[openrtm-commit:02790] r1032 - trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/TopicTest
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2017年 8月 31日 (木) 14:33:37 JST
Author: t-katami
Date: 2017-08-31 14:33:37 +0900 (Thu, 31 Aug 2017)
New Revision: 1032
Modified:
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/TopicTest/ConsoleInImpl.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/TopicTest/ConsoleOutImpl.java
Log:
[compat,bugfix,->releng_1_2] Fixed components for test. refs #3391
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/TopicTest/ConsoleInImpl.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/TopicTest/ConsoleInImpl.java 2017-08-30 06:00:06 UTC (rev 1031)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/TopicTest/ConsoleInImpl.java 2017-08-31 05:33:37 UTC (rev 1032)
@@ -23,15 +23,12 @@
import RTC.PortService;
import RTC.PortServiceListHolder;
-import org.omg.PortableServer.POAPackage.ObjectNotActive;
-import org.omg.PortableServer.POAPackage.ServantAlreadyActive;
-import org.omg.PortableServer.POAPackage.WrongPolicy;
-
import org.omg.CORBA.portable.OutputStream;
import jp.go.aist.rtm.RTC.port.CorbaPort;
+import jp.go.aist.rtm.RTC.port.CorbaConsumer;
-import RTMExamples.SimpleService.MyServiceSVC_impl;
+import RTMExamples.SimpleService.MyService;
@@ -52,10 +49,6 @@
public ConsoleInImpl(Manager manager) {
super(manager);
// <rtc-template block="initializer">
- 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_topic_out_val = new TimedLong(new RTC.Time(0,0),0);
m_topic_out = new DataRef<TimedLong>(m_topic_out_val);
m_topic_outOut = new TopicOutPort<TimedLong>("topic_out", m_topic_out);
@@ -79,42 +72,14 @@
// The initialize action (on CREATED->ALIVE transition)
// formaer rtc_init_entry()
-// @Override
+ @Override
protected ReturnCode_t onInitialize() {
-/*
- try {
- addOutPort("out", m_outOut);
- } catch (Exception e) {
- e.printStackTrace();
- }
-*/
addOutPort("topic_out", m_topic_outOut);
- try {
- m_ServicePort.registerProvider("topic_service",
- "TestService",
- m_service);
- } catch (ServantAlreadyActive e) {
- e.printStackTrace();
- } catch (WrongPolicy e) {
- e.printStackTrace();
- } catch (ObjectNotActive e) {
- e.printStackTrace();
- }
+ m_ServicePort.registerConsumer("topic_service",
+ "Service",
+ m_myservice0Base);
+ // Set CORBA Service Ports
addPort(m_ServicePort);
-/*
- PortServiceListHolder pslholder = new PortServiceListHolder();
- pslholder.value = new PortService[0];
- pslholder.value = get_ports();
- PortProfile prof = ports[0].get_port_profile();
- NVListHolder nvholder =
- new NVListHolder(prof.properties);
- CORBA_SeqUtil.push_back(nvholder,
- NVUtil.newNVString("publish_topic","test"));
- prof.properties = nvholder.value;
- ports[0].setPortRef();
-*/
- //m_topic_outOut.appendProperty("publish_topic","test");
-
return super.onInitialize();
}
// The finalize action (on ALIVE->END transition)
@@ -156,22 +121,65 @@
// former rtc_active_do()
@Override
protected ReturnCode_t onExecute(int ec_id) {
- System.out.println("Please input number: ");
+ System.out.print("Please input : ");
BufferedReader buff = new BufferedReader(new InputStreamReader( System.in ));
+ String str = null;
try {
- String str = buff.readLine();
+ str = buff.readLine();
if(str != null){
- m_out_val.data = Integer.parseInt(str);
+ m_topic_out_val.data = Integer.parseInt(str);
}
- } catch (NumberFormatException e) {
- System.out.println("Input number Error!");
-// e.printStackTrace();
- } catch (IOException e) {
- System.out.println("Input number Error!");
-// e.printStackTrace();
+ System.out.println("Sending to subscriber: "
+ + m_topic_out_val.data);
+ m_topic_outOut.write();
+ } catch (Exception e) {
+ if(str != null){
+ String[] argv = str.split(" ");
+ m_myservice0 = m_myservice0Base._ptr();
+ if( argv[0].equals("echo") && argv.length>1 ) {
+ String retmsg = m_myservice0.echo(argv[1]);
+ System.out.println( "echo return: " + retmsg );
+ }
+ else if( argv[0].equals("set_value") && argv.length>1 ) {
+ Float val = Float.valueOf(argv[1]);
+ m_myservice0.set_value(val.floatValue());
+ System.out.println( "Set remote value: " + val );
+ }
+
+ else if( argv[0].equals("get_value") ) {
+ System.out.println( "Current remote value: "
+ + m_myservice0.get_value() );
+ }
+
+ else if( argv[0].equals("get_echo_history") ) {
+ String[] echo_history = m_myservice0.get_echo_history();
+ for( int intIdx=0;intIdx<echo_history.length;intIdx++ ) {
+ System.out.println( intIdx+": "+echo_history[intIdx]);
+ }
+ }
+ else if( argv[0].equals("get_value_history") ) {
+ float[] value_history = m_myservice0.get_value_history();
+ for( int intIdx=0;intIdx<value_history.length;intIdx++ ) {
+ System.out.println( intIdx+": "+value_history[intIdx]);
+ }
+ }
+ else{
+ System.out.println("");
+ System.out.println("Command list: ");
+ System.out.println(" echo [msg] : echo message.");
+ System.out.println(" set_value [value]: set value." );
+ System.out.println(" get_value : "
+ +"get current value.");
+ System.out.println(" get_echo_history : "
+ +"get input messsage history." );
+ System.out.println(" get_value_history: "
+ +"get input value history." );
+ }
+ }
+ else{
+ System.out.println("Input Error!");
+ }
}
- System.out.println("Sending to subscriber: " + m_out_val.data);
- m_outOut.write();
return super.onExecute(ec_id);
}
@@ -218,10 +226,6 @@
// DataOutPort declaration
// <rtc-template block="outport_declare">
- protected TimedLong m_out_val;
- protected DataRef<TimedLong> m_out;
- protected OutPort<TimedLong> m_outOut;
-
protected TimedLong m_topic_out_val;
protected DataRef<TimedLong> m_topic_out;
protected TopicOutPort<TimedLong> m_topic_outOut;
@@ -235,8 +239,12 @@
// Service declaration
// <rtc-template block="service_declare">
- protected MyServiceSVC_impl m_service = new MyServiceSVC_impl();
+ protected CorbaConsumer<MyService> m_myservice0Base =
+ new CorbaConsumer<MyService>(MyService.class);
+ protected MyService m_myservice0;
+ //protected MyServiceSVC_impl m_service = new MyServiceSVC_impl();
+
// </rtc-template>
// Consumer declaration
@@ -257,8 +265,6 @@
System.out.println("Listener: "+m_name);
System.out.println("Profile::name: "+info.name);
System.out.println("Profile::id: "+info.id);
-// System.out.println("Profile::properties: ");
-// System.out.println(info.properties);
System.out.println("Data: "+data.data);
System.out.println("------------------------------");
return ReturnCode.NO_CHANGE;
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/TopicTest/ConsoleOutImpl.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/TopicTest/ConsoleOutImpl.java 2017-08-30 06:00:06 UTC (rev 1031)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/TopicTest/ConsoleOutImpl.java 2017-08-31 05:33:37 UTC (rev 1032)
@@ -16,12 +16,15 @@
import jp.go.aist.rtm.RTC.port.ConnectorListenerType;
import jp.go.aist.rtm.RTC.util.DataRef;
+import org.omg.PortableServer.POAPackage.ObjectNotActive;
+import org.omg.PortableServer.POAPackage.ServantAlreadyActive;
+import org.omg.PortableServer.POAPackage.WrongPolicy;
+
import org.omg.CORBA.portable.OutputStream;
import jp.go.aist.rtm.RTC.port.CorbaPort;
-import jp.go.aist.rtm.RTC.port.CorbaConsumer;
-import RTMExamples.SimpleService.MyService;
+import RTMExamples.SimpleService.MyServiceSVC_impl;
public class ConsoleOutImpl extends DataFlowComponentBase {
private class TopicCorbaPort<DataType> extends CorbaPort {
@@ -41,10 +44,6 @@
public ConsoleOutImpl(Manager manager) {
super(manager);
// <rtc-template block="initializer">
- m_in_val = new TimedLong();
- m_in = new DataRef<TimedLong>(m_in_val);
- m_inIn = new InPort<TimedLong>("in", m_in);
-
m_topic_in_val = new TimedLong(new RTC.Time(0,0),0);
m_topic_in = new DataRef<TimedLong>(m_topic_in_val);
m_topic_inIn = new TopicInPort<TimedLong>("topic_in", m_topic_in);
@@ -54,15 +53,6 @@
// Registration: InPort/OutPort/Service
// <rtc-template block="registration">
-/*
- // Set InPort buffers
- try {
-// registerInPort(TimedLong.class, "in", m_inIn); //v042
- registerInPort("in", m_inIn);
- } catch (Exception e) {
- e.printStackTrace();
- }
-*/
// Set OutPort buffer
@@ -77,54 +67,21 @@
// The initialize action (on CREATED->ALIVE transition)
// formaer rtc_init_entry()
-// @Override
+ @Override
protected ReturnCode_t onInitialize() {
-/*
+ addInPort("topic_in", m_topic_inIn);
try {
- addInPort("in", m_inIn);
- } catch (Exception e) {
+ m_ServicePort.registerProvider("topic_service",
+ "Service",
+ m_service);
+ } catch (ServantAlreadyActive e) {
e.printStackTrace();
+ } catch (WrongPolicy e) {
+ e.printStackTrace();
+ } catch (ObjectNotActive e) {
+ e.printStackTrace();
}
-*/
- addInPort("topic_in", m_topic_inIn);
- m_ServicePort.registerConsumer("service",
- "Service",
- m_myservice0Base);
- // Set CORBA Service Ports
addPort(m_ServicePort);
-/*
- m_inIn.addConnectorDataListener(
- ConnectorDataListenerType.ON_BUFFER_WRITE,
- new DataListener("ON_BUFFER_WRITE"));
- m_inIn.addConnectorDataListener(
- ConnectorDataListenerType.ON_BUFFER_FULL,
- new DataListener("ON_BUFFER_FULL"));
- m_inIn.addConnectorDataListener(
- ConnectorDataListenerType.ON_BUFFER_WRITE_TIMEOUT,
- new DataListener("ON_BUFFER_WRITE_TIMEOUT"));
- m_inIn.addConnectorDataListener(
- ConnectorDataListenerType.ON_BUFFER_OVERWRITE,
- new DataListener("ON_BUFFER_OVERWRITE"));
- m_inIn.addConnectorDataListener(
- ConnectorDataListenerType.ON_BUFFER_READ,
- new DataListener("ON_BUFFER_READ"));
- m_inIn.addConnectorDataListener(
- ConnectorDataListenerType.ON_SEND,
- new DataListener("ON_SEND"));
- m_inIn.addConnectorDataListener(
- ConnectorDataListenerType.ON_RECEIVED,
- new DataListener("ON_RECEIVED"));
- m_inIn.addConnectorDataListener(
- ConnectorDataListenerType.ON_RECEIVER_FULL,
- new DataListener("ON_RECEIVER_FULL"));
- m_inIn.addConnectorDataListener(
- ConnectorDataListenerType.ON_RECEIVER_TIMEOUT,
- new DataListener("ON_RECEIVER_TIMEOUT"));
- m_inIn.addConnectorDataListener(
- ConnectorDataListenerType.ON_RECEIVER_ERROR,
- new DataListener("ON_RECEIVER_ERROR"));
-*/
-
return super.onInitialize();
}
// The finalize action (on ALIVE->END transition)
@@ -166,12 +123,11 @@
// former rtc_active_do()
@Override
protected ReturnCode_t onExecute(int ec_id) {
- if( m_inIn.isNew() ) {
- m_inIn.read();
-// if( m_inIn.read() ) {
- System.out.print( "Received: " + m_in.v.data + " " );
- System.out.print( "TimeStamp: " + m_in.v.tm.sec + "[s] " );
- System.out.println( m_in.v.tm.nsec + "[ns]" );
+ if( m_topic_inIn.isNew() ) {
+ m_topic_inIn.read();
+ System.out.print( "Received: " + m_topic_in.v.data + " " );
+ System.out.print( "TimeStamp: " + m_topic_in.v.tm.sec + "[s] " );
+ System.out.println( m_topic_in.v.tm.nsec + "[ns]" );
}
try {
Thread.sleep(1);
@@ -219,10 +175,6 @@
//
// DataInPort declaration
// <rtc-template block="inport_declare">
- protected TimedLong m_in_val;
- protected DataRef<TimedLong> m_in;
- protected InPort<TimedLong> m_inIn;
-
protected TimedLong m_topic_in_val;
protected DataRef<TimedLong> m_topic_in;
protected TopicInPort<TimedLong> m_topic_inIn;
@@ -241,11 +193,7 @@
// Service declaration
// <rtc-template block="service_declare">
- protected CorbaConsumer<MyService> m_myservice0Base =
- new CorbaConsumer<MyService>(MyService.class);
-
- protected MyService m_myservice0;
-
+ protected MyServiceSVC_impl m_service = new MyServiceSVC_impl();
// </rtc-template>
// Consumer declaration
@@ -266,8 +214,6 @@
System.out.println("Listener: "+m_name);
System.out.println("Profile::name: "+info.name);
System.out.println("Profile::id: "+info.id);
-// System.out.println("Profile::properties: ");
-// System.out.println(info.properties);
System.out.println("Data: "+data.data);
System.out.println("------------------------------");
return ReturnCode.NO_CHANGE;
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