[openrtm-commit:02981] r3115 - in trunk/OpenRTM-aist: src/ext/sdo/fsm4rtc_observer src/ext/sdo/fsm4rtc_observer/test src/lib/hrtm src/lib/rtm win32/OpenRTM-aist/examples/Fsm win32/OpenRTM-aist/hrtm win32/OpenRTM-aist/hrtm/idls
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2017年 12月 11日 (月) 06:18:08 JST
Author: n-ando
Date: 2017-12-11 06:18:08 +0900 (Mon, 11 Dec 2017)
New Revision: 3115
Added:
trunk/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/idl/
trunk/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/observer.py
trunk/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/rtc.conf
trunk/OpenRTM-aist/src/lib/rtm/FsmActionListener.cpp
trunk/OpenRTM-aist/src/lib/rtm/FsmActionListener.h
Modified:
trunk/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/ComponentObserverConsumer.cpp
trunk/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/ComponentObserverConsumer.h
trunk/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/test.sh
trunk/OpenRTM-aist/src/lib/hrtm/component_manager.cpp
trunk/OpenRTM-aist/src/lib/hrtm/data_flow_component.cpp
trunk/OpenRTM-aist/src/lib/rtm/InPortPushConnector.cpp
trunk/OpenRTM-aist/src/lib/rtm/Makefile.am
trunk/OpenRTM-aist/src/lib/rtm/NVUtil.cpp
trunk/OpenRTM-aist/src/lib/rtm/NVUtil.h
trunk/OpenRTM-aist/src/lib/rtm/RTObject.cpp
trunk/OpenRTM-aist/src/lib/rtm/RTObject.h
trunk/OpenRTM-aist/win32/OpenRTM-aist/examples/Fsm/Makefile.am
trunk/OpenRTM-aist/win32/OpenRTM-aist/hrtm/Makefile.am
trunk/OpenRTM-aist/win32/OpenRTM-aist/hrtm/idls/Makefile.am
Log:
merged changes from branches/FSM4RTC/OpenRTM-aist r2773-2806, no confliction:
[FSM4RTC,compat,->RELENG_2_0] Some Makefile.am bugs are fixed.
[FSM4RTC,HRTM,bugfix,->RELENG_2_0] Manager/ComponentManager initialization bug has been fixed. refs #3653
[FSM4RTC,->RELENG_2_0] FSM action listener added. refs #3680
[FSM4RTC,incompat,->RELENG_2_0] renameed FsmStructureAction->FsmStructure, FsmProfileListener added. refs #3680
[FSM4RTC,incompat,->RELENG_2_0] FSM listeners add/remove operations are added to RTObject. refs #3681
[FSM4RTC,ext,example,->RELENG_2_0] Now component observer is connected to the FSM state change operation. refs #3591
[FSM4RTC,HRTM,,->RELENG_2_0] updateFsmStatus now calls RTObject::onFsmStateChanged(). refs #3681
[compat,formatting,->RELENG_1_2,->RELENG_2_0] Braces added.
[incompat,->RELENG_1_2,->RELENG_2_0] std::ostream operations have been added to NVUtil.
Modified: trunk/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/ComponentObserverConsumer.cpp
===================================================================
--- trunk/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/ComponentObserverConsumer.cpp 2017-12-10 21:16:07 UTC (rev 3114)
+++ trunk/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/ComponentObserverConsumer.cpp 2017-12-10 21:18:08 UTC (rev 3115)
@@ -763,6 +763,10 @@
*/
void ComponentObserverConsumer::setFSMStructureListeners()
{
+ m_fsmaction.fsmActionListener =
+ m_rtobj->addPreFsmActionListener(PRE_ON_STATE_CHANGE,
+ m_fsmaction,
+ &FSMAction::updateFsmStatus);
}
/*!
Modified: trunk/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/ComponentObserverConsumer.h
===================================================================
--- trunk/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/ComponentObserverConsumer.h 2017-12-10 21:16:07 UTC (rev 3114)
+++ trunk/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/ComponentObserverConsumer.h 2017-12-10 21:18:08 UTC (rev 3115)
@@ -26,6 +26,7 @@
#include <rtm/SdoServiceConsumerBase.h>
#include <rtm/CorbaConsumer.h>
#include <rtm/ComponentActionListener.h>
+#include <rtm/FsmActionListener.h>
#include <rtm/idl/SDOPackageStub.h>
#include "ComponentObserverStub.h"
@@ -625,8 +626,14 @@
FSMAction(ComponentObserverConsumer& coc)
: m_coc(coc) {}
// Action callback functions here
+ void updateFsmStatus(const char* state)
+ {
+ std::cout << "ComponentObserver::updateFsmStatus(" << state << ")" << std::endl;
+ m_coc.updateStatus(RTC::FSM_STATUS, state);
+ }
// Listener object's pointer holder
+ PreFsmActionListener* fsmActionListener;
private:
ComponentObserverConsumer& m_coc;
Copied: trunk/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/observer.py (from rev 2806, branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/observer.py)
===================================================================
--- trunk/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/observer.py (rev 0)
+++ trunk/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/observer.py 2017-12-10 21:18:08 UTC (rev 3115)
@@ -0,0 +1,60 @@
+#!/usr/bin/env python
+# -*- Python -*-
+# -*- coding: utf-8 -*-
+
+#import sys
+#sys.path = sys.path
+
+import idl
+import RTC__POA
+import idl.ComponentObserver_idl
+import SDOPackage
+from omniORB import CORBA, PortableServer, any
+import omniORB
+import sys
+import uuid
+
+def dict_to_nvlist(dict):
+ '''Convert a dictionary into a CORBA namevalue list.'''
+ result = []
+ for item in list(dict.keys()):
+ result.append(SDOPackage.NameValue(item, omniORB.any.to_any(dict[item])))
+ return result
+
+class RTCObserver(RTC__POA.ComponentObserver):
+ def __init__(self):
+ pass
+
+ def update_status(self, kind, hint):
+ kind = str(kind)
+ print "kind: " + kind + " hint: " + hint
+
+
+orb = CORBA.ORB_init(sys.argv, CORBA.ORB_ID)
+poa = orb.resolve_initial_references("RootPOA")
+poa._get_the_POAManager().activate()
+
+fd = open("comp.ior", "r")
+ior = fd.readline()
+fd.close()
+
+print ior
+
+obj = orb.string_to_object(ior)
+sdo = obj._narrow(SDOPackage.SDO)
+conf = sdo.get_configuration()
+
+obs = RTCObserver()
+uuid_val = uuid.uuid4().get_bytes()
+intf_type = obs._this()._NP_RepositoryId
+props = dict_to_nvlist({'heartbeat.enable': 'YES',
+ 'heartbeat.interval': '1.0',
+ 'observed_status': 'ALL'})
+
+sprof = SDOPackage.ServiceProfile(id=uuid_val,
+ interface_type=intf_type,
+ service=obs._this(),
+ properties=props)
+res = conf.add_service_profile(sprof)
+orb.run()
+print res
Copied: trunk/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/rtc.conf (from rev 2806, branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/rtc.conf)
===================================================================
--- trunk/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/rtc.conf (rev 0)
+++ trunk/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/rtc.conf 2017-12-10 21:18:08 UTC (rev 3115)
@@ -0,0 +1,12 @@
+logger.enable: YES
+logger.log_level: TRACE
+naming.formats: comp.ior
+
+manager.local_service.org.openrtm.local_service.nameservice.file_nameservice.base_path: ./
+manager.local_service.org.openrtm.local_service.nameservice.file_nameservice.file_structure: flat
+manager.local_service.org.openrtm.local_service.nameservice.file_nameservice.context_delimiter: .
+
+manager.local_service.modules: \
+ ../.libs/ComponentObserverConsumer.so(ComponentObserverConsumerInit), \
+ ../../../local_service/nameservice_file/.libs/FileNameservice.so(FileNameserviceInit)
+
Modified: trunk/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/test.sh
===================================================================
--- trunk/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/test.sh 2017-12-10 21:16:07 UTC (rev 3114)
+++ trunk/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/test.sh 2017-12-10 21:18:08 UTC (rev 3115)
@@ -1,4 +1,5 @@
#!/bin/sh
rm *.log
-../../../../../examples/SimpleIO/ConsoleInComp -o "logger.log_level:DEBUG" -o "manager.local_service.modules:../.libs/ComponentObserverConsumer.so(ComponentObserverConsumerInit)"
+../../../../../examples/Fsm/FsmComp -f ./rtc.conf
+
Modified: trunk/OpenRTM-aist/src/lib/hrtm/component_manager.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/hrtm/component_manager.cpp 2017-12-10 21:16:07 UTC (rev 3114)
+++ trunk/OpenRTM-aist/src/lib/hrtm/component_manager.cpp 2017-12-10 21:18:08 UTC (rev 3115)
@@ -56,6 +56,7 @@
}
ComponentManager& ComponentManager::instance(int argc, char** argv)
{
+
// DCL for singleton
if (!manager)
{
@@ -63,6 +64,8 @@
if (!manager)
{
manager = new ComponentManager();
+ RTC::Manager::manager = manager;
+ printf("init ComponentManager: %x\n", manager);
manager->initManager(argc, argv);
manager->initLogger();
manager->initORB();
Modified: trunk/OpenRTM-aist/src/lib/hrtm/data_flow_component.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/hrtm/data_flow_component.cpp 2017-12-10 21:16:07 UTC (rev 3114)
+++ trunk/OpenRTM-aist/src/lib/hrtm/data_flow_component.cpp 2017-12-10 21:18:08 UTC (rev 3115)
@@ -27,7 +27,6 @@
}
RTC::ReturnCode_t DataFlowComponent::initialize(hrtm::ComponentManager* mgr)
{
- std::cout << "########## initialize()" << std::endl;
return RTC::RTC_OK;
}
@@ -34,6 +33,6 @@
void DataFlowComponent::updateFsmStatus(RTC::StatusKind status_kind,
const char* state)
{
- std::cout << "State: " << state << std::endl;
+ onFsmStateChanged(state);
}
}; // namespace hrtm
Copied: trunk/OpenRTM-aist/src/lib/rtm/FsmActionListener.cpp (from rev 2806, branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/FsmActionListener.cpp)
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/FsmActionListener.cpp (rev 0)
+++ trunk/OpenRTM-aist/src/lib/rtm/FsmActionListener.cpp 2017-12-10 21:18:08 UTC (rev 3115)
@@ -0,0 +1,304 @@
+// -*- C++ -*-
+/*!
+ * @file FsmActionListener.cpp
+ * @brief Component action listener class
+ * @date $Date$
+ * @author Noriaki Ando <n-ando at aist.go.jp>
+ *
+ * Copyright (C) 2011
+ * Noriaki Ando
+ * Intelligent Systems Research Institute,
+ * National Institute of
+ * Advanced Industrial Science and Technology (AIST), Japan
+ * All rights reserved.
+ *
+ * $Id$
+ *
+ */
+
+#include <rtm/FsmActionListener.h>
+
+namespace RTC
+{
+
+ //============================================================
+ /*!
+ * @if jp
+ * @class PostFsmActionListener ¥¯¥é¥¹
+ * @else
+ * @class PostFsmActionListener class
+ * @endif
+ */
+ PostFsmActionListener::~PostFsmActionListener(){}
+
+ /*!
+ * @if jp
+ * @class PreFsmActionListener ¥¯¥é¥¹
+ * @else
+ * @class PreFsmActionListener class
+ * @endif
+ */
+ PreFsmActionListener::~PreFsmActionListener(){}
+
+ /*!
+ * @if jp
+ * @class FsmProfileListener ¥¯¥é¥¹
+ * @else
+ * @class PortActionListener class
+ * @endif
+ */
+ FsmProfileListener::~FsmProfileListener(){}
+
+ /*!
+ * @if jp
+ * @class PortActionListener ¥¯¥é¥¹
+ * @else
+ * @class PortActionListener class
+ * @endif
+ */
+ FsmStructureListener::~FsmStructureListener(){}
+
+
+
+ //============================================================
+ /*!
+ * @if jp
+ * @class PreFsmActionListener ¥Û¥ë¥À¥¯¥é¥¹
+ * @else
+ * @class PreFsmActionListener holder class
+ * @endif
+ */
+ PreFsmActionListenerHolder::PreFsmActionListenerHolder()
+ {
+ }
+
+ PreFsmActionListenerHolder::~PreFsmActionListenerHolder()
+ {
+ Guard guard(m_mutex);
+ for (int i(0), len(m_listeners.size()); i < len; ++i)
+ {
+ if (m_listeners[i].second)
+ {
+ delete m_listeners[i].first;
+ }
+ }
+ }
+
+ void PreFsmActionListenerHolder::
+ addListener(PreFsmActionListener* listener,
+ bool autoclean)
+ {
+ Guard guard(m_mutex);
+ m_listeners.push_back(Entry(listener, autoclean));
+ }
+
+ void PreFsmActionListenerHolder::
+ removeListener(PreFsmActionListener* listener)
+ {
+ Guard guard(m_mutex);
+ std::vector<Entry>::iterator it(m_listeners.begin());
+
+ for (; it != m_listeners.end(); ++it)
+ {
+ if ((*it).first == listener)
+ {
+ if ((*it).second)
+ {
+ delete (*it).first;
+ }
+ m_listeners.erase(it);
+ return;
+ }
+ }
+ }
+
+ void PreFsmActionListenerHolder::notify(const char* state)
+ {
+ Guard guard(m_mutex);
+ for (int i(0), len(m_listeners.size()); i < len; ++i)
+ {
+ m_listeners[i].first->operator()(state);
+ }
+ }
+
+ //============================================================
+ /*!
+ * @if jp
+ * @class PostFsmActionListener ¥Û¥ë¥À¥¯¥é¥¹
+ * @else
+ * @class PostFsmActionListener holder class
+ * @endif
+ */
+ PostFsmActionListenerHolder::PostFsmActionListenerHolder()
+ {
+ }
+
+ PostFsmActionListenerHolder::~PostFsmActionListenerHolder()
+ {
+ Guard guard(m_mutex);
+ for (int i(0), len(m_listeners.size()); i < len; ++i)
+ {
+ if (m_listeners[i].second)
+ {
+ delete m_listeners[i].first;
+ }
+ }
+ }
+
+ void PostFsmActionListenerHolder::
+ addListener(PostFsmActionListener* listener, bool autoclean)
+ {
+ Guard guard(m_mutex);
+ m_listeners.push_back(Entry(listener, autoclean));
+ }
+
+ void PostFsmActionListenerHolder::
+ removeListener(PostFsmActionListener* listener)
+ {
+ Guard guard(m_mutex);
+ std::vector<Entry>::iterator it(m_listeners.begin());
+ for (; it != m_listeners.end(); ++it)
+ {
+ if ((*it).first == listener)
+ {
+ if ((*it).second)
+ {
+ delete (*it).first;
+ }
+ m_listeners.erase(it);
+ return;
+ }
+ }
+ }
+
+ void PostFsmActionListenerHolder::notify(const char* state,
+ ReturnCode_t ret)
+ {
+ Guard guard(m_mutex);
+ for (int i(0), len(m_listeners.size()); i < len; ++i)
+ {
+ m_listeners[i].first->operator()(state, ret);
+ }
+ }
+
+ /*!
+ * @if jp
+ * @class FsmProfileListener ¥Û¥ë¥À¥¯¥é¥¹
+ * @else
+ * @class FsmProfileListener holder class
+ * @endif
+ */
+ FsmProfileListenerHolder::FsmProfileListenerHolder()
+ {
+ }
+
+ FsmProfileListenerHolder::~FsmProfileListenerHolder()
+ {
+ Guard guard(m_mutex);
+ for (int i(0), len(m_listeners.size()); i < len; ++i)
+ {
+ if (m_listeners[i].second)
+ {
+ delete m_listeners[i].first;
+ }
+ }
+ }
+
+ void FsmProfileListenerHolder::addListener(FsmProfileListener* listener,
+ bool autoclean)
+ {
+ Guard guard(m_mutex);
+ m_listeners.push_back(Entry(listener, autoclean));
+ }
+
+ void
+ FsmProfileListenerHolder::removeListener(FsmProfileListener* listener)
+ {
+ Guard guard(m_mutex);
+ std::vector<Entry>::iterator it(m_listeners.begin());
+
+ for (; it != m_listeners.end(); ++it)
+ {
+ if ((*it).first == listener)
+ {
+ if ((*it).second)
+ {
+ delete (*it).first;
+ }
+ m_listeners.erase(it);
+ return;
+ }
+ }
+ }
+
+ void FsmProfileListenerHolder::notify(RTC::FsmProfile& profile)
+ {
+ Guard guard(m_mutex);
+ for (int i(0), len(m_listeners.size()); i < len; ++i)
+ {
+ m_listeners[i].first->operator()(profile);
+ }
+ }
+
+ /*!
+ * @if jp
+ * @class FsmStructureListener ¥Û¥ë¥À¥¯¥é¥¹
+ * @else
+ * @class FsmStructureListener holder class
+ * @endif
+ */
+ FsmStructureListenerHolder::FsmStructureListenerHolder()
+ {
+ }
+
+ FsmStructureListenerHolder::~FsmStructureListenerHolder()
+ {
+ Guard guard(m_mutex);
+ for (int i(0), len(m_listeners.size()); i < len; ++i)
+ {
+ if (m_listeners[i].second)
+ {
+ delete m_listeners[i].first;
+ }
+ }
+ }
+
+ void FsmStructureListenerHolder::addListener(FsmStructureListener* listener,
+ bool autoclean)
+ {
+ Guard guard(m_mutex);
+ m_listeners.push_back(Entry(listener, autoclean));
+ }
+
+ void
+ FsmStructureListenerHolder::removeListener(FsmStructureListener* listener)
+ {
+ Guard guard(m_mutex);
+ std::vector<Entry>::iterator it(m_listeners.begin());
+
+ for (; it != m_listeners.end(); ++it)
+ {
+ if ((*it).first == listener)
+ {
+ if ((*it).second)
+ {
+ delete (*it).first;
+ }
+ m_listeners.erase(it);
+ return;
+ }
+ }
+ }
+
+ void FsmStructureListenerHolder::notify(RTC::FsmStructure& structure)
+ {
+ Guard guard(m_mutex);
+ for (int i(0), len(m_listeners.size()); i < len; ++i)
+ {
+ m_listeners[i].first->operator()(structure);
+ }
+ }
+
+};
+
+
Copied: trunk/OpenRTM-aist/src/lib/rtm/FsmActionListener.h (from rev 2806, branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/FsmActionListener.h)
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/FsmActionListener.h (rev 0)
+++ trunk/OpenRTM-aist/src/lib/rtm/FsmActionListener.h 2017-12-10 21:18:08 UTC (rev 3115)
@@ -0,0 +1,1039 @@
+// -*- C++ -*-
+/*!
+ * @file FsmActionListener.h
+ * @brief component action listener class
+ * @date $Date$
+ * @author Noriaki Ando <n-ando at aist.go.jp>
+ *
+ * Copyright (C) 2011
+ * Noriaki Ando
+ * Intelligent Systems Research Institute,
+ * National Institute of
+ * Advanced Industrial Science and Technology (AIST), Japan
+ * All rights reserved.
+ *
+ * $Id$
+ *
+ */
+
+#ifndef RTC_FSMACTIONLISTENER_H
+#define RTC_FSMACTIONLISTENER_H
+
+#include <vector>
+#include <utility>
+#include <coil/Mutex.h>
+#include <coil/Guard.h>
+#include <rtm/RTC.h>
+#include <rtm/idl/RTCSkel.h>
+#include <rtm/ConnectorBase.h>
+
+namespace RTC
+{
+ struct FsmStructure
+ {
+ };
+ /*!
+ * @if jp
+ *
+ * FSM¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Ë´Ø¤¹¤ë¼ï¡¹¤Î¿¶¤ëÉñ¤¤¤ò¥Õ¥Ã¥¯¤¹¤ë¤¿¤á¤Î¥ê¥¹¥ÊÄê
+ * µÁ¡£¥ê¥¹¥Ê¤Ë¤ÏÂ礤¯Ê¬¤±¤ë¤È¡¢
+ *
+ * - FSM¤½¤Î¤â¤Î¤ÎÆ°ºî¤ò¥Õ¥Ã¥¯¤¹¤ë¤¿¤á¤Î¥ê¥¹¥Ê
+ * - FSM¤Ë´Ø¤¹¤ë¥á¥¿¥Ç¡¼¥¿Êѹ¹Åù¤ÎÆ°ºî¤ò¥Õ¥Ã¥¯¤¹¤ë¤¿¤á¤Î¥ê¥¹¥Ê
+ *
+ * ¤Î2¼ïÎà¤Ëʬ¤±¤é¤ì¤ë¡£
+ *
+ * - PreFsmActionListener
+ * - PostFsmActionListener
+ * - FsmProfileListner
+ * - FsmStructureListener
+ */
+
+ //============================================================
+ /*!
+ * @if jp
+ * @brief PreFsmActionListener ¤Î¥¿¥¤¥×
+ *
+ * - PRE_ON_INIT: on_init ľÁ°
+ * - PRE_ON_ENTRY: on_entry ľÁ°
+ * - PRE_ON_DO: on_do ľÁ°
+ * - PRE_ON_EXIT: on_exit ľÁ°
+ * - PRE_ON_STATE_CHANGE: ¾õÂÖÁ«°ÜľÁ°
+ *
+ * @else
+ * @brief The types of ConnectorDataListener
+ *
+ * @endif
+ */
+
+ enum PreFsmActionListenerType
+ {
+ PRE_ON_INIT,
+ PRE_ON_ENTRY,
+ PRE_ON_DO,
+ PRE_ON_EXIT,
+ PRE_ON_STATE_CHANGE,
+ PRE_FSM_ACTION_LISTENER_NUM
+ };
+
+ /*!
+ * @if jp
+ * @class PreFsmActionListener ¥¯¥é¥¹
+ * @brief PreFsmActionListener ¥¯¥é¥¹
+ *
+ * - on_init()
+ * - on_entry()
+ * - on_do()
+ * - on_exit()
+ * - on_state_update()
+ *
+ * ³Æ¥¢¥¯¥·¥ç¥ó¤ËÂбþ¤¹¤ë¥æ¡¼¥¶¡¼¥³¡¼¥É¤¬¸Æ¤Ð¤ì¤ëľÁ°¤Î¥¿¥¤¥ß¥ó¥°
+ * ¤Ç¥³¡¼¥ë¤µ¤ì¤ë¥ê¥¹¥Ê¥¯¥é¥¹¤Î´ðÄ쥯¥é¥¹¡£
+ *
+ * - PRE_ON_INIT:
+ * - PRE_ON_ENTRY:
+ * - PRE_ON_DO:
+ * - PRE_ON_EXIT:
+ * - PRE_ON_STATE_CHANGE:
+ *
+ * @else
+ * @class PreFsmActionListener class
+ * @brief PreFsmActionListener class
+ *
+ * This class is abstract base class for listener classes that
+ * provides callbacks for various events in rtobject.
+ *
+ * @endif
+ */
+ class PreFsmActionListener
+ {
+ public:
+ /*!
+ * @if jp
+ *
+ * @brief PreFsmActionListenerType ¤òʸ»úÎó¤ËÊÑ´¹
+ *
+ * PreFsmActionListenerType ¤òʸ»úÎó¤ËÊÑ´¹¤¹¤ë
+ *
+ * @param type ÊÑ´¹ÂÐ¾Ý PreFsmActionListenerType
+ *
+ * @return ʸ»úÎóÊÑ´¹·ë²Ì
+ *
+ * @else
+ *
+ * @brief Convert PreFsmActionListenerType into the string.
+ *
+ * Convert PreFsmActionListenerType into the string.
+ *
+ * @param type The target PreFsmActionListenerType for transformation
+ *
+ * @return Trnasformation result of string representation
+ *
+ * @endif
+ */
+ static const char* toString(PreFsmActionListenerType type)
+ {
+ static const char* typeString[] =
+ {
+ "PRE_ON_INIT",
+ "PRE_ON_ENTRY",
+ "PRE_ON_DO",
+ "PRE_ON_EXIT",
+ "PRE_ON_STATE_CHANGE",
+ "PRE_FSM_ACTION_LISTENER_NUM"
+ };
+ if (type < PRE_FSM_ACTION_LISTENER_NUM) { return typeString[type]; }
+ return "";
+ }
+
+ /*!
+ * @if jp
+ * @brief ¥Ç¥¹¥È¥é¥¯¥¿
+ * @else
+ * @brief Destructor
+ * @endif
+ */
+ virtual ~PreFsmActionListener();
+
+ /*!
+ * @if jp
+ *
+ * @brief ²¾ÁÛ¥³¡¼¥ë¥Ð¥Ã¥¯´Ø¿ô
+ *
+ * PreFsmActionListener ¤Î¥³¡¼¥ë¥Ð¥Ã¥¯´Ø¿ô
+ *
+ * @else
+ *
+ * @brief Virtual Callback function
+ *
+ * This is a the Callback function for PreFsmActionListener.
+ *
+ * @endif
+ */
+ virtual void operator()(const char*) = 0;
+ };
+
+
+ //============================================================
+ /*!
+ * @if jp
+ * @brief PostCompoenntActionListener ¤Î¥¿¥¤¥×
+ *
+ * - POST_ON_INIT:
+ * - POST_ON_ENTRY:
+ * - POST_ON_DO:
+ * - POST_ON_EXIT:
+ * - POST_ON_STATE_CHANGE:
+ *
+ * @else
+ * @brief The types of ConnectorDataListener
+ *
+ * @endif
+ */
+ enum PostFsmActionListenerType
+ {
+ POST_ON_INIT,
+ POST_ON_ENTRY,
+ POST_ON_DO,
+ POST_ON_EXIT,
+ POST_ON_STATE_CHANGE,
+ POST_FSM_ACTION_LISTENER_NUM
+ };
+
+
+ /*!
+ * @if jp
+ * @class PostFsmActionListener ¥¯¥é¥¹
+ * @brief PostFsmActionListener ¥¯¥é¥¹
+ *
+ * OMG RTC»ÅÍͤÇÄêµÁ¤µ¤ì¤Æ¤¤¤ë°Ê²¼¤Î¥³¥ó¥Ý¡¼¥Í¥ó¥È¥¢¥¯¥·¥ç¥ó¥È¤Ë¤Ä¤¤
+ * ¤Æ¡¢
+ *
+ * - on_init()
+ * - on_entry()
+ * - on_do()
+ * - on_exit()
+ * - on_state_change()
+ *
+ * ³Æ¥¢¥¯¥·¥ç¥ó¤ËÂбþ¤¹¤ë¥æ¡¼¥¶¡¼¥³¡¼¥É¤¬¸Æ¤Ð¤ì¤ëľÁ°¤Î¥¿¥¤¥ß¥ó¥°
+ * ¤Ç¥³¡¼¥ë¤µ¤ì¤ë¥ê¥¹¤Ê¥¯¥é¥¹¤Î´ðÄ쥯¥é¥¹¡£
+ *
+ * - POST_ON_INIT:
+ * - POST_ON_ENTRY:
+ * - POST_ON_DO:
+ * - POST_ON_EXIT:
+ * - POST_ON_STATE_CHANGE:
+ *
+ * @else
+ * @class PostFsmActionListener class
+ * @brief PostFsmActionListener class
+ *
+ * This class is abstract base class for listener classes that
+ * provides callbacks for various events in rtobject.
+ *
+ * @endif
+ */
+ class PostFsmActionListener
+ {
+ public:
+ /*!
+ * @if jp
+ *
+ * @brief PostFsmActionListenerType ¤òʸ»úÎó¤ËÊÑ´¹
+ *
+ * PostFsmActionListenerType ¤òʸ»úÎó¤ËÊÑ´¹¤¹¤ë
+ *
+ * @param type ÊÑ´¹ÂÐ¾Ý PostFsmActionListenerType
+ *
+ * @return ʸ»úÎóÊÑ´¹·ë²Ì
+ *
+ * @else
+ *
+ * @brief Convert PostFsmActionListenerType into the string.
+ *
+ * Convert PostFsmActionListenerType into the string.
+ *
+ * @param type The target PostFsmActionListenerType for transformation
+ *
+ * @return Trnasformation result of string representation
+ *
+ * @endif
+ */
+ static const char* toString(PostFsmActionListenerType type)
+ {
+ static const char* typeString[] =
+ {
+ "POST_ON_INIT",
+ "POST_ON_ENTRY",
+ "POST_ON_DO",
+ "POST_ON_EXIT",
+ "POST_ON_STATE_CHANGE",
+ "POST_FSM_ACTION_LISTENER_NUM"
+ };
+ if (type < POST_FSM_ACTION_LISTENER_NUM)
+ {
+ return typeString[type];
+ }
+ return "";
+ }
+
+ /*!
+ * @if jp
+ * @brief ¥Ç¥¹¥È¥é¥¯¥¿
+ * @else
+ * @brief Destructor
+ * @endif
+ */
+ virtual ~PostFsmActionListener();
+
+ /*!
+ * @if jp
+ *
+ * @brief ²¾ÁÛ¥³¡¼¥ë¥Ð¥Ã¥¯´Ø¿ô
+ *
+ * PostFsmActionListener ¤Î¥³¡¼¥ë¥Ð¥Ã¥¯´Ø¿ô
+ *
+ * @else
+ *
+ * @brief Virtual Callback function
+ *
+ * This is a the Callback function for PostFsmActionListener.
+ *
+ * @endif
+ */
+ virtual void operator()(const char* state,
+ ReturnCode_t ret) = 0;
+ };
+
+ //============================================================
+ /*!
+ * @if jp
+ * @brief FsmProfileListener ¤Î¥¿¥¤¥×
+ *
+ * - SET_FSM_PROFILE : FSM ProfileÀßÄê»þ
+ * - GET_FSM_PROFILE : FSM Profile¼èÆÀ»þ
+ * - ADD_FSM_STATE : FSM¤ËState¤¬Äɲ䵤줿
+ * - REMOVE_FSM_STATE : FSM¤«¤éState¤¬ºï½ü¤µ¤ì¤¿
+ * - ADD_FSM_TRANSITION : FSM¤ËÁ«°Ü¤¬Äɲ䵤줿
+ * - REMOVE_FSM_TRANSITION : FSM¤«¤éÁ«°Ü¤¬ºï½ü¤µ¤ì¤¿
+ * - BIND_FSM_EVENT : FSM¤Ë¥¤¥Ù¥ó¥È¤¬¥Ð¥¤¥ó¥É¤µ¤ì¤¿
+ * - UNBIND_FSM_EVENT : FSM¤Ë¥¤¥Ù¥ó¥È¤¬¥¢¥ó¥Ð¥¤¥ó¥É¤µ¤ì¤¿
+ *
+ * @else
+ * @brief The types of FsmProfileListener
+ *
+ * - SET_FSM_PROFILE : Setting FSM Profile
+ * - GET_FSM_PROFILE : Getting FSM Profile
+ * - ADD_FSM_STATE : A State added to the FSM
+ * - REMOVE_FSM_STATE : A State removed from FSM
+ * - ADD_FSM_TRANSITION : A transition added to the FSM
+ * - REMOVE_FSM_TRANSITION : A transition removed from FSM
+ * - BIND_FSM_EVENT : An event bounded to the FSM
+ * - UNBIND_FSM_EVENT : An event unbounded to the FSM
+ *
+ * @endif
+ */
+ enum FsmProfileListenerType
+ {
+ SET_FSM_PROFILE,
+ GET_FSM_PROFILE,
+ ADD_FSM_STATE,
+ REMOVE_FSM_STATE,
+ ADD_FSM_TRANSITION,
+ REMOVE_FSM_TRANSITION,
+ BIND_FSM_EVENT,
+ UNBIND_FSM_EVENT,
+ FSM_PROFILE_LISTENER_NUM
+ };
+
+ /*!
+ * @if jp
+ * @class FsmProfileListener ¥¯¥é¥¹
+ * @brief FsmProfileListener ¥¯¥é¥¹
+ *
+ * ³Æ¥¢¥¯¥·¥ç¥ó¤ËÂбþ¤¹¤ë¥æ¡¼¥¶¡¼¥³¡¼¥É¤¬¸Æ¤Ð¤ì¤ëľÁ°¤Î¥¿¥¤¥ß¥ó¥°
+ * ¤Ç¥³¡¼¥ë¤µ¤ì¤ë¥ê¥¹¤Ê¥¯¥é¥¹¤Î´ðÄ쥯¥é¥¹¡£
+ *
+ * - ADD_PORT:
+ * - REMOVE_PORT:
+ *
+ * @else
+ * @class FsmProfileListener class
+ * @brief FsmProfileListener class
+ *
+ * This class is abstract base class for listener classes that
+ * provides callbacks for various events in rtobject.
+ *
+ * @endif
+ */
+ class FsmProfileListener
+ {
+ public:
+ /*!
+ * @if jp
+ *
+ * @brief FsmProfileListenerType ¤òʸ»úÎó¤ËÊÑ´¹
+ *
+ * FsmProfileListenerType ¤òʸ»úÎó¤ËÊÑ´¹¤¹¤ë
+ *
+ * @param type ÊÑ´¹ÂÐ¾Ý FsmProfileListenerType
+ * @return ʸ»úÎóÊÑ´¹·ë²Ì
+ *
+ * @else
+ *
+ * @brief Convert FsmProfileListenerType into the string.
+ *
+ * Convert FsmProfileListenerType into the string.
+ *
+ * @param type The target FsmProfileListenerType for transformation
+ * @return Trnasformation result of string representation
+ *
+ * @endif
+ */
+ static const char* toString(FsmProfileListenerType type)
+ {
+ static const char* typeString[] =
+ {
+ "SET_FSM_PROFILE",
+ "GET_FSM_PROFILE",
+ "ADD_FSM_STATE",
+ "REMOVE_FSM_STATE",
+ "ADD_FSM_TRANSITION",
+ "REMOVE_FSM_TRANSITION",
+ "BIND_FSM_EVENT",
+ "UNBIND_FSM_EVENT",
+ "FSM_PROFILE_LISTENER_NUM"
+ };
+ if (type < FSM_PROFILE_LISTENER_NUM) { return typeString[type]; }
+ return "";
+ }
+
+ /*!
+ * @if jp
+ * @brief ¥Ç¥¹¥È¥é¥¯¥¿
+ * @else
+ * @brief Destructor
+ * @endif
+ */
+ virtual ~FsmProfileListener();
+
+ /*!
+ * @if jp
+ *
+ * @brief ²¾ÁÛ¥³¡¼¥ë¥Ð¥Ã¥¯´Ø¿ô
+ *
+ * FsmProfileListener ¤Î¥³¡¼¥ë¥Ð¥Ã¥¯´Ø¿ô
+ *
+ * @else
+ *
+ * @brief Virtual Callback function
+ *
+ * This is a the Callback function for FsmProfileListener
+ *
+ * @endif
+ */
+ virtual void operator()(const ::RTC::FsmProfile& fsmprof) = 0;
+ };
+
+
+ //============================================================
+ /*!
+ * @if jp
+ * @brief FsmStructureListener ¤Î¥¿¥¤¥×
+ *
+ * - SET_FSM_STRUCTURE: FSM¹½Â¤¤ÎÀßÄê
+ * - GET_FSM_STRUCTURE: FSM¹½Â¤¤Î¼èÆÀ
+ *
+ * @else
+ * @brief The types of FsmStructureListener
+ *
+ * - SET_FSM_STRUCTURE: Setting FSM structure
+ * - GET_FSM_STRUCTURE: Getting FSM structure
+ *
+ * @endif
+ */
+ enum FsmStructureListenerType
+ {
+ SET_FSM_STRUCTURE,
+ GET_FSM_STRUCTURE,
+ FSM_STRUCTURE_LISTENER_NUM
+ };
+
+ /*!
+ * @if jp
+ * @class FsmStructureListener ¥¯¥é¥¹
+ * @brief FsmStructureListener ¥¯¥é¥¹
+ *
+ * ³Æ¥¢¥¯¥·¥ç¥ó¤ËÂбþ¤¹¤ë¥æ¡¼¥¶¡¼¥³¡¼¥É¤¬¸Æ¤Ð¤ì¤ëľÁ°¤Î¥¿¥¤¥ß¥ó¥°
+ * ¤Ç¥³¡¼¥ë¤µ¤ì¤ë¥ê¥¹¤Ê¥¯¥é¥¹¤Î´ðÄ쥯¥é¥¹¡£
+ *
+ * @else
+ * @class FsmStructureListener class
+ * @brief FsmStructureListener class
+ *
+ * This class is abstract base class for listener classes that
+ * provides callbacks for various events in rtobject.
+ *
+ * @endif
+ */
+ class FsmStructureListener
+ {
+ public:
+ /*!
+ * @if jp
+ *
+ * @brief FsmStructureListenerType ¤òʸ»úÎó¤ËÊÑ´¹
+ *
+ * FsmStructureListenerType ¤òʸ»úÎó¤ËÊÑ´¹¤¹¤ë
+ *
+ * @param type ÊÑ´¹ÂÐ¾Ý FsmStructureListenerType
+ *
+ * @return ʸ»úÎóÊÑ´¹·ë²Ì
+ *
+ * @else
+ *
+ * @brief Convert FsmStructureListenerType into the string.
+ *
+ * Convert FsmStructureListenerType into the string.
+ *
+ * @param type The target FsmStructureListenerType for transformation
+ *
+ * @return Trnasformation result of string representation
+ *
+ * @endif
+ */
+ static const char* toString(FsmStructureListenerType type)
+ {
+ static const char* typeString[] =
+ {
+ "SET_FSM_STRUCTURE",
+ "GET_FSM_STRUCTURE",
+ "FSM_STRUCTURE_LISTENER_NUM"
+ };
+ if (type < FSM_STRUCTURE_LISTENER_NUM) { return typeString[type]; }
+ return "";
+ }
+
+ /*!
+ * @if jp
+ * @brief ¥Ç¥¹¥È¥é¥¯¥¿
+ * @else
+ * @brief Destructor
+ * @endif
+ */
+ virtual ~FsmStructureListener();
+
+ /*!
+ * @if jp
+ *
+ * @brief ²¾ÁÛ¥³¡¼¥ë¥Ð¥Ã¥¯´Ø¿ô
+ *
+ * FsmStructureListener ¤Î¥³¡¼¥ë¥Ð¥Ã¥¯´Ø¿ô
+ *
+ * @else
+ *
+ * @brief Virtual Callback function
+ *
+ * This is a the Callback function for FsmStructureListener
+ *
+ * @endif
+ */
+ virtual void operator()(::RTC::FsmStructure& pprof) = 0;
+ };
+
+
+ //============================================================
+ // Holder classes
+ //============================================================
+ /*!
+ * @if jp
+ * @class PreFsmActionListenerHolder
+ * @brief PreFsmActionListener ¥Û¥ë¥À¥¯¥é¥¹
+ *
+ * Ê£¿ô¤Î PreFsmActionListener ¤òÊÝ»ý¤·´ÉÍý¤¹¤ë¥¯¥é¥¹¡£
+ *
+ * @else
+ * @class PreFsmActionListenerHolder
+ * @brief PreFsmActionListener holder class
+ *
+ * This class manages one ore more instances of
+ * PreFsmActionListener class.
+ *
+ * @endif
+ */
+ class PreFsmActionListenerHolder
+ {
+ typedef std::pair<PreFsmActionListener*, bool> Entry;
+ typedef coil::Guard<coil::Mutex> Guard;
+ public:
+ /*!
+ * @if jp
+ * @brief ¥³¥ó¥¹¥È¥é¥¯¥¿
+ * @else
+ * @brief Constructor
+ * @endif
+ */
+ PreFsmActionListenerHolder();
+
+ /*!
+ * @if jp
+ * @brief ¥Ç¥¹¥È¥é¥¯¥¿
+ * @else
+ * @brief Destructor
+ * @endif
+ */
+ virtual ~PreFsmActionListenerHolder();
+
+ /*!
+ * @if jp
+ *
+ * @brief ¥ê¥¹¥Ê¡¼¤ÎÄɲÃ
+ *
+ * ¥ê¥¹¥Ê¡¼¤òÄɲ乤롣
+ *
+ * @param listener Äɲ乤ë¥ê¥¹¥Ê
+ * @param autoclean true:¥Ç¥¹¥È¥é¥¯¥¿¤Çºï½ü¤¹¤ë,
+ * false:¥Ç¥¹¥È¥é¥¯¥¿¤Çºï½ü¤·¤Ê¤¤
+ * @else
+ *
+ * @brief Add the listener.
+ *
+ * This method adds the listener.
+ *
+ * @param listener Added listener
+ * @param autoclean true:The listener is deleted at the destructor.,
+ * false:The listener is not deleted at the destructor.
+ * @endif
+ */
+ void addListener(PreFsmActionListener* listener, bool autoclean);
+
+ /*!
+ * @if jp
+ *
+ * @brief ¥ê¥¹¥Ê¡¼¤Îºï½ü
+ *
+ * ¥ê¥¹¥Ê¤òºï½ü¤¹¤ë¡£
+ *
+ * @param listener ºï½ü¤¹¤ë¥ê¥¹¥Ê
+ * @else
+ *
+ * @brief Remove the listener.
+ *
+ * This method removes the listener.
+ *
+ * @param listener Removed listener
+ * @endif
+ */
+ void removeListener(PreFsmActionListener* listener);
+
+ /*!
+ * @if jp
+ *
+ * @brief ¥ê¥¹¥Ê¡¼¤ØÄÌÃΤ¹¤ë
+ *
+ * ÅÐÏ¿¤µ¤ì¤Æ¤¤¤ë¥ê¥¹¥Ê¤Î¥³¡¼¥ë¥Ð¥Ã¥¯¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤¹¡£
+ *
+ * @param info ConnectorInfo
+ * @else
+ *
+ * @brief Notify listeners.
+ *
+ * This calls the Callback method of the registered listener.
+ *
+ * @param info ConnectorInfo
+ * @endif
+ */
+ void notify(const char* state);
+
+ private:
+ std::vector<Entry> m_listeners;
+ coil::Mutex m_mutex;
+ };
+
+
+ /*!
+ * @if jp
+ * @class PostFsmActionListenerHolder
+ * @brief PostFsmActionListener ¥Û¥ë¥À¥¯¥é¥¹
+ *
+ * Ê£¿ô¤Î PostFsmActionListener ¤òÊÝ»ý¤·´ÉÍý¤¹¤ë¥¯¥é¥¹¡£
+ *
+ * @else
+ * @class PostFsmActionListenerHolder
+ * @brief PostFsmActionListener holder class
+ *
+ * This class manages one ore more instances of
+ * PostFsmActionListener class.
+ *
+ * @endif
+ */
+ class PostFsmActionListenerHolder
+ {
+ typedef std::pair<PostFsmActionListener*, bool> Entry;
+ typedef coil::Guard<coil::Mutex> Guard;
+ public:
+ /*!
+ * @if jp
+ * @brief ¥³¥ó¥¹¥È¥é¥¯¥¿
+ * @else
+ * @brief Constructor
+ * @endif
+ */
+ PostFsmActionListenerHolder();
+ /*!
+ * @if jp
+ * @brief ¥Ç¥¹¥È¥é¥¯¥¿
+ * @else
+ * @brief Destructor
+ * @endif
+ */
+ virtual ~PostFsmActionListenerHolder();
+
+ /*!
+ * @if jp
+ *
+ * @brief ¥ê¥¹¥Ê¡¼¤ÎÄɲÃ
+ *
+ * ¥ê¥¹¥Ê¡¼¤òÄɲ乤롣
+ *
+ * @param listener Äɲ乤ë¥ê¥¹¥Ê
+ * @param autoclean true:¥Ç¥¹¥È¥é¥¯¥¿¤Çºï½ü¤¹¤ë,
+ * false:¥Ç¥¹¥È¥é¥¯¥¿¤Çºï½ü¤·¤Ê¤¤
+ * @else
+ *
+ * @brief Add the listener.
+ *
+ * This method adds the listener.
+ *
+ * @param listener Added listener
+ * @param autoclean true:The listener is deleted at the destructor.,
+ * false:The listener is not deleted at the destructor.
+ * @endif
+ */
+ void addListener(PostFsmActionListener* listener, bool autoclean);
+
+ /*!
+ * @if jp
+ *
+ * @brief ¥ê¥¹¥Ê¡¼¤Îºï½ü
+ *
+ * ¥ê¥¹¥Ê¤òºï½ü¤¹¤ë¡£
+ *
+ * @param listener ºï½ü¤¹¤ë¥ê¥¹¥Ê
+ * @else
+ *
+ * @brief Remove the listener.
+ *
+ * This method removes the listener.
+ *
+ * @param listener Removed listener
+ * @endif
+ */
+ void removeListener(PostFsmActionListener* listener);
+
+ /*!
+ * @if jp
+ *
+ * @brief ¥ê¥¹¥Ê¡¼¤ØÄÌÃΤ¹¤ë
+ *
+ * ÅÐÏ¿¤µ¤ì¤Æ¤¤¤ë¥ê¥¹¥Ê¤Î¥³¡¼¥ë¥Ð¥Ã¥¯¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤¹¡£
+ *
+ * @param info ConnectorInfo
+ * @param cdrdata ¥Ç¡¼¥¿
+ * @else
+ *
+ * @brief Notify listeners.
+ *
+ * This calls the Callback method of the registered listener.
+ *
+ * @param info ConnectorInfo
+ * @param cdrdata Data
+ * @endif
+ */
+ void notify(const char* state, ReturnCode_t ret);
+
+ private:
+ std::vector<Entry> m_listeners;
+ coil::Mutex m_mutex;
+ };
+
+
+ //============================================================
+ /*!
+ * @if jp
+ * @class FsmProfileListenerHolder
+ * @brief FsmProfileListener ¥Û¥ë¥À¥¯¥é¥¹
+ *
+ * Ê£¿ô¤Î FsmProfileListener ¤òÊÝ»ý¤·´ÉÍý¤¹¤ë¥¯¥é¥¹¡£
+ *
+ * @else
+ * @class FsmProfileListenerHolder
+ * @brief FsmProfileListener holder class
+ *
+ * This class manages one ore more instances of
+ * FsmProfileListener class.
+ *
+ * @endif
+ */
+ class FsmProfileListenerHolder
+ {
+ typedef std::pair<FsmProfileListener*, bool> Entry;
+ typedef coil::Guard<coil::Mutex> Guard;
+ public:
+ /*!
+ * @if jp
+ * @brief ¥³¥ó¥¹¥È¥é¥¯¥¿
+ * @else
+ * @brief Constructor
+ * @endif
+ */
+ FsmProfileListenerHolder();
+ /*!
+ * @if jp
+ * @brief ¥Ç¥¹¥È¥é¥¯¥¿
+ * @else
+ * @brief Destructor
+ * @endif
+ */
+ virtual ~FsmProfileListenerHolder();
+
+ /*!
+ * @if jp
+ *
+ * @brief ¥ê¥¹¥Ê¡¼¤ÎÄɲÃ
+ *
+ * ¥ê¥¹¥Ê¡¼¤òÄɲ乤롣
+ *
+ * @param listener Äɲ乤ë¥ê¥¹¥Ê
+ * @param autoclean true:¥Ç¥¹¥È¥é¥¯¥¿¤Çºï½ü¤¹¤ë,
+ * false:¥Ç¥¹¥È¥é¥¯¥¿¤Çºï½ü¤·¤Ê¤¤
+ * @else
+ *
+ * @brief Add the listener.
+ *
+ * This method adds the listener.
+ *
+ * @param listener Added listener
+ * @param autoclean true:The listener is deleted at the destructor.,
+ * false:The listener is not deleted at the destructor.
+ * @endif
+ */
+ void addListener(FsmProfileListener* listener, bool autoclean);
+
+ /*!
+ * @if jp
+ *
+ * @brief ¥ê¥¹¥Ê¡¼¤Îºï½ü
+ *
+ * ¥ê¥¹¥Ê¤òºï½ü¤¹¤ë¡£
+ *
+ * @param listener ºï½ü¤¹¤ë¥ê¥¹¥Ê
+ * @else
+ *
+ * @brief Remove the listener.
+ *
+ * This method removes the listener.
+ *
+ * @param listener Removed listener
+ * @endif
+ */
+ void removeListener(FsmProfileListener* listener);
+
+ /*!
+ * @if jp
+ *
+ * @brief ¥ê¥¹¥Ê¡¼¤ØÄÌÃΤ¹¤ë
+ *
+ * ÅÐÏ¿¤µ¤ì¤Æ¤¤¤ë¥ê¥¹¥Ê¤Î¥³¡¼¥ë¥Ð¥Ã¥¯¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤¹¡£
+ *
+ * @param info ConnectorInfo
+ * @param cdrdata ¥Ç¡¼¥¿
+ * @else
+ *
+ * @brief Notify listeners.
+ *
+ * This calls the Callback method of the registered listener.
+ *
+ * @param info ConnectorInfo
+ * @param cdrdata Data
+ * @endif
+ */
+ void notify(RTC::FsmProfile& profile);
+
+ private:
+ std::vector<Entry> m_listeners;
+ coil::Mutex m_mutex;
+ };
+
+ /*!
+ * @if jp
+ * @class FsmStructureListenerHolder
+ * @brief FsmStructureListener ¥Û¥ë¥À¥¯¥é¥¹
+ *
+ * Ê£¿ô¤Î FsmStructureListener ¤òÊÝ»ý¤·´ÉÍý¤¹¤ë¥¯¥é¥¹¡£
+ *
+ * @else
+ * @class FsmStructureListenerHolder
+ * @brief FsmStructureListener holder class
+ *
+ * This class manages one ore more instances of
+ * FsmStructureListener class.
+ *
+ * @endif
+ */
+ class FsmStructureListenerHolder
+ {
+ typedef std::pair<FsmStructureListener*, bool> Entry;
+ typedef coil::Guard<coil::Mutex> Guard;
+ public:
+ /*!
+ * @if jp
+ * @brief ¥³¥ó¥¹¥È¥é¥¯¥¿
+ * @else
+ * @brief Constructor
+ * @endif
+ */
+ FsmStructureListenerHolder();
+ /*!
+ * @if jp
+ * @brief ¥Ç¥¹¥È¥é¥¯¥¿
+ * @else
+ * @brief Destructor
+ * @endif
+ */
+ virtual ~FsmStructureListenerHolder();
+
+ /*!
+ * @if jp
+ *
+ * @brief ¥ê¥¹¥Ê¡¼¤ÎÄɲÃ
+ *
+ * ¥ê¥¹¥Ê¡¼¤òÄɲ乤롣
+ *
+ * @param listener Äɲ乤ë¥ê¥¹¥Ê
+ * @param autoclean true:¥Ç¥¹¥È¥é¥¯¥¿¤Çºï½ü¤¹¤ë,
+ * false:¥Ç¥¹¥È¥é¥¯¥¿¤Çºï½ü¤·¤Ê¤¤
+ * @else
+ *
+ * @brief Add the listener.
+ *
+ * This method adds the listener.
+ *
+ * @param listener Added listener
+ * @param autoclean true:The listener is deleted at the destructor.,
+ * false:The listener is not deleted at the destructor.
+ * @endif
+ */
+ void addListener(FsmStructureListener* listener, bool autoclean);
+
+ /*!
+ * @if jp
+ *
+ * @brief ¥ê¥¹¥Ê¡¼¤Îºï½ü
+ *
+ * ¥ê¥¹¥Ê¤òºï½ü¤¹¤ë¡£
+ *
+ * @param listener ºï½ü¤¹¤ë¥ê¥¹¥Ê
+ * @else
+ *
+ * @brief Remove the listener.
+ *
+ * This method removes the listener.
+ *
+ * @param listener Removed listener
+ * @endif
+ */
+ void removeListener(FsmStructureListener* listener);
+
+ /*!
+ * @if jp
+ *
+ * @brief ¥ê¥¹¥Ê¡¼¤ØÄÌÃΤ¹¤ë
+ *
+ * ÅÐÏ¿¤µ¤ì¤Æ¤¤¤ë¥ê¥¹¥Ê¤Î¥³¡¼¥ë¥Ð¥Ã¥¯¥á¥½¥Ã¥É¤ò¸Æ¤Ó½Ð¤¹¡£
+ *
+ * @param info ConnectorInfo
+ * @param cdrdata ¥Ç¡¼¥¿
+ * @else
+ *
+ * @brief Notify listeners.
+ *
+ * This calls the Callback method of the registered listener.
+ *
+ * @param info ConnectorInfo
+ * @param cdrdata Data
+ * @endif
+ */
+ void notify(RTC::FsmStructure& structure);
+
+ private:
+ std::vector<Entry> m_listeners;
+ coil::Mutex m_mutex;
+ };
+
+ //============================================================
+ /*!
+ * @if jp
+ * @class FsmActionListeners
+ * @brief FsmActionListeners ¥¯¥é¥¹
+ *
+ *
+ * @else
+ * @class FsmActionListeners
+ * @brief FsmActionListeners class
+ *
+ *
+ * @endif
+ */
+ class FsmActionListeners
+ {
+ public:
+ /*!
+ * @if jp
+ * @brief PreFsmActionListenerType¥ê¥¹¥ÊÇÛÎó
+ * PreFsmActionListenerType¥ê¥¹¥Ê¤ò³ÊǼ
+ * @else
+ * @brief PreFsmActionListenerType listener array
+ * The PreFsmActionListenerType listener is stored.
+ * @endif
+ */
+ PreFsmActionListenerHolder
+ preaction_[PRE_FSM_ACTION_LISTENER_NUM];
+ /*!
+ * @if jp
+ * @brief PostFsmActionType¥ê¥¹¥ÊÇÛÎó
+ * PostFsmActionType¥ê¥¹¥Ê¤ò³ÊǼ
+ * @else
+ * @brief PostFsmActionType listener array
+ * The PostFsmActionType listener is stored.
+ * @endif
+ */
+ PostFsmActionListenerHolder
+ postaction_[POST_FSM_ACTION_LISTENER_NUM];
+ /*!
+ * @if jp
+ * @brief FsmProfileType¥ê¥¹¥ÊÇÛÎó
+ * FsmProfileType¥ê¥¹¥Ê¤ò³ÊǼ
+ * @else
+ * @brief FsmProfileType listener array
+ * The FsmProfileType listener is stored.
+ * @endif
+ */
+ FsmProfileListenerHolder
+ profile_[FSM_PROFILE_LISTENER_NUM];
+ /*!
+ * @if jp
+ * @brief FsmStructureType¥ê¥¹¥ÊÇÛÎó
+ * FsmStructureType¥ê¥¹¥Ê¤ò³ÊǼ
+ * @else
+ * @brief FsmStructureType listener array
+ * The FsmStructureType listener is stored.
+ * @endif
+ */
+ FsmStructureListenerHolder
+ structure_[FSM_STRUCTURE_LISTENER_NUM];
+ };
+
+}; // namespace RTC
+
+#endif // RTC_FSMACTIONLISTENER_H
Modified: trunk/OpenRTM-aist/src/lib/rtm/InPortPushConnector.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/InPortPushConnector.cpp 2017-12-10 21:16:07 UTC (rev 3114)
+++ trunk/OpenRTM-aist/src/lib/rtm/InPortPushConnector.cpp 2017-12-10 21:18:08 UTC (rev 3115)
@@ -44,7 +44,7 @@
{
m_buffer = createBuffer(info);
}
- if (m_buffer == 0 || m_provider==0) throw std::bad_alloc();
+ if (m_buffer == 0 || m_provider == 0) { throw std::bad_alloc(); }
m_buffer->init(info.properties.getNode("buffer"));
m_provider->init(info.properties);
Modified: trunk/OpenRTM-aist/src/lib/rtm/Makefile.am
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/Makefile.am 2017-12-10 21:16:07 UTC (rev 3114)
+++ trunk/OpenRTM-aist/src/lib/rtm/Makefile.am 2017-12-10 21:18:08 UTC (rev 3115)
@@ -85,6 +85,7 @@
RTObject.cpp \
ConfigAdmin.cpp \
ComponentActionListener.cpp \
+ FsmActionListener.cpp \
ConfigurationListener.cpp \
SdoConfiguration.cpp \
SdoServiceAdmin.cpp \
Modified: trunk/OpenRTM-aist/src/lib/rtm/NVUtil.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/NVUtil.cpp 2017-12-10 21:16:07 UTC (rev 3114)
+++ trunk/OpenRTM-aist/src/lib/rtm/NVUtil.cpp 2017-12-10 21:18:08 UTC (rev 3115)
@@ -123,7 +123,7 @@
#else // ORB_IS_RTORB
nv[i].name = (char *)keys[i].c_str();
#endif // ORB_IS_RTORB
- nv[i].value <<= prop[keys[i]].c_str();
+ nv[i].value <<= prop[keys[i]].c_str();
}
}
@@ -138,12 +138,12 @@
{
for (CORBA::ULong i(0), len(nv.length()); i < len; ++i)
{
- const char* value;
- if (nv[i].value >>= value)
- {
- const char* name(nv[i].name);
- prop[name] = value;
- };
+ const char* value;
+ if (nv[i].value >>= value)
+ {
+ const char* name(nv[i].name);
+ prop[name] = value;
+ };
}
}
@@ -163,9 +163,9 @@
{
const char* value;
if (nv.value >>= value)
- {
- m_prop.setProperty(CORBA::string_dup(nv.name), value);
- };
+ {
+ m_prop.setProperty(CORBA::string_dup(nv.name), value);
+ }
}
coil::Properties m_prop;
};
@@ -240,14 +240,14 @@
{
try
{
- CORBA::Any value;
- value = find(nv, name);
- const char* str_value;
- return value >>= str_value;
+ CORBA::Any value;
+ value = find(nv, name);
+ const char* str_value;
+ return value >>= str_value;
}
catch (...)
{
- return false;
+ return false;
}
}
@@ -260,14 +260,14 @@
* @endif
*/
bool isStringValue(const SDOPackage::NVList& nv,
- const char* name, const char* value)
+ const char* name, const char* value)
{
if (isString(nv, name))
{
- if (toString(nv, name) == value)
- {
- return true;
- }
+ if (toString(nv, name) == value)
+ {
+ return true;
+ }
}
return false;
}
@@ -284,19 +284,19 @@
const char* str_value;
try
{
- if(!(find(nv, name) >>= str_value))
+ if(!(find(nv, name) >>= str_value))
{
- str_value = "";
+ str_value = "";
}
}
catch (...)
{
- str_value = "";
+ str_value = "";
}
if (str_value == NULL)
{
- str_value = "";
+ str_value = "";
}
return str_value;
@@ -324,22 +324,22 @@
if (index < 0)
{
- CORBA_SeqUtil::push_back(nv, newNV(name, value));
+ CORBA_SeqUtil::push_back(nv, newNV(name, value));
}
else
{
- const char* tmp_char;
- nv[index].value >>= tmp_char;
- std::string tmp_str(tmp_char);
-
- std::vector<std::string> values;
- values = coil::split(tmp_str, ",");
- if (values.end() == std::find(values.begin(), values.end(), value))
- {
- tmp_str.append(",");
- tmp_str.append(value);
- nv[index].value <<= tmp_str.c_str();
- }
+ const char* tmp_char;
+ nv[index].value >>= tmp_char;
+ std::string tmp_str(tmp_char);
+
+ std::vector<std::string> values;
+ values = coil::split(tmp_str, ",");
+ if (values.end() == std::find(values.begin(), values.end(), value))
+ {
+ tmp_str.append(",");
+ tmp_str.append(value);
+ nv[index].value <<= tmp_str.c_str();
+ }
}
return true;
}
@@ -355,33 +355,56 @@
{
for (CORBA::ULong i = 0, len = src.length(); i < len; ++i)
{
- CORBA_SeqUtil::push_back(dest, src[i]);
+ CORBA_SeqUtil::push_back(dest, src[i]);
}
}
/*!
* @if jp
+ * @brief NameValue ¤ËÀßÄꤵ¤ì¤Æ¤¤¤ëÆâÍƤòʸ»úÎó¤È¤·¤Æ½ÐÎϤ¹¤ë¡£
+ * @else
+ * @brief Print information configured in NVList as a string type
+ * @endif
+ */
+ std::ostream& dump_to_stream(std::ostream& out,
+ const SDOPackage::NameValue& nv)
+ {
+ const char* str_value;
+ if (nv.value >>= str_value)
+ {
+ out << nv.name << ": " << str_value << std::endl;
+ }
+ else
+ {
+ out << nv.name << ": not a string value" << std::endl;
+ }
+ return out;
+ }
+ std::ostream& operator<<(std::ostream& os, const SDOPackage::NameValue& nv)
+ {
+ return dump_to_stream(os, nv);
+ }
+
+ /*!
+ * @if jp
* @brief NVList ¤ËÀßÄꤵ¤ì¤Æ¤¤¤ëÆâÍƤòʸ»úÎó¤È¤·¤Æ½ÐÎϤ¹¤ë¡£
* @else
* @brief Print information configured in NVList as a string type
* @endif
*/
- std::ostream& dump_to_stream(std::ostream& out, const SDOPackage::NVList& nv)
+ std::ostream& dump_to_stream(std::ostream& out,
+ const SDOPackage::NVList& nv)
{
for (CORBA::ULong i(0), n(nv.length()); i < n; ++i)
{
- const char* str_value;
- if (nv[i].value >>= str_value)
- {
- out << nv[i].name << ": " << str_value << std::endl;
- }
- else
- {
- out << nv[i].name << ": not a string value" << std::endl;
- }
+ out << nv[i] << std::endl;
}
return out;
}
+ std::ostream& operator<<(std::ostream& os, const SDOPackage::NVList& nvlist)
+ {
+ return dump_to_stream(os, nvlist);
+ }
/*!
* @if jp
Modified: trunk/OpenRTM-aist/src/lib/rtm/NVUtil.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/NVUtil.h 2017-12-10 21:16:07 UTC (rev 3114)
+++ trunk/OpenRTM-aist/src/lib/rtm/NVUtil.h 2017-12-10 21:18:08 UTC (rev 3115)
@@ -536,8 +536,60 @@
/*!
* @if jp
*
+ * @brief NameValue ¤ËÀßÄꤵ¤ì¤Æ¤¤¤ëÆâÍƤòʸ»úÎó¤È¤·¤Æ½ÐÎϤ¹¤ë¡£
+ *
+ * »ØÄꤵ¤ì¤¿ NVList ¤ËÀßÄꤵ¤ì¤¿ÆâÍƤòʸ»úÎó¤È¤·¤Æ½ÐÎϤ¹¤ë¡£¤Ê¤ª¡¢Àß
+ * Äꤵ¤ì¤Æ¤¤¤ëÍ×ÁǤ¬Ê¸»úÎ󷿰ʳ°¤Î¾ì¹ç¤Ë¤Ï¡¢¤½¤Î»Ý(ʸ»úÎó¤Ç¤Ï¤Ê¤¤)¤ò
+ * ½ÐÎϤ¹¤ë¡£
+ *
+ * @param nv ½ÐÎÏÂÐ¾Ý NameValue
+ *
+ * @else
+ *
+ * @brief Print information configured in NameValue as string type
+ *
+ * Print configured information as string type in specified NVList.
+ * Also, print the reason (this is not string type) if the configured
+ * element is other than string type.
+ *
+ * @param nv The target NameValue for the print
+ *
+ * @endif
+ */
+ std::ostream& dump_to_stream(std::ostream& out,
+ const SDOPackage::NameValue& nv);
+ std::ostream& operator<<(std::ostream& os, const SDOPackage::NameValue& nv);
+
+/*!
+ * @if jp
+ *
* @brief NVList ¤ËÀßÄꤵ¤ì¤Æ¤¤¤ëÆâÍƤòʸ»úÎó¤È¤·¤Æ½ÐÎϤ¹¤ë¡£
*
+ * »ØÄꤵ¤ì¤¿ NVList ¤ËÀßÄꤵ¤ì¤¿ÆâÍƤòʸ»úÎó¤È¤·¤Æ½ÐÎϤ¹¤ë¡£¤Ê¤ª¡¢Àß
+ * Äꤵ¤ì¤Æ¤¤¤ëÍ×ÁǤ¬Ê¸»úÎ󷿰ʳ°¤Î¾ì¹ç¤Ë¤Ï¡¢¤½¤Î»Ý(ʸ»úÎó¤Ç¤Ï¤Ê¤¤)¤ò
+ * ½ÐÎϤ¹¤ë¡£
+ *
+ * @param nv ½ÐÎÏÂÐ¾Ý NVList
+ *
+ * @else
+ *
+ * @brief Print information configured in NVList as string type
+ *
+ * Print configured information as string type in specified NVList.
+ * Also, print the reason (this is not string type) if the configured
+ * element is other than string type.
+ *
+ * @param nv The target NVList for the print
+ *
+ * @endif
+ */
+ std::ostream& operator<<(std::ostream& os, const SDOPackage::NVList& nvlist);
+
+ /*!
+ * @if jp
+ *
+ * @brief NVList ¤ËÀßÄꤵ¤ì¤Æ¤¤¤ëÆâÍƤòʸ»úÎó¤È¤·¤Æ½ÐÎϤ¹¤ë¡£
+ *
* »ØÄꤵ¤ì¤¿ NVList ¤ËÀßÄꤵ¤ì¤¿ÆâÍƤòʸ»úÎó¤È¤·¤Æ½ÐÎϤ¹¤ë¡£
* ¤Ê¤ª¡¢ÀßÄꤵ¤ì¤Æ¤¤¤ëÍ×ÁǤ¬Ê¸»úÎ󷿰ʳ°¤Î¾ì¹ç¤Ë¤Ï¡¢¤½¤Î»Ý(ʸ»úÎó¤Ç¤Ï¤Ê¤¤)¤ò
* ½ÐÎϤ¹¤ë¡£
@@ -588,7 +640,7 @@
* @endif
*/
std::string toString(const SDOPackage::NVList& nv);
-
+
};
#endif // NVUTIL_NVUTIL_H
Modified: trunk/OpenRTM-aist/src/lib/rtm/RTObject.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/RTObject.cpp 2017-12-10 21:16:07 UTC (rev 3114)
+++ trunk/OpenRTM-aist/src/lib/rtm/RTObject.cpp 2017-12-10 21:18:08 UTC (rev 3115)
@@ -2482,10 +2482,157 @@
{
m_configsets.removeConfigurationSetNameListener(type, listener);
}
+
+ //============================================================
+ // FSM Listener
+ /*!
+ * @if jp
+ * @brief PreFsmActionListener ¥ê¥¹¥Ê¤òÄɲ乤ë
+ *
+ * @else
+ * @brief Adding PreFsmAction type listener
+ *
+ * @endif
+ */
+ void RTObject_impl::
+ addPreFsmActionListener(PreFsmActionListenerType listener_type,
+ PreFsmActionListener* listener,
+ bool autoclean)
+ {
+ m_fsmActionListeners.
+ preaction_[listener_type].addListener(listener, autoclean);
+ }
/*!
* @if jp
+ * @brief PreFsmActionListener ¥ê¥¹¥Ê¤òºï½ü¤¹¤ë
+ *
+ * @else
+ * @brief Removing PreFsmAction type listener
+ *
+ * @endif
+ */
+ void RTObject_impl::
+ removePreFsmActionListener(PreFsmActionListenerType listener_type,
+ PreFsmActionListener* listener)
+ {
+ m_fsmActionListeners.
+ preaction_[listener_type].removeListener(listener);
+ }
+
+
+ /*!
+ * @if jp
+ * @brief PostFsmActionListener ¥ê¥¹¥Ê¤òÄɲ乤ë
+ *
+ * @else
+ * @brief Adding PostFsmAction type listener
+ *
+ * @endif
+ */
+ void RTObject_impl::
+ addPostFsmActionListener(PostFsmActionListenerType listener_type,
+ PostFsmActionListener* listener,
+ bool autoclean)
+ {
+ m_fsmActionListeners.
+ postaction_[listener_type].addListener(listener, autoclean);
+ }
+
+
+ /*!
+ * @if jp
+ * @brief PostFsmActionListener ¥ê¥¹¥Ê¤òºï½ü¤¹¤ë
+ *
+ * @else
+ * @brief Removing PostFsmAction type listener
+ *
+ * @endif
+ */
+ void RTObject_impl::
+ removePostFsmActionListener(PostFsmActionListenerType listener_type,
+ PostFsmActionListener* listener)
+ {
+ m_fsmActionListeners.
+ postaction_[listener_type].removeListener(listener);
+ }
+
+ /*!
+ * @if jp
+ * @brief FsmProfileListener ¥ê¥¹¥Ê¤òÄɲ乤ë
+ *
+ * @else
+ * @brief Adding FsmProfile type listener
+ *
+ * @endif
+ */
+ void RTObject_impl::
+ addFsmProfileListener(FsmProfileListenerType listener_type,
+ FsmProfileListener* listener,
+ bool autoclean)
+ {
+ m_fsmActionListeners.
+ profile_[listener_type].addListener(listener, autoclean);
+ }
+
+
+ /*!
+ * @if jp
+ * @brief FsmProfileListener ¥ê¥¹¥Ê¤òºï½ü¤¹¤ë
+ *
+ * @else
+ * @brief Removing FsmProfile type listener
+ *
+ * @endif
+ */
+ void RTObject_impl::
+ removeFsmProfileListener(FsmProfileListenerType listener_type,
+ FsmProfileListener* listener)
+ {
+ m_fsmActionListeners.
+ profile_[listener_type].removeListener(listener);
+ }
+
+ /*!
+ * @if jp
+ * @brief FsmStructureListener ¥ê¥¹¥Ê¤òÄɲ乤ë
+ *
+ * @else
+ * @brief Adding FsmStructure type listener
+ *
+ * @endif
+ */
+ void RTObject_impl::
+ addFsmStructureListener(FsmStructureListenerType listener_type,
+ FsmStructureListener* listener,
+ bool autoclean)
+ {
+ m_fsmActionListeners.
+ structure_[listener_type].addListener(listener, autoclean);
+ }
+
+
+ /*!
+ * @if jp
+ * @brief FsmStructureListener ¥ê¥¹¥Ê¤òºï½ü¤¹¤ë
+ *
+ * @else
+ * @brief Removing FsmStructure type listener
+ *
+ * @endif
+ */
+ void RTObject_impl::
+ removeFsmStructureListener(FsmStructureListenerType listener_type,
+ FsmStructureListener* listener)
+ {
+ m_fsmActionListeners.
+ structure_[listener_type].removeListener(listener);
+ }
+
+
+ /*!
+ * @if jp
* @brief RTC ¤ò½ªÎ»¤¹¤ë
* @else
* @brief Shutdown RTC
Modified: trunk/OpenRTM-aist/src/lib/rtm/RTObject.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/RTObject.h 2017-12-10 21:16:07 UTC (rev 3114)
+++ trunk/OpenRTM-aist/src/lib/rtm/RTObject.h 2017-12-10 21:18:08 UTC (rev 3115)
@@ -34,6 +34,7 @@
#include <rtm/ComponentActionListener.h>
#include <rtm/SdoServiceAdmin.h>
#include <rtm/PortConnectListener.h>
+#include <rtm/FsmActionListener.h>
#define ECOTHER_OFFSET 1000
@@ -3449,8 +3450,8 @@
typedef PreComponentActionListener PreCompActionListener;
typedef PreComponentActionListenerType PreCompActionListenerType;
void
- addPreComponentActionListener(PreComponentActionListenerType listener_type,
- PreComponentActionListener* listener,
+ addPreComponentActionListener(PreCompActionListenerType listener_type,
+ PreCompActionListener* listener,
bool autoclean = true);
@@ -4382,7 +4383,510 @@
void
removeConfigurationSetNameListener(ConfigurationSetNameListenerType type,
ConfigurationSetNameListener* listener);
-
+
+ //============================================================
+ // FSM Listener
+ /*!
+ * @if jp
+ * @brief PreFsmActionListener ¥ê¥¹¥Ê¤òÄɲ乤ë
+ *
+ * FsmAction ¼ÂÁõ´Ø¿ô¤Î¸Æ¤Ó½Ð¤·Ä¾Á°¤Î¥¤¥Ù¥ó¥È¤Ë´ØÏ¢¤¹¤ë³Æ¼ï¥ê
+ * ¥¹¥Ê¤òÀßÄꤹ¤ë¡£
+ *
+ * ÀßÄê¤Ç¤¤ë¥ê¥¹¥Ê¤Î¥¿¥¤¥×¤È¥³¡¼¥ë¥Ð¥Ã¥¯¥¤¥Ù¥ó¥È¤Ï°Ê²¼¤ÎÄ̤ê
+ *
+ * - PRE_ON_INITIALIZE: onInitialize ľÁ°
+ * - PRE_ON_FINALIZE: onFinalize ľÁ°
+ * - PRE_ON_STARTUP: onStartup ľÁ°
+ * - PRE_ON_SHUTDOWN: onShutdown ľÁ°
+ * - PRE_ON_ACTIVATED: onActivated ľÁ°
+ * - PRE_ON_DEACTIVATED: onDeactivated ľÁ°
+ * - PRE_ON_ABORTED: onAborted ľÁ°
+ * - PRE_ON_ERROR: onError ľÁ°
+ * - PRE_ON_RESET: onReset ľÁ°
+ * - PRE_ON_EXECUTE: onExecute ľÁ°
+ * - PRE_ON_STATE_UPDATE: onStateUpdate ľÁ°
+ *
+ * ¥ê¥¹¥Ê¤Ï PreFsmActionListener ¤ò·Ñ¾µ¤·¡¢°Ê²¼¤Î¥·¥°¥Ë¥Á¥ã¤ò»ý¤Ä
+ * operator() ¤ò¼ÂÁõ¤·¤Æ¤¤¤ëɬÍפ¬¤¢¤ë¡£
+ *
+ * PreFsmActionListener::operator()(UniqueId ec_id)
+ *
+ * ¥Ç¥Õ¥©¥ë¥È¤Ç¤Ï¡¢¤³¤Î´Ø¿ô¤ËÍ¿¤¨¤¿¥ê¥¹¥Ê¥ª¥Ö¥¸¥§¥¯¥È¤Î½ê͸¢¤Ï
+ * RTObject¤Ë°Ü¤ê¡¢RTObject²òÂλþ¤â¤·¤¯¤Ï¡¢
+ * removePreFsmActionListener() ¤Ë¤è¤êºï½ü»þ¤Ë¼«Æ°Åª¤Ë²òÂΤµ¤ì¤ë¡£
+ * ¥ê¥¹¥Ê¥ª¥Ö¥¸¥§¥¯¥È¤Î½ê͸¢¤ò¸Æ¤Ó½Ð¤·Â¦¤Ç°Ý»ý¤·¤¿¤¤¾ì¹ç¤Ï¡¢Âè3°ú
+ * ¿ô¤Ë false ¤ò»ØÄꤷ¡¢¼«Æ°Åª¤Ê²òÂΤòÍÞÀ©¤¹¤ë¤³¤È¤¬¤Ç¤¤ë¡£
+ *
+ * @param listener_type ¥ê¥¹¥Ê¥¿¥¤¥×
+ * @param listener ¥ê¥¹¥Ê¥ª¥Ö¥¸¥§¥¯¥È¤Ø¤Î¥Ý¥¤¥ó¥¿
+ * @param autoclean ¥ê¥¹¥Ê¥ª¥Ö¥¸¥§¥¯¥È¤Î¼«Æ°Åª²òÂΤò¹Ô¤¦¤«¤É¤¦¤«¤Î¥Õ¥é¥°
+ *
+ * @else
+ * @brief Adding PreFsmAction type listener
+ *
+ * This operation adds certain listeners related to FsmActions
+ * pre events.
+ * The following listener types are available.
+ *
+ * - PRE_ON_INITIALIZE: before onInitialize
+ * - PRE_ON_FINALIZE: before onFinalize
+ * - PRE_ON_STARTUP: before onStartup
+ * - PRE_ON_SHUTDOWN: before onShutdown
+ * - PRE_ON_ACTIVATED: before onActivated
+ * - PRE_ON_DEACTIVATED: before onDeactivated
+ * - PRE_ON_ABORTED: before onAborted
+ * - PRE_ON_ERROR: before onError
+ * - PRE_ON_RESET: before onReset
+ * - PRE_ON_EXECUTE: before onExecute
+ * - PRE_ON_STATE_UPDATE: before onStateUpdate
+ *
+ * Listeners should have the following function operator().
+ *
+ * PreFsmActionListener::operator()(UniqueId ec_id)
+ *
+ * The ownership of the given listener object is transferred to
+ * this RTObject object in default. The given listener object will
+ * be destroied automatically in the RTObject's dtor or if the
+ * listener is deleted by removePreFsmActionListener() function.
+ * If you want to keep ownership of the listener object, give
+ * "false" value to 3rd argument to inhibit automatic destruction.
+ *
+ * @param listener_type A listener type
+ * @param listener A pointer to a listener object
+ * @param autoclean A flag for automatic listener destruction
+ *
+ * @endif
+ */
+ void
+ addPreFsmActionListener(PreFsmActionListenerType listener_type,
+ PreFsmActionListener* listener,
+ bool autoclean = true);
+
+
+ template <class Listener>
+ PreFsmActionListener*
+ addPreFsmActionListener(PreFsmActionListenerType listener_type,
+ Listener& obj,
+ void (Listener::*memfunc)(const char* state))
+ {
+ class Noname
+ : public PreFsmActionListener
+ {
+ public:
+ Noname(Listener& obj, void (Listener::*memfunc)(const char*))
+ : m_obj(obj), m_memfunc(memfunc)
+ {
+ }
+ void operator()(const char* state)
+ {
+ (m_obj.*m_memfunc)(state);
+ }
+ private:
+ Listener& m_obj;
+ typedef void (Listener::*Memfunc)(const char* state);
+ Memfunc m_memfunc;
+ };
+ Noname* listener(new Noname(obj, memfunc));
+ addPreFsmActionListener(listener_type, listener, true);
+ return listener;
+ }
+
+ /*!
+ * @if jp
+ * @brief PreFsmActionListener ¥ê¥¹¥Ê¤òºï½ü¤¹¤ë
+ *
+ * ÀßÄꤷ¤¿³Æ¼ï¥ê¥¹¥Ê¤òºï½ü¤¹¤ë¡£
+ *
+ * @param listener_type ¥ê¥¹¥Ê¥¿¥¤¥×
+ * @param listener ¥ê¥¹¥Ê¥ª¥Ö¥¸¥§¥¯¥È¤Ø¤Î¥Ý¥¤¥ó¥¿
+ *
+ * @else
+ * @brief Removing PreFsmAction type listener
+ *
+ * This operation removes a specified listener.
+ *
+ * @param listener_type A listener type
+ * @param listener A pointer to a listener object
+ *
+ * @endif
+ */
+ void
+ removePreFsmActionListener(
+ PreFsmActionListenerType listener_type,
+ PreFsmActionListener* listener);
+
+
+ /*!
+ * @if jp
+ * @brief PostFsmActionListener ¥ê¥¹¥Ê¤òÄɲ乤ë
+ *
+ * FsmAction ¼ÂÁõ´Ø¿ô¤Î¸Æ¤Ó½Ð¤·Ä¾¸å¤Î¥¤¥Ù¥ó¥È¤Ë´ØÏ¢¤¹¤ë³Æ¼ï¥ê
+ * ¥¹¥Ê¤òÀßÄꤹ¤ë¡£
+ *
+ * ÀßÄê¤Ç¤¤ë¥ê¥¹¥Ê¤Î¥¿¥¤¥×¤È¥³¡¼¥ë¥Ð¥Ã¥¯¥¤¥Ù¥ó¥È¤Ï°Ê²¼¤ÎÄ̤ê
+ *
+ * - POST_ON_INITIALIZE: onInitialize ľ¸å
+ * - POST_ON_FINALIZE: onFinalize ľ¸å
+ * - POST_ON_STARTUP: onStartup ľ¸å
+ * - POST_ON_SHUTDOWN: onShutdown ľ¸å
+ * - POST_ON_ACTIVATED: onActivated ľ¸å
+ * - POST_ON_DEACTIVATED: onDeactivated ľ¸å
+ * - POST_ON_ABORTED: onAborted ľ¸å
+ * - POST_ON_ERROR: onError ľ¸å
+ * - POST_ON_RESET: onReset ľ¸å
+ * - POST_ON_EXECUTE: onExecute ľ¸å
+ * - POST_ON_STATE_UPDATE: onStateUpdate ľ¸å
+ *
+ * ¥ê¥¹¥Ê¤Ï PostFsmActionListener ¤ò·Ñ¾µ¤·¡¢°Ê²¼¤Î¥·¥°¥Ë¥Á¥ã¤ò»ý¤Ä
+ * operator() ¤ò¼ÂÁõ¤·¤Æ¤¤¤ëɬÍפ¬¤¢¤ë¡£
+ *
+ * PostFsmActionListener::operator()(const char* state, ReturnCode_t ret)
+ *
+ * ¥Ç¥Õ¥©¥ë¥È¤Ç¤Ï¡¢¤³¤Î´Ø¿ô¤ËÍ¿¤¨¤¿¥ê¥¹¥Ê¥ª¥Ö¥¸¥§¥¯¥È¤Î½ê͸¢¤Ï
+ * RTObject¤Ë°Ü¤ê¡¢RTObject²òÂλþ¤â¤·¤¯¤Ï¡¢
+ * removePostFsmActionListener() ¤Ë¤è¤êºï½ü»þ¤Ë¼«Æ°Åª¤Ë²òÂΤµ¤ì¤ë¡£
+ * ¥ê¥¹¥Ê¥ª¥Ö¥¸¥§¥¯¥È¤Î½ê͸¢¤ò¸Æ¤Ó½Ð¤·Â¦¤Ç°Ý»ý¤·¤¿¤¤¾ì¹ç¤Ï¡¢Âè3°ú
+ * ¿ô¤Ë false ¤ò»ØÄꤷ¡¢¼«Æ°Åª¤Ê²òÂΤòÍÞÀ©¤¹¤ë¤³¤È¤¬¤Ç¤¤ë¡£
+ *
+ * @param listener_type ¥ê¥¹¥Ê¥¿¥¤¥×
+ * @param listener ¥ê¥¹¥Ê¥ª¥Ö¥¸¥§¥¯¥È¤Ø¤Î¥Ý¥¤¥ó¥¿
+ * @param autoclean ¥ê¥¹¥Ê¥ª¥Ö¥¸¥§¥¯¥È¤Î¼«Æ°Åª²òÂΤò¹Ô¤¦¤«¤É¤¦¤«¤Î¥Õ¥é¥°
+ *
+ * @else
+ * @brief Adding PostFsmAction type listener
+ *
+ * This operation adds certain listeners related to FsmActions
+ * post events.
+ * The following listener types are available.
+ *
+ * - POST_ON_INITIALIZE: after onInitialize
+ * - POST_ON_FINALIZE: after onFinalize
+ * - POST_ON_STARTUP: after onStartup
+ * - POST_ON_SHUTDOWN: after onShutdown
+ * - POST_ON_ACTIVATED: after onActivated
+ * - POST_ON_DEACTIVATED: after onDeactivated
+ * - POST_ON_ABORTED: after onAborted
+ * - POST_ON_ERROR: after onError
+ * - POST_ON_RESET: after onReset
+ * - POST_ON_EXECUTE: after onExecute
+ * - POST_ON_STATE_UPDATE: after onStateUpdate
+ *
+ * Listeners should have the following function operator().
+ *
+ * PostFsmActionListener::operator()(const char* state, ReturnCode_t ret)
+ *
+ * The ownership of the given listener object is transferred to
+ * this RTObject object in default. The given listener object will
+ * be destroied automatically in the RTObject's dtor or if the
+ * listener is deleted by removePostFsmActionListener() function.
+ * If you want to keep ownership of the listener object, give
+ * "false" value to 3rd argument to inhibit automatic destruction.
+ *
+ * @param listener_type A listener type
+ * @param listener A pointer to a listener object
+ * @param autoclean A flag for automatic listener destruction
+ *
+ * @endif
+ */
+ void
+ addPostFsmActionListener(PostFsmActionListenerType listener_type,
+ PostFsmActionListener* listener,
+ bool autoclean = true);
+
+ template <class Listener>
+ PostFsmActionListener*
+ addPostFsmActionListener(PostFsmActionListenerType listener_type,
+ Listener& obj,
+ void (Listener::*memfunc)(const char* state,
+ ReturnCode_t ret))
+ {
+ class Noname
+ : public PostFsmActionListener
+ {
+ public:
+ Noname(Listener& obj,
+ void (Listener::*memfunc)(const char*, ReturnCode_t))
+ : m_obj(obj), m_memfunc(memfunc)
+ {
+ }
+ void operator()(const char* state, ReturnCode_t ret)
+ {
+ (m_obj.*m_memfunc)(state, ret);
+ }
+ private:
+ Listener& m_obj;
+ typedef void (Listener::*Memfunc)(const char* state, ReturnCode_t ret);
+ Memfunc m_memfunc;
+ };
+ Noname* listener(new Noname(obj, memfunc));
+ addPostFsmActionListener(listener_type, listener, true);
+ return listener;
+ }
+
+ /*!
+ * @if jp
+ * @brief PostFsmActionListener ¥ê¥¹¥Ê¤òºï½ü¤¹¤ë
+ *
+ * ÀßÄꤷ¤¿³Æ¼ï¥ê¥¹¥Ê¤òºï½ü¤¹¤ë¡£
+ *
+ * @param listener_type ¥ê¥¹¥Ê¥¿¥¤¥×
+ * @param listener ¥ê¥¹¥Ê¥ª¥Ö¥¸¥§¥¯¥È¤Ø¤Î¥Ý¥¤¥ó¥¿
+ *
+ * @else
+ * @brief Removing PostFsmAction type listener
+ *
+ * This operation removes a specified listener.
+ *
+ * @param listener_type A listener type
+ * @param listener A pointer to a listener object
+ *
+ * @endif
+ */
+ void
+ removePostFsmActionListener(PostFsmActionListenerType listener_type,
+ PostFsmActionListener* listener);
+
+ /*!
+ * @if jp
+ * @brief FsmProfileListener ¥ê¥¹¥Ê¤òÄɲ乤ë
+ *
+ * FSM¤Ø¤Î¥×¥í¥Õ¥¡¥¤¥ë¤ÎÀßÄê¡¢¼èÆÀ»þ¡¢¤Þ¤¿FSM¼«ÂΤؤξõÂÖ¤äÁ«°Ü¡¢¥¤
+ * ¥Ù¥ó¥È¤ÎÄɲúï½ü»þ¤Ë¥³¡¼¥ë¥Ð¥Ã¥¯¤µ¤ì¤ë³Æ¼ï¥ê¥¹¥Ê¤òÀßÄꤹ¤ë¡£
+ *
+ * ÀßÄê¤Ç¤¤ë¥ê¥¹¥Ê¤Î¥¿¥¤¥×¤È¥³¡¼¥ë¥Ð¥Ã¥¯¥¤¥Ù¥ó¥È¤Ï°Ê²¼¤ÎÄ̤ê
+ *
+ * - SET_FSM_PROFILE : FSM ProfileÀßÄê»þ
+ * - GET_FSM_PROFILE : FSM Profile¼èÆÀ»þ
+ * - ADD_FSM_STATE : FSM¤ËState¤¬Äɲ䵤줿
+ * - REMOVE_FSM_STATE : FSM¤«¤éState¤¬ºï½ü¤µ¤ì¤¿
+ * - ADD_FSM_TRANSITION : FSM¤ËÁ«°Ü¤¬Äɲ䵤줿
+ * - REMOVE_FSM_TRANSITION : FSM¤«¤éÁ«°Ü¤¬ºï½ü¤µ¤ì¤¿
+ * - BIND_FSM_EVENT : FSM¤Ë¥¤¥Ù¥ó¥È¤¬¥Ð¥¤¥ó¥É¤µ¤ì¤¿
+ * - UNBIND_FSM_EVENT : FSM¤Ë¥¤¥Ù¥ó¥È¤¬¥¢¥ó¥Ð¥¤¥ó¥É¤µ¤ì¤¿
+ *
+ * ¥ê¥¹¥Ê¤Ï FsmProfileListener ¤ò·Ñ¾µ¤·¡¢°Ê²¼¤Î¥·¥°¥Ë¥Á¥ã¤ò»ý¤Ä
+ * operator() ¤ò¼ÂÁõ¤·¤Æ¤¤¤ëɬÍפ¬¤¢¤ë¡£
+ *
+ * FsmProfileListener::operator()(RTC::FsmProfile& pprof)
+ *
+ * ¥Ç¥Õ¥©¥ë¥È¤Ç¤Ï¡¢¤³¤Î´Ø¿ô¤ËÍ¿¤¨¤¿¥ê¥¹¥Ê¥ª¥Ö¥¸¥§¥¯¥È¤Î½ê͸¢¤Ï
+ * RTObject¤Ë°Ü¤ê¡¢RTObject²òÂλþ¤â¤·¤¯¤Ï¡¢
+ * removeFsmProfileListener() ¤Ë¤è¤êºï½ü»þ¤Ë¼«Æ°Åª¤Ë²òÂΤµ¤ì¤ë¡£
+ * ¥ê¥¹¥Ê¥ª¥Ö¥¸¥§¥¯¥È¤Î½ê͸¢¤ò¸Æ¤Ó½Ð¤·Â¦¤Ç°Ý»ý¤·¤¿¤¤¾ì¹ç¤Ï¡¢Âè3°ú
+ * ¿ô¤Ë false ¤ò»ØÄꤷ¡¢¼«Æ°Åª¤Ê²òÂΤòÍÞÀ©¤¹¤ë¤³¤È¤¬¤Ç¤¤ë¡£
+ *
+ * @param listener_type ¥ê¥¹¥Ê¥¿¥¤¥×
+ * @param listener ¥ê¥¹¥Ê¥ª¥Ö¥¸¥§¥¯¥È¤Ø¤Î¥Ý¥¤¥ó¥¿
+ * @param autoclean ¥ê¥¹¥Ê¥ª¥Ö¥¸¥§¥¯¥È¤Î¼«Æ°Åª²òÂΤò¹Ô¤¦¤«¤É¤¦¤«¤Î¥Õ¥é¥°
+ *
+ * @else
+ * @brief Adding FsmProfile type listener
+ *
+ * This operation adds certain listeners that is called when
+ * setting/getting FsmProfile and stae/transition/event add/remove
+ * to/from the FSM itself.
+ *
+ * The following listener types are available.
+ *
+ * - SET_FSM_PROFILE : Setting FSM Profile
+ * - GET_FSM_PROFILE : Getting FSM Profile
+ * - ADD_FSM_STATE : A State added to the FSM
+ * - REMOVE_FSM_STATE : A State removed from FSM
+ * - ADD_FSM_TRANSITION : A transition added to the FSM
+ * - REMOVE_FSM_TRANSITION : A transition removed from FSM
+ * - BIND_FSM_EVENT : An event bounded to the FSM
+ * - UNBIND_FSM_EVENT : An event unbounded to the FSM
+ *
+ * Listeners should have the following function operator().
+ *
+ * FsmProfileListener::operator()(RTC::PortProfile pprof)
+ *
+ * The ownership of the given listener object is transferred to
+ * this RTObject object in default. The given listener object will
+ * be destroied automatically in the RTObject's dtor or if the
+ * listener is deleted by removeFsmProfileListener() function.
+ * If you want to keep ownership of the listener object, give
+ * "false" value to 3rd argument to inhibit automatic destruction.
+ *
+ * @param listener_type A listener type
+ * @param listener A pointer to a listener object
+ * @param autoclean A flag for automatic listener destruction
+ *
+ * @endif
+ */
+ void
+ addFsmProfileListener(FsmProfileListenerType listener_type,
+ FsmProfileListener* listener,
+ bool autoclean = true);
+
+ template <class Listener>
+ FsmProfileListener*
+ addFsmProfileListener(FsmProfileListenerType listener_type,
+ Listener& obj,
+ void (Listener::*memfunc)(const RTC::PortProfile&))
+ {
+ class Noname
+ : public FsmProfileListener
+ {
+ public:
+ Noname(Listener& obj,
+ void (Listener::*memfunc)(const RTC::FsmProfile&))
+ : m_obj(obj), m_memfunc(memfunc)
+ {
+ }
+ void operator()(const RTC::PortProfile& pprofile)
+ {
+ (m_obj.*m_memfunc)(pprofile);
+ }
+ private:
+ Listener& m_obj;
+ typedef void (Listener::*Memfunc)(const RTC::FsmProfile&);
+ Memfunc m_memfunc;
+ };
+ Noname* listener(new Noname(obj, memfunc));
+ addFsmProfileListener(listener_type, listener, true);
+ return listener;
+ }
+
+ /*!
+ * @if jp
+ * @brief FsmProfileListener ¥ê¥¹¥Ê¤òºï½ü¤¹¤ë
+ *
+ * ÀßÄꤷ¤¿³Æ¼ï¥ê¥¹¥Ê¤òºï½ü¤¹¤ë¡£
+ *
+ * @param listener_type ¥ê¥¹¥Ê¥¿¥¤¥×
+ * @param listener ¥ê¥¹¥Ê¥ª¥Ö¥¸¥§¥¯¥È¤Ø¤Î¥Ý¥¤¥ó¥¿
+ *
+ * @else
+ * @brief Removing FsmProfile type listener
+ *
+ * This operation removes a specified listener.
+ *
+ * @param listener_type A listener type
+ * @param listener A pointer to a listener object
+ *
+ * @endif
+ */
+ void
+ removeFsmProfileListener(FsmProfileListenerType listener_type,
+ FsmProfileListener* listener);
+
+
+ /*!
+ * @if jp
+ * @brief FsmStructureListener ¥ê¥¹¥Ê¤òÄɲ乤ë
+ *
+ * ExtendedFsmService ¤Ë´ØÏ¢¤¹¤ë FSM structure ¤ÎÀßÄꡦ¼èÆÀ»þ¤Ë¥³¡¼
+ * ¥ë¥Ð¥Ã¥¯¤µ¤ì¤ë³Æ¼ï¥ê¥¹¥Ê¤òÀßÄꤹ¤ë¡£
+ *
+ * ÀßÄê¤Ç¤¤ë¥ê¥¹¥Ê¤Î¥¿¥¤¥×¤È¥³¡¼¥ë¥Ð¥Ã¥¯¥¤¥Ù¥ó¥È¤Ï°Ê²¼¤ÎÄ̤ê
+ *
+ * - SET_FSM_STRUCTURE: FSM¹½Â¤¤ÎÀßÄê
+ * - GET_FSM_STRUCTURE: FSM¹½Â¤¤Î¼èÆÀ
+ *
+ * ¥ê¥¹¥Ê¤Ï FsmStructureListener ¤ò·Ñ¾µ¤·¡¢°Ê²¼¤Î¥·¥°¥Ë¥Á¥ã¤ò»ý¤Ä
+ * operator() ¤ò¼ÂÁõ¤·¤Æ¤¤¤ëɬÍפ¬¤¢¤ë¡£
+ *
+ * FsmStructureListener::operator()(FsmStructure& structure)
+ *
+ * ¥Ç¥Õ¥©¥ë¥È¤Ç¤Ï¡¢¤³¤Î´Ø¿ô¤ËÍ¿¤¨¤¿¥ê¥¹¥Ê¥ª¥Ö¥¸¥§¥¯¥È¤Î½ê͸¢¤Ï
+ * RTObject¤Ë°Ü¤ê¡¢RTObject²òÂλþ¤â¤·¤¯¤Ï¡¢
+ * removeFsmStructureListener() ¤Ë¤è¤êºï½ü»þ¤Ë¼«Æ°Åª¤Ë²òÂΤµ¤ì¤ë¡£
+ * ¥ê¥¹¥Ê¥ª¥Ö¥¸¥§¥¯¥È¤Î½ê͸¢¤ò¸Æ¤Ó½Ð¤·Â¦¤Ç°Ý»ý¤·¤¿¤¤¾ì¹ç¤Ï¡¢Âè3°ú
+ * ¿ô¤Ë false ¤ò»ØÄꤷ¡¢¼«Æ°Åª¤Ê²òÂΤòÍÞÀ©¤¹¤ë¤³¤È¤¬¤Ç¤¤ë¡£
+ *
+ * @param listener_type ¥ê¥¹¥Ê¥¿¥¤¥×
+ * @param listener ¥ê¥¹¥Ê¥ª¥Ö¥¸¥§¥¯¥È¤Ø¤Î¥Ý¥¤¥ó¥¿
+ * @param autoclean ¥ê¥¹¥Ê¥ª¥Ö¥¸¥§¥¯¥È¤Î¼«Æ°Åª²òÂΤò¹Ô¤¦¤«¤É¤¦¤«¤Î¥Õ¥é¥°
+ *
+ * @else
+ * @brief Adding FsmStructure type listener
+ *
+ * This operation adds certain listeners related to FSM structure
+ * data which are handled by ExtendedFsmService.
+ *
+ * The following listener types are available.
+ *
+ * - SET_FSM_STRUCTURE: Setting FSM structure
+ * - GET_FSM_STRUCTURE: Getting FSM structure
+ *
+ * Listeners should have the following function operator().
+ *
+ * FsmStructureListener::operator()(RTC::FsmStructure structure)
+ *
+ * The ownership of the given listener object is transferred to
+ * this RTObject object in default. The given listener object will
+ * be destroied automatically in the RTObject's dtor or if the
+ * listener is deleted by removeFsmStructureListener() function.
+ * If you want to keep ownership of the listener object, give
+ * "false" value to 3rd argument to inhibit automatic destruction.
+ *
+ * @param listener_type A listener type
+ * @param listener A pointer to a listener object
+ * @param autoclean A flag for automatic listener destruction
+ *
+ * @endif
+ */
+ void
+ addFsmStructureListener(FsmStructureListenerType listener_type,
+ FsmStructureListener* listener,
+ bool autoclean = true);
+
+ template <class Listener>
+ FsmStructureListener*
+ addFsmStructureListener(FsmStructureListenerType listener_type,
+ Listener& obj,
+ void (Listener::*memfunc)(const RTC::PortProfile&))
+ {
+ class Noname
+ : public FsmStructureListener
+ {
+ public:
+ Noname(Listener& obj,
+ void (Listener::*memfunc)(const RTC::FsmStructure&))
+ : m_obj(obj), m_memfunc(memfunc)
+ {
+ }
+ void operator()(const RTC::PortProfile& pprofile)
+ {
+ (m_obj.*m_memfunc)(pprofile);
+ }
+ private:
+ Listener& m_obj;
+ typedef void (Listener::*Memfunc)(const RTC::FsmStructure&);
+ Memfunc m_memfunc;
+ };
+ Noname* listener(new Noname(obj, memfunc));
+ addFsmStructureListener(listener_type, listener, true);
+ return listener;
+ }
+
+ /*!
+ * @if jp
+ * @brief FsmStructureListener ¥ê¥¹¥Ê¤òºï½ü¤¹¤ë
+ *
+ * ÀßÄꤷ¤¿³Æ¼ï¥ê¥¹¥Ê¤òºï½ü¤¹¤ë¡£
+ *
+ * @param listener_type ¥ê¥¹¥Ê¥¿¥¤¥×
+ * @param listener ¥ê¥¹¥Ê¥ª¥Ö¥¸¥§¥¯¥È¤Ø¤Î¥Ý¥¤¥ó¥¿
+ *
+ * @else
+ * @brief Removing FsmStructure type listener
+ *
+ * This operation removes a specified listener.
+ *
+ * @param listener_type A listener type
+ * @param listener A pointer to a listener object
+ *
+ * @endif
+ */
+ void
+ removeFsmStructureListener(FsmStructureListenerType listener_type,
+ FsmStructureListener* listener);
+
+
+
protected:
/*!
* @if jp
@@ -4529,22 +5033,27 @@
{
m_actionListeners.portaction_[ADD_PORT].notify(pprof);
}
-
+
inline void onRemovePort(const PortProfile& pprof)
{
m_actionListeners.portaction_[REMOVE_PORT].notify(pprof);
}
-
+
inline void onAttachExecutionContext(UniqueId ec_id)
{
m_actionListeners.ecaction_[EC_ATTACHED].notify(ec_id);
}
-
+
inline void onDetachExecutionContext(UniqueId ec_id)
{
m_actionListeners.ecaction_[EC_DETACHED].notify(ec_id);
}
+ inline void onFsmStateChanged(const char* state)
+ {
+ m_fsmActionListeners.preaction_[PRE_ON_STATE_CHANGE].notify(state);
+ }
+
ReturnCode_t getInheritedECOptions(coil::Properties& default_opts);
/*!
@@ -4890,6 +5399,21 @@
*/
PortConnectListeners m_portconnListeners;
+ /*!
+ * @if jp
+ * @brief ComponentActionListener¥Û¥ë¥À
+ *
+ * ComponentActionListenr¤òÊÝ»ý¤¹¤ë¥Û¥ë¥À
+ *
+ * @else
+ * @brief ComponentActionListener holder
+ *
+ * Holders of ComponentActionListeners
+ *
+ * @endif
+ */
+ FsmActionListeners m_fsmActionListeners;
+
//------------------------------------------------------------
// Functor
//------------------------------------------------------------
Modified: trunk/OpenRTM-aist/win32/OpenRTM-aist/examples/Fsm/Makefile.am
===================================================================
--- trunk/OpenRTM-aist/win32/OpenRTM-aist/examples/Fsm/Makefile.am 2017-12-10 21:16:07 UTC (rev 3114)
+++ trunk/OpenRTM-aist/win32/OpenRTM-aist/examples/Fsm/Makefile.am 2017-12-10 21:18:08 UTC (rev 3115)
@@ -6,19 +6,16 @@
##---------------------------------------------------------------------------
clean-local:
rm -rf Debug Release
- rm -rf *~ *.cpp *.h *.idl rtc.conf
+ rm -rf *~ *.cc *.cpp *.h *.idl *.conf
rm -rf *.vcproj *.vcxproj *.user *.ncb *.suo
rm -rf FsmComp
src:
- cp -p $(top_srcdir)/examples/Fsm/*.cpp .
cp -p $(top_srcdir)/examples/Fsm/*.cc .
cp -p $(top_srcdir)/examples/Fsm/*.h .
- cp -p $(top_srcdir)/examples/Fsm/*.hpp .
- cp -p $(top_srcdir)/examples/Fsm/rtc.conf .
- qkc -O- -ms *.cpp
+ cp -p $(top_srcdir)/examples/Fsm/CMakeLists.txt .
+ cp -p $(top_srcdir)/examples/Fsm/*.conf .
qkc -O- -ms *.cc
qkc -O- -ms *.h
- qkc -O- -ms *.hpp
dist-hook: src
Modified: trunk/OpenRTM-aist/win32/OpenRTM-aist/hrtm/Makefile.am
===================================================================
--- trunk/OpenRTM-aist/win32/OpenRTM-aist/hrtm/Makefile.am 2017-12-10 21:16:07 UTC (rev 3114)
+++ trunk/OpenRTM-aist/win32/OpenRTM-aist/hrtm/Makefile.am 2017-12-10 21:18:08 UTC (rev 3115)
@@ -8,7 +8,7 @@
clean-local:
rm -rf Debug Release
- rm -f *~ *.cpp *.h *.cc *.hh version.txt
+ rm -f *~ *.cpp *.h *.cc *.hh
rm -f *.sln *.suo *.ncb *.user *.vcproj *.vcxproj *.def
src:
Modified: trunk/OpenRTM-aist/win32/OpenRTM-aist/hrtm/idls/Makefile.am
===================================================================
--- trunk/OpenRTM-aist/win32/OpenRTM-aist/hrtm/idls/Makefile.am 2017-12-10 21:16:07 UTC (rev 3114)
+++ trunk/OpenRTM-aist/win32/OpenRTM-aist/hrtm/idls/Makefile.am 2017-12-10 21:18:08 UTC (rev 3115)
@@ -11,9 +11,7 @@
rm -f *.sln *.suo *.ncb *.user *.vcproj *.vcxproj *.def
src:
- cp -p $(top_srcdir)/src/lib/hrtm/idls/*.cpp .
cp -p $(top_srcdir)/src/lib/hrtm/idls/*.h .
- qkc -O- -ms *.cpp
qkc -O- -ms *.h
dist-hook: src
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