunk/OpenRTM-aist/src/lib/rtm/RTObjectStateMachine.cpp
trunk/OpenRTM-aist/src/lib/rtm/RTObjectStateMachine.h
Log:
[incompat,RELENG_1_2] onRateChagned (on_rate_changed()) operation should be called when EC rate is changed. refs #3652
Modified: trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextBase.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextBase.cpp 2016-10-12 14:54:12 UTC (rev 2777)
+++ trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextBase.cpp 2016-10-12 16:51:33 UTC (rev 2778)
@@ -228,6 +228,12 @@
RTC_ERROR(("Setting execution rate failed. %f", rate));
return ret;
}
+ ret = m_worker.rateChanged();
+ if (ret != RTC::RTC_OK)
+ {
+ RTC_ERROR(("Invoking on_rate_changed() for each RTC failed."));
+ return ret;
+ }
ret = onSetRate(rate);
if (ret != RTC::RTC_OK)
{
Modified: trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextBase.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextBase.h 2016-10-12 14:54:12 UTC (rev 2777)
+++ trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextBase.h 2016-10-12 16:51:33 UTC (rev 2778)
@@ -345,8 +345,15 @@
* }
* </pre>
*
- * ExecutionContextの基底クラス。
- *
+ * [ExecutionContextBase]
+ * <>
+ * |
+ * +--(1 1) [ExecutionContextWorker ] : EC の worker
+ * | <>
+ * | +--(1 0..) [RTObjectStateMachine] : StateMachine
+ * |
+ * +--(1 1) [ExecutionContextProfile] : EC Profileの管理
+ *
* @since 0.4.0
*
* @else
Modified: trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextWorker.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextWorker.cpp 2016-10-12 14:54:12 UTC (rev 2777)
+++ trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextWorker.cpp 2016-10-12 16:51:33 UTC (rev 2778)
@@ -136,7 +136,27 @@
return RTC::RTC_OK;
}
+ /*!
+ * @if jp
+ * @brief ExecutionContext の周期が変化した
+ * @else
+ * @brief Changing execution rate of the ExecutionContext
+ * @endif
+ */
+ RTC::ReturnCode_t ExecutionContextWorker::rateChanged(void)
+ {
+ RTC_TRACE(("rateChanged()"));
+ // invoke on_shutdown for each comps.
+ RTC::ReturnCode_t ret(RTC::RTC_OK);
+ for (size_t i(0); i < m_comps.size(); ++i)
+ {
+ RTC::ReturnCode_t tmp = m_comps[i]->onRateChanged();
+ if (tmp != RTC::RTC_OK) { ret = tmp; }
+ }
+ return ret;
+ }
+
/*!
* @if jp
* @brief RTコンポーネントをアクティブ化する
Modified: trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextWorker.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextWorker.h 2016-10-12 14:54:12 UTC (rev 2777)
+++ trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextWorker.h 2016-10-12 16:51:33 UTC (rev 2778)
@@ -37,7 +37,7 @@
namespace RTC
{
class RTObject_impl;
-};
+};
namespace RTC_impl
{
class RTObjectStateMachine;
@@ -251,6 +251,35 @@
/*!
* @if jp
+ * @brief ExecutionContext の実行周期が変更された
+ *
+ * ExecutionContext の実行周期が変更された場合のコールバックを呼び
+ * 出す。ECの実装クラスの set_rate() オペレーションが呼び出された場
+ * 合、ExecutionContextProfile::setRate() が呼び出され、プロファイ
+ * ルの周期値が更新されるとともに、この関数が呼ばれ、
+ * RTObjectStateMachine::onRateChagned() が呼び出される。
+ *
+ * @return ReturnCode_t 型のリターンコード
+ *
+ * @else
+ *
+ * @brief Execution rate of ExecutionContext chnaged
+ *
+ * A call back for execution rate chang when ExecutionContext's
+ * execution rate. If set_rate() operation is called,
+ * ExecutionContextProfile::setRate() will be called, execution
+ * rate in the profile will be updated, and
+ * RTObjectStateMachine::onRateChagned() will be called with this
+ * member function.
+ *
+ * @return The return code of ReturnCode_t type
+ *
+ * @endif
+ */
+ RTC::ReturnCode_t rateChanged();
+
+ /*!
+ * @if jp
* @brief RTコンポーネントをアクティブ化する
*
* Inactive 状態にあるRTコンポーネントをActive に遷移させ、アクティ
Modified: trunk/OpenRTM-aist/src/lib/rtm/RTObjectStateMachine.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/RTObjectStateMachine.cpp 2016-10-12 14:54:12 UTC (rev 2777)
+++ trunk/OpenRTM-aist/src/lib/rtm/RTObjectStateMachine.cpp 2016-10-12 16:51:33 UTC (rev 2778)
@@ -385,25 +385,26 @@
return;
}
- void RTObjectStateMachine::onRateChanged(void)
+ RTC::ReturnCode_t RTObjectStateMachine::onRateChanged(void)
{
// call Servant
if (m_rtobjPtr != NULL)
{
- if (m_rtobjPtr->on_rate_changed(m_id) != RTC::RTC_OK)
+ RTC::ReturnCode_t ret = m_rtobjPtr->on_rate_changed(m_id);
+ if (ret != RTC::RTC_OK)
{
m_sm.goTo(RTC::ERROR_STATE);
}
- return;
+ return ret;
}
// call Object reference
- if (!m_dfc) { return; }
- if (m_dfcVar->on_rate_changed(m_id) != RTC::RTC_OK)
+ if (!m_dfc) { return RTC::RTC_ERROR; }
+ RTC::ReturnCode_t ret = m_dfcVar->on_rate_changed(m_id);
+ if (ret != RTC::RTC_OK)
{
m_sm.goTo(RTC::ERROR_STATE);
- return;
}
- return;
+ return ret;
}
// FsmParticipantAction
Modified: trunk/OpenRTM-aist/src/lib/rtm/RTObjectStateMachine.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/RTObjectStateMachine.h 2016-10-12 14:54:12 UTC (rev 2777)
+++ trunk/OpenRTM-aist/src/lib/rtm/RTObjectStateMachine.h 2016-10-12 16:51:33 UTC (rev 2778)
@@ -72,7 +72,7 @@
// RTC::DataflowComponentAction
void onExecute(const ExecContextStates& st);
void onStateUpdate(const ExecContextStates& st);
- void onRateChanged(void);
+ RTC::ReturnCode_t onRateChanged(void);
// FsmParticipantAction
void onAction(const ExecContextStates& st);
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