[openrtm-commit:02401] r936 - trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2017年 2月 7日 (火) 15:39:01 JST
Author: win-ei
Date: 2017-02-07 15:39:01 +0900 (Tue, 07 Feb 2017)
New Revision: 936
Added:
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Cooking.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Disabled.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Microwave.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/MicrowaveComp.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/MicrowaveImpl.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/MicrowaveProtocol.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Operational.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Programmed.java
Removed:
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/CameraProtocol.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Configuring.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/NotShooting.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Off.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/ShootingCamera.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/ShootingCamera_Focused.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/ShootingCamera_Focusing.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/ShootingCamera_Shooting.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/ShootingCamera_Storing.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/StaticFsm.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/StaticFsmComp.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/StaticFsmImpl.java
Modified:
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Idle.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Top.java
Log:
[FSM4RTC,example] StaticFsm sample which is for new Static FSM framework has been added. refs #3775
Deleted: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/CameraProtocol.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/CameraProtocol.java 2017-02-07 06:31:32 UTC (rev 935)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/CameraProtocol.java 2017-02-07 06:39:01 UTC (rev 936)
@@ -1,22 +0,0 @@
-package RTMExamples.StaticFsm;
-
-import RTC.TimedLong;
-/**
- *
- */
-public interface CameraProtocol {
-
- void on_do();
-
- void EvOn(TimedLong param);
- void EvOff(TimedLong param);
- void EvConfig(TimedLong param);
- void EvInFocus(TimedLong param);
- void EvShutterHalf(TimedLong param);
- void EvShutterFull(TimedLong param);
- void EvShutterReleased(TimedLong param);
-
- public boolean isOutputData();
- public int getOutputData();
-}
-
Deleted: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Configuring.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Configuring.java 2017-02-07 06:31:32 UTC (rev 935)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Configuring.java 2017-02-07 06:39:01 UTC (rev 936)
@@ -1,36 +0,0 @@
-package RTMExamples.StaticFsm;
-
-import jp.go.aist.rtm.RTC.jfsm.DeepHistory;
-import jp.go.aist.rtm.RTC.jfsm.State;
-
-import RTC.TimedLong;
-/**
- *
- */
- at DeepHistory
-public class Configuring extends NotShooting {
-
- @Override
- public void onEntry() {
- System.out.println("Configuring::onEntry");
- setOutputData(4);
- }
-
- @Override
- public void onExit() {
- System.out.println("Configuring::onExit");
- }
-
- @Override
- public void on_do() {
- System.out.println("Configuring::on_do");
- }
-
- @Override
- public void EvConfig(TimedLong param){
- System.out.println("Configuring::EvConfig");
- setState(new State(Idle.class));
- }
-
-}
-
Copied: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Cooking.java (from rev 935, trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/ShootingCamera.java)
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Cooking.java (rev 0)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Cooking.java 2017-02-07 06:39:01 UTC (rev 936)
@@ -0,0 +1,37 @@
+package RTMExamples.StaticFsm;
+
+import jp.go.aist.rtm.RTC.jfsm.DeepHistory;
+import jp.go.aist.rtm.RTC.jfsm.State;
+
+import RTC.TimedLong;
+/**
+ *
+ */
+public class Cooking extends Programmed {
+
+
+ @Override
+ public void onEntry() {
+ System.out.println("[Microwave] Cooking::onEntry()");
+ System.out.println("[Microwave] >>> Heating on <<<");
+ }
+
+ @Override
+ public void onExit() {
+ System.out.println("[Microwave] Cooking::onExit()");
+ System.out.println("[Microwave] >>> Heating off <<<");
+ }
+
+ @Override
+ public void tick() {
+ System.out.println("[Microwave] >>> Clock tick <<<");
+ Top.Data data = data(Top.class);
+ data.decrementTimer();
+ if (data.getRemainingTime() == 0) {
+ System.out.println("[Microwave] >>> Finished <<<");
+ setState(new State(Idle.class));
+ } else {
+ data.printTimer();
+ }
+ }
+}
Copied: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Disabled.java (from rev 935, trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Configuring.java)
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Disabled.java (rev 0)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Disabled.java 2017-02-07 06:39:01 UTC (rev 936)
@@ -0,0 +1,29 @@
+package RTMExamples.StaticFsm;
+
+import jp.go.aist.rtm.RTC.jfsm.DeepHistory;
+import jp.go.aist.rtm.RTC.jfsm.State;
+
+import RTC.TimedLong;
+/**
+ *
+ */
+ at DeepHistory
+public class Disabled extends Top {
+
+ @Override
+ public void close() {
+ System.out.println("[Microwave] >>> Door closed <<<");
+ setState(new State(Operational.class));
+ }
+
+ @Override
+ public void onEntry() {
+ System.out.println("[Microwave] Disabled::onEntry()");
+ }
+
+ @Override
+ public void onExit() {
+ System.out.println("[Microwave] Disabled::onExit()");
+ }
+}
+
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Idle.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Idle.java 2017-02-07 06:31:32 UTC (rev 935)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Idle.java 2017-02-07 06:39:01 UTC (rev 936)
@@ -1,37 +1,30 @@
package RTMExamples.StaticFsm;
import jp.go.aist.rtm.RTC.jfsm.DeepHistory;
+import jp.go.aist.rtm.RTC.jfsm.Event;
import jp.go.aist.rtm.RTC.jfsm.State;
import RTC.TimedLong;
/**
*
*/
- at DeepHistory
-public class Idle extends NotShooting {
+public class Idle extends Operational {
@Override
public void onEntry() {
- System.out.println("Idle::onEntry");
- setOutputData(3);
+ ((Top.Data) data()).resetTimer();
+ System.out.println("[Microwave] Idle::onEntry()");
+ System.out.println("[Microwave] >>> Microwave ready <<<");
}
@Override
- public void onExit() {
- System.out.println("Idle::onExit");
+ public void minute() {
+ System.out.println("[Microwave] >>> Timer incremented <<<");
+ setState(new State(Programmed.class));
+ dispatch(new Event("minute"));
}
- @Override
- public void on_do() {
- System.out.println("Idle::on_do");
- }
- @Override
- public void EvConfig(TimedLong param){
- System.out.println("Idle::EvConfig");
- setState(new State(Configuring.class));
- }
-
}
Copied: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Microwave.java (from rev 935, trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/StaticFsm.java)
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Microwave.java (rev 0)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Microwave.java 2017-02-07 06:39:01 UTC (rev 936)
@@ -0,0 +1,53 @@
+package RTMExamples.StaticFsm;
+/**
+ * {@.ja StaticFsm}
+ * {@.en StaticFsm}
+ *
+ */
+
+import jp.go.aist.rtm.RTC.Manager;
+import jp.go.aist.rtm.RTC.RTObject_impl;
+import jp.go.aist.rtm.RTC.RtcDeleteFunc;
+import jp.go.aist.rtm.RTC.RtcNewFunc;
+import jp.go.aist.rtm.RTC.RegisterModuleFunc;
+import jp.go.aist.rtm.RTC.util.Properties;
+
+/**
+ * {@.ja Definition class}
+ * {@.en Definition class}
+ * <p>
+ * {@.ja The class where ComponentProfile(etc) was defined.}
+ * {@.en The class where ComponentProfile(etc) was defined.}
+ */
+public class Microwave implements RtcNewFunc, RtcDeleteFunc, RegisterModuleFunc {
+
+// Module specification
+// <rtc-template block="module_spec">
+ public static String component_conf[] = {
+ "implementation_id", "Microwave",
+ "type_name", "Microwave",
+ "description", "Microwave",
+ "version", "1.0.0",
+ "vendor", "Noriaki Ando, AIST",
+ "category", "example",
+ "activity_type", "DataFlowComponent",
+ "max_instance", "10",
+ "language", "Java",
+ "lang_type", "compile",
+ ""
+ };
+// </rtc-template>
+
+ public RTObject_impl createRtc(Manager mgr) {
+ return new MicrowaveImpl(mgr);
+ }
+
+ public void deleteRtc(RTObject_impl rtcBase) {
+ rtcBase = null;
+ }
+ public void registerModule() {
+ Properties prop = new Properties(component_conf);
+ final Manager manager = Manager.instance();
+ manager.registerFactory(prop, new Microwave(), new Microwave());
+ }
+}
Copied: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/MicrowaveComp.java (from rev 935, trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/StaticFsmComp.java)
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/MicrowaveComp.java (rev 0)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/MicrowaveComp.java 2017-02-07 06:39:01 UTC (rev 936)
@@ -0,0 +1,122 @@
+package RTMExamples.StaticFsm;
+/**
+ *
+ * {@.ja Standalone component}
+ * {@.en Standalone component}
+ *
+ */
+
+import jp.go.aist.rtm.RTC.Manager;
+import jp.go.aist.rtm.RTC.ModuleInitProc;
+import jp.go.aist.rtm.RTC.RTObject_impl;
+import jp.go.aist.rtm.RTC.util.NVUtil;
+import jp.go.aist.rtm.RTC.util.Properties;
+
+import RTC.ComponentProfile;
+import RTC.PortService;
+import RTC.PortServiceListHolder;
+import RTC.PortInterfacePolarity;
+import RTC.PortInterfaceProfileListHolder;
+import RTC.RTObject;
+import RTC.RTObjectHelper;
+
+import _SDOPackage.NVListHolder;
+/**
+ * {@.ja Sample component of static FSM}
+ * {@.en Sample component of static FSM}
+ *
+ */
+public class MicrowaveComp implements ModuleInitProc {
+
+ public void myModuleInit(Manager mgr) {
+ Properties prop = new Properties(Microwave.component_conf);
+ mgr.registerFactory(prop, new Microwave(), new Microwave());
+
+ // Create a component
+ System.out.println("Creating a component: \"Microwave\"....");
+ RTObject_impl comp = mgr.createComponent("Microwave");
+ if( comp==null ) {
+ System.err.println("Component create failed.");
+ System.exit(0);
+ }
+ System.out.println("succeed.");
+
+ ComponentProfile prof = comp.get_component_profile();
+ System.out.println( "=================================================" );
+ System.out.println( " Component Profile" );
+ System.out.println( "-------------------------------------------------" );
+ System.out.println( "InstanceID: " + prof.instance_name );
+ System.out.println( "Implementation: " + prof.type_name );
+ System.out.println( "Description: " + prof.description );
+ System.out.println( "Version: " + prof.version );
+ System.out.println( "Maker: " + prof.vendor );
+ System.out.println( "Category: " + prof.category );
+ System.out.println( " Other properties " );
+ NVUtil.dump(new NVListHolder(prof.properties));
+ System.out.println( "=================================================" );
+ // Example
+ // The following procedure is examples how handle RT-Components.
+ // These should not be in this function.
+
+ // Get the component's object reference
+ Manager manager = Manager.instance();
+ RTObject rtobj = null;
+ try {
+ rtobj = RTObjectHelper.narrow(manager.getPOA().servant_to_reference(comp));
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+
+ // Get the port list of the component
+ PortServiceListHolder ports = new PortServiceListHolder();
+ ports.value = rtobj.get_ports();
+
+ // getting port profiles
+ System.out.println( "Number of Ports: " );
+ System.out.println( ports.value.length );
+ for( int intIdx=0;intIdx<ports.value.length;++intIdx ) {
+ PortService port = ports.value[intIdx];
+ System.out.println( "Port" + intIdx + " (name): ");
+ System.out.println( port.get_port_profile().name );
+
+ PortInterfaceProfileListHolder iflist = new PortInterfaceProfileListHolder();
+ iflist.value = port.get_port_profile().interfaces;
+ System.out.println( "---interfaces---" );
+ for( int intIdx2=0;intIdx2<iflist.value.length;++intIdx2 ) {
+ System.out.println( "I/F name: " );
+ System.out.println( iflist.value[intIdx2].instance_name );
+ System.out.println( "I/F type: " );
+ System.out.println( iflist.value[intIdx2].type_name );
+ if( iflist.value[intIdx2].polarity==PortInterfacePolarity.PROVIDED ) {
+ System.out.println( "Polarity: PROVIDED" );
+ } else {
+ System.out.println( "Polarity: REQUIRED" );
+ }
+ }
+ System.out.println( "---properties---" );
+ NVUtil.dump( new NVListHolder(port.get_port_profile().properties) );
+ System.out.println( "----------------" );
+ }
+ }
+
+ public static void main(String[] args) {
+ // Initialize manager
+ final Manager manager = Manager.init(args);
+
+ // Set module initialization proceduer
+ // This procedure will be invoked in activateManager() function.
+ MicrowaveComp init = new MicrowaveComp();
+ manager.setModuleInitProc(init);
+
+ // Activate manager and register to naming service
+ manager.activateManager();
+
+ // run the manager in blocking mode
+ // runManager(false) is the default.
+ manager.runManager();
+
+ // If you want to run the manager in non-blocking mode, do like this
+ // manager.runManager(true);
+ }
+
+}
Copied: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/MicrowaveImpl.java (from rev 935, trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/StaticFsmImpl.java)
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/MicrowaveImpl.java (rev 0)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/MicrowaveImpl.java 2017-02-07 06:39:01 UTC (rev 936)
@@ -0,0 +1,372 @@
+package RTMExamples.StaticFsm;
+/**
+ * {@.ja MicrowaveImpl}
+ * {@.en MicrowaveImpl}
+ */
+
+import java.lang.reflect.Array;
+import java.lang.reflect.Constructor;
+import java.lang.reflect.Field;
+import java.lang.reflect.InvocationTargetException;
+import java.lang.reflect.Method;
+
+import java.util.ArrayDeque;
+import java.util.Queue;
+
+import jp.go.aist.rtm.RTC.DataFlowComponentBase;
+import jp.go.aist.rtm.RTC.Manager;
+import jp.go.aist.rtm.RTC.connectorListener.ReturnCode;
+import jp.go.aist.rtm.RTC.jfsm.Event;
+import jp.go.aist.rtm.RTC.jfsm.Machine;
+import jp.go.aist.rtm.RTC.jfsm.machine.EventBase;
+import jp.go.aist.rtm.RTC.port.ConnectorBase;
+import jp.go.aist.rtm.RTC.port.EventInPort;
+import jp.go.aist.rtm.RTC.port.InPort;
+import jp.go.aist.rtm.RTC.port.OutPort;
+import jp.go.aist.rtm.RTC.port.ConnectorDataListenerT;
+import jp.go.aist.rtm.RTC.port.ConnectorDataListenerType;
+import jp.go.aist.rtm.RTC.util.DataRef;
+
+import RTC.TimedLong;
+import RTC.ReturnCode_t;
+
+/**
+ * {@.ja Implemented class of a sample component of static FSM}
+ * {@.en Implemented class of a sample component of static FSM}
+ *
+ */
+public class MicrowaveImpl extends DataFlowComponentBase {
+
+ /**
+ * {@.ja constructor}
+ * {@.en constructor}
+ * @param manager
+ * {@.ja Maneger Object}
+ * {@.en Maneger Object}
+ */
+ public MicrowaveImpl(Manager manager) {
+ super(manager);
+ // <rtc-template block="initializer">
+ m_fsm = new Machine<>(Top.class, MicrowaveProtocol.class, null);
+ m_event = new DataRef<Machine<Top, MicrowaveProtocol>>(m_fsm);
+ m_eventIn = new EventInPort<Machine<Top, MicrowaveProtocol>>("event",m_event);
+ // </rtc-template>
+
+ }
+
+ /**
+ *
+ * The initialize action (on CREATED->ALIVE transition)
+ * formaer rtc_init_entry()
+ *
+ * @return RTC::ReturnCode_t
+ *
+ *
+ */
+ @Override
+ protected ReturnCode_t onInitialize() {
+ // Registration: InPort/OutPort/Service
+ // <rtc-template block="registration">
+ // Set InPort buffers
+ addInPort("event", m_eventIn);
+
+ m_eventIn.bindEvent("open", "open");
+ m_eventIn.bindEvent("close", "close");
+ m_eventIn.bindEvent("minute", "minute");
+ m_eventIn.bindEvent("start", "start");
+ m_eventIn.bindEvent("stop", "stop");
+
+
+ // Set OutPort buffer
+ // </rtc-template>
+
+
+
+ return super.onInitialize();
+ }
+
+ /***
+ *
+ * The finalize action (on ALIVE->END transition)
+ * formaer rtc_exiting_entry()
+ *
+ * @return RTC::ReturnCode_t
+ *
+ *
+ */
+// @Override
+// protected ReturnCode_t onFinalize() {
+// return super.onFinalize();
+// }
+
+ /***
+ *
+ * The startup action when ExecutionContext startup
+ * former rtc_starting_entry()
+ *
+ * @param ec_id target ExecutionContext Id
+ *
+ * @return RTC::ReturnCode_t
+ *
+ *
+ */
+// @Override
+// protected ReturnCode_t onStartup(int ec_id) {
+// return super.onStartup(ec_id);
+// }
+
+ /***
+ *
+ * The shutdown action when ExecutionContext stop
+ * former rtc_stopping_entry()
+ *
+ * @param ec_id target ExecutionContext Id
+ *
+ * @return RTC::ReturnCode_t
+ *
+ *
+ */
+// @Override
+// protected ReturnCode_t onShutdown(int ec_id) {
+// return super.onShutdown(ec_id);
+// }
+
+ /***
+ *
+ * The activated action (Active state entry action)
+ * former rtc_active_entry()
+ *
+ * @param ec_id target ExecutionContext Id
+ *
+ * @return RTC::ReturnCode_t
+ *
+ *
+ */
+// @Override
+// protected ReturnCode_t onActivated(int ec_id) {
+// return super.onActivated(ec_id);
+// }
+
+ /***
+ *
+ * The deactivated action (Active state exit action)
+ * former rtc_active_exit()
+ *
+ * @param ec_id target ExecutionContext Id
+ *
+ * @return RTC::ReturnCode_t
+ *
+ *
+ */
+// @Override
+// protected ReturnCode_t onDeactivated(int ec_id) {
+// return super.onDeactivated(ec_id);
+// }
+
+ /**
+ *
+ * The execution action that is invoked periodically
+ * former rtc_active_do()
+ *
+ * @param ec_id target ExecutionContext Id
+ *
+ * @return RTC::ReturnCode_t
+ *
+ *
+ */
+ @Override
+ protected ReturnCode_t onExecute(int ec_id) {
+ return super.onExecute(ec_id);
+ }
+
+ /***
+ *
+ * The aborting action when main logic error occurred.
+ * former rtc_aborting_entry()
+ *
+ * @param ec_id target ExecutionContext Id
+ *
+ * @return RTC::ReturnCode_t
+ *
+ *
+ */
+// @Override
+// public ReturnCode_t onAborting(int ec_id) {
+// return super.onAborting(ec_id);
+// }
+
+ /***
+ *
+ * The error action in ERROR state
+ * former rtc_error_do()
+ *
+ * @param ec_id target ExecutionContext Id
+ *
+ * @return RTC::ReturnCode_t
+ *
+ *
+ */
+// @Override
+// public ReturnCode_t onError(int ec_id) {
+// return super.onError(ec_id);
+// }
+
+ /***
+ *
+ * The reset action that is invoked resetting
+ * This is same but different the former rtc_init_entry()
+ *
+ * @param ec_id target ExecutionContext Id
+ *
+ * @return RTC::ReturnCode_t
+ *
+ *
+ */
+// @Override
+// protected ReturnCode_t onReset(int ec_id) {
+// return super.onReset(ec_id);
+// }
+
+ /***
+ *
+ * The state update action that is invoked after onExecute() action
+ * no corresponding operation exists in OpenRTm-aist-0.2.0
+ *
+ * @param ec_id target ExecutionContext Id
+ *
+ * @return RTC::ReturnCode_t
+ *
+ *
+ */
+// @Override
+// protected ReturnCode_t onStateUpdate(int ec_id) {
+// return super.onStateUpdate(ec_id);
+// }
+
+ /***
+ *
+ * The action that is invoked when execution context's rate is changed
+ * no corresponding operation exists in OpenRTm-aist-0.2.0
+ *
+ * @param ec_id target ExecutionContext Id
+ *
+ * @return RTC::ReturnCode_t
+ *
+ *
+ */
+// @Override
+// protected ReturnCode_t onRateChanged(int ec_id) {
+// return super.onRateChanged(ec_id);
+// }
+//
+ // DataInPort declaration
+ // <rtc-template block="inport_declare">
+ protected Machine<Top, MicrowaveProtocol> m_fsm;
+ protected DataRef<Machine<Top, MicrowaveProtocol>> m_event;
+ /*!
+ */
+ protected EventInPort<Machine<Top, MicrowaveProtocol>> m_eventIn;
+
+
+
+ // </rtc-template>
+
+ // DataOutPort declaration
+ // <rtc-template block="outport_declare">
+
+
+ // </rtc-template>
+
+ // CORBA Port declaration
+ // <rtc-template block="corbaport_declare">
+
+ // </rtc-template>
+
+ // Service declaration
+ // <rtc-template block="service_declare">
+
+ // </rtc-template>
+
+ // Consumer declaration
+ // <rtc-template block="consumer_declare">
+
+ // </rtc-template>
+
+
+ private void initializeParam(Object target) {
+ Class<?> targetClass = target.getClass();
+ ClassLoader loader = target.getClass().getClassLoader();
+ //
+ Field[] fields = targetClass.getFields();
+ for(Field field : fields) {
+ if(field.getType().isPrimitive()) continue;
+
+ try {
+ if(field.getType().isArray()) {
+ Object arrayValue = null;
+ Class<?> clazz = null;
+ if(field.getType().getComponentType().isPrimitive()) {
+ clazz = field.getType().getComponentType();
+ } else {
+ clazz = loader.loadClass(field.getType().getComponentType().getName());
+ }
+ arrayValue = Array.newInstance(clazz, 0);
+ field.set(target, arrayValue);
+
+ } else {
+ Constructor<?>[] constList = field.getType().getConstructors();
+ if(constList.length==0) {
+ Method[] methodList = field.getType().getMethods();
+ for(Method method : methodList) {
+ if(method.getName().equals("from_int")==false) continue;
+ Object objFld = method.invoke(target, new Object[]{ new Integer(0) });
+ field.set(target, objFld);
+ break;
+ }
+ } else {
+ Class<?> classFld = Class.forName(field.getType().getName(), true, loader);
+ Object objFld = classFld.newInstance();
+ initializeParam(objFld);
+ field.set(target, objFld);
+ }
+ }
+ } catch (ClassNotFoundException e) {
+ e.printStackTrace();
+ } catch (InstantiationException e) {
+ e.printStackTrace();
+ } catch (IllegalAccessException e) {
+ e.printStackTrace();
+ } catch (IllegalArgumentException e) {
+ e.printStackTrace();
+ } catch (InvocationTargetException e) {
+ e.printStackTrace();
+ }
+ }
+ }
+
+ class DataListener extends ConnectorDataListenerT<TimedLong>{
+ public DataListener(final String name, Queue<Event> que){
+ super(TimedLong.class);
+ m_name = name;
+ m_que = que;
+ }
+
+ public ReturnCode operator(ConnectorBase.ConnectorInfo arg,
+ TimedLong data) {
+ ConnectorBase.ConnectorInfo info =(ConnectorBase.ConnectorInfo)arg;
+ System.out.println("------------------------------");
+ System.out.println("Listener: "+m_name);
+ System.out.println("Data: "+data.data);
+ System.out.println("------------------------------");
+ synchronized (m_que) {
+ Class<?>[] args = new Class<?>[1];
+ args[0] = data.getClass();
+ m_que.offer(new Event(m_name,args,(Object)data));
+ }
+ return ReturnCode.NO_CHANGE;
+ }
+
+ private String m_name;
+ private Queue<Event> m_que;
+ }
+}
Copied: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/MicrowaveProtocol.java (from rev 935, trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/CameraProtocol.java)
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/MicrowaveProtocol.java (rev 0)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/MicrowaveProtocol.java 2017-02-07 06:39:01 UTC (rev 936)
@@ -0,0 +1,23 @@
+package RTMExamples.StaticFsm;
+
+import RTC.TimedLong;
+/**
+ *
+ */
+public interface MicrowaveProtocol {
+
+
+ void open();
+
+ void close();
+
+ void minute();
+
+ void start();
+
+ void stop();
+
+ void tick();
+
+}
+
Deleted: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/NotShooting.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/NotShooting.java 2017-02-07 06:31:32 UTC (rev 935)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/NotShooting.java 2017-02-07 06:39:01 UTC (rev 936)
@@ -1,48 +0,0 @@
-package RTMExamples.StaticFsm;
-
-import jp.go.aist.rtm.RTC.jfsm.DeepHistory;
-import jp.go.aist.rtm.RTC.jfsm.State;
-
-import RTC.TimedLong;
-/**
- *
- */
- at DeepHistory
-public class NotShooting extends Top {
-
- @Override
- public void onEntry() {
- System.out.println("NotShooting::onEntry");
- setOutputData(2);
- }
-
- @Override
- public void onInit() {
- System.out.println("NotShooting::onInit");
- setState(new State(Idle.class));
- }
-
- @Override
- public void onExit() {
- System.out.println("NotShooting::onExit");
- }
-
- @Override
- public void on_do() {
- System.out.println("NotShooting::on_do");
- }
-
- @Override
- public void EvOff(TimedLong param){
- System.out.println("NotShooting::EvOff");
- setState(new State(Off.class));
- }
-
- @Override
- public void EvShutterHalf(TimedLong param){
- System.out.println("NotShooting::EvShutterHalf");
- setState(new State(ShootingCamera.class));
- }
-}
-
-
Deleted: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Off.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Off.java 2017-02-07 06:31:32 UTC (rev 935)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Off.java 2017-02-07 06:39:01 UTC (rev 936)
@@ -1,35 +0,0 @@
-package RTMExamples.StaticFsm;
-
-import jp.go.aist.rtm.RTC.jfsm.DeepHistory;
-import jp.go.aist.rtm.RTC.jfsm.State;
-
-import RTC.TimedLong;
-/**
- *
- */
- at DeepHistory
-public class Off extends Top {
-
- @Override
- public void onEntry() {
- System.out.println("Off::onEntry");
- setOutputData(1);
- }
-
- @Override
- public void onExit() {
- System.out.println("Off::onExit");
- }
-
- @Override
- public void on_do() {
- System.out.println("Off::on_do");
- }
-
- @Override
- public void EvOn(TimedLong param){
- System.out.println("Off::EvOn");
- setState(new State(NotShooting.class));
- }
-}
-
Copied: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Operational.java (from rev 935, trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/NotShooting.java)
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Operational.java (rev 0)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Operational.java 2017-02-07 06:39:01 UTC (rev 936)
@@ -0,0 +1,33 @@
+package RTMExamples.StaticFsm;
+
+import jp.go.aist.rtm.RTC.jfsm.DeepHistory;
+import jp.go.aist.rtm.RTC.jfsm.State;
+
+import RTC.TimedLong;
+/**
+ *
+ */
+ at DeepHistory
+public class Operational extends Top {
+
+ @Override
+ public void onInit() {
+ System.out.println("[Microwave] Operational::onInit()");
+ setState(new State(Idle.class));
+ }
+
+ @Override
+ public void open() {
+ System.out.println("[Microwave] >>> Door opened <<<");
+ setState(new State(Disabled.class));
+ }
+
+ @Override
+ public void stop() {
+ System.out.println("[Microwave] >>> Stopped <<<");
+ setState(new State(Idle.class));
+ }
+
+}
+
+
Copied: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Programmed.java (from rev 935, trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Off.java)
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Programmed.java (rev 0)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Programmed.java 2017-02-07 06:39:01 UTC (rev 936)
@@ -0,0 +1,42 @@
+package RTMExamples.StaticFsm;
+
+import jp.go.aist.rtm.RTC.jfsm.DeepHistory;
+import jp.go.aist.rtm.RTC.jfsm.State;
+
+import RTC.TimedLong;
+/**
+ *
+ */
+ at DeepHistory
+public class Programmed extends Operational {
+
+ @Override
+ public void minute() {
+ System.out.println("[Microwave] >>> Timer incremented <<<");
+ Top.Data data = data(Top.class);
+ data.incrementTimer();
+ data.printTimer();
+ }
+
+ @Override
+ public void start() {
+ System.out.println("[Microwave] >>> Microwave started <<<");
+ setState(new State(Cooking.class));
+ }
+
+ @Override
+ public void onInit() {
+ System.out.println("[Microwave] Programmed::onInit()");
+ }
+
+ @Override
+ public void onEntry() {
+ System.out.println("[Microwave] Programmed::onEntry()");
+ }
+
+ @Override
+ public void onExit() {
+ System.out.println("[Microwave] Programmed::onExit()");
+ }
+
+}
Deleted: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/ShootingCamera.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/ShootingCamera.java 2017-02-07 06:31:32 UTC (rev 935)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/ShootingCamera.java 2017-02-07 06:39:01 UTC (rev 936)
@@ -1,43 +0,0 @@
-package RTMExamples.StaticFsm;
-
-import jp.go.aist.rtm.RTC.jfsm.DeepHistory;
-import jp.go.aist.rtm.RTC.jfsm.State;
-
-import RTC.TimedLong;
-/**
- *
- */
- at DeepHistory
-public class ShootingCamera extends Top {
-
- @Override
- public void onEntry() {
- System.out.println("ShootingCamera::onEntry");
- setOutputData(5);
- }
-
- @Override
- public void onInit() {
- System.out.println("ShootingCamera::onInit");
- setState(new State(ShootingCamera_Shooting.class));
- }
-
- @Override
- public void onExit() {
- System.out.println("ShootingCamera::onExit");
- }
-
- @Override
- public void on_do() {
- System.out.println("ShootingCamera::on_do");
- }
-
- @Override
- public void EvShutterReleased(TimedLong param){
- System.out.println("ShootingCamera::EvShutterReleased");
- setState(new State(NotShooting.class));
- }
-
-}
-
-
Deleted: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/ShootingCamera_Focused.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/ShootingCamera_Focused.java 2017-02-07 06:31:32 UTC (rev 935)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/ShootingCamera_Focused.java 2017-02-07 06:39:01 UTC (rev 936)
@@ -1,35 +0,0 @@
-package RTMExamples.StaticFsm;
-
-import jp.go.aist.rtm.RTC.jfsm.DeepHistory;
-import jp.go.aist.rtm.RTC.jfsm.State;
-
-import RTC.TimedLong;
-/**
- *
- */
- at DeepHistory
-public class ShootingCamera_Focused extends ShootingCamera_Shooting {
-
- @Override
- public void onEntry() {
- System.out.println("ShootingCamera_Focused::onEntry");
- setOutputData(8);
- }
-
- @Override
- public void onExit() {
- System.out.println("ShootingCamera_Focused::onExit");
- }
-
- @Override
- public void on_do() {
- System.out.println("ShootingCamera_Focused::on_do");
- }
-
- @Override
- public void EvShutterFull(TimedLong param){
- System.out.println("ShootingCamera_Focused::EvShutterFull");
- setState(new State(ShootingCamera_Storing.class));
- }
-}
-
Deleted: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/ShootingCamera_Focusing.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/ShootingCamera_Focusing.java 2017-02-07 06:31:32 UTC (rev 935)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/ShootingCamera_Focusing.java 2017-02-07 06:39:01 UTC (rev 936)
@@ -1,47 +0,0 @@
-package RTMExamples.StaticFsm;
-
-import jp.go.aist.rtm.RTC.jfsm.DeepHistory;
-import jp.go.aist.rtm.RTC.jfsm.Event;
-import jp.go.aist.rtm.RTC.jfsm.State;
-
-import RTC.TimedLong;
-/**
- *
- */
- at DeepHistory
-public class ShootingCamera_Focusing extends ShootingCamera_Shooting {
-
- @Override
- public void onEntry() {
- System.out.println("ShootingCamera_Focusing::onEntry");
- setOutputData(7);
- }
-
- @Override
- public void onExit() {
- System.out.println("ShootingCamera_Focusing::onExit");
- }
-
- @Override
- public void on_do() {
- System.out.println("ShootingCamera_Focusing::on_do");
- }
-
- @Override
- public void EvInFocus(TimedLong param){
- System.out.println("ShootingCamera_Focusing::EvInFocus");
- setState(new State(ShootingCamera_Focused.class));
- }
-
- @Override
- public void EvShutterFull(TimedLong param){
- System.out.println("ShootingCamera_Focusing::EvShutterFull");
- Class<?>[] args = new Class<?>[1];
- args[0] = param.getClass();
- defer(new Event("EvShutterFull",args,param));
- }
-}
-
-
-
-
Deleted: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/ShootingCamera_Shooting.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/ShootingCamera_Shooting.java 2017-02-07 06:31:32 UTC (rev 935)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/ShootingCamera_Shooting.java 2017-02-07 06:39:01 UTC (rev 936)
@@ -1,33 +0,0 @@
-package RTMExamples.StaticFsm;
-
-import jp.go.aist.rtm.RTC.jfsm.DeepHistory;
-import jp.go.aist.rtm.RTC.jfsm.State;
-
-import RTC.TimedLong;
-/**
- *
- */
- at DeepHistory
-public class ShootingCamera_Shooting extends ShootingCamera {
-
- @Override
- public void onEntry() {
- System.out.println("ShootingCamera_Shooting::onEntry");
- setOutputData(6);
- }
-
- @Override
- public void onInit() {
- System.out.println("ShootingCamera_Shooting::onInit");
- setState(new State(ShootingCamera_Focusing.class));
- }
-
- @Override
- public void on_do() {
- System.out.println("ShootingCamera_Shooting::on_do");
- }
-
-}
-
-
-
Deleted: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/ShootingCamera_Storing.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/ShootingCamera_Storing.java 2017-02-07 06:31:32 UTC (rev 935)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/ShootingCamera_Storing.java 2017-02-07 06:39:01 UTC (rev 936)
@@ -1,32 +0,0 @@
-package RTMExamples.StaticFsm;
-
-import jp.go.aist.rtm.RTC.jfsm.DeepHistory;
-import jp.go.aist.rtm.RTC.jfsm.State;
-
-import RTC.TimedLong;
-/**
- *
- */
- at DeepHistory
-public class ShootingCamera_Storing extends ShootingCamera_Shooting {
-
-
- @Override
- public void onEntry() {
- System.out.println("ShootingCamera_Storing::onEntry");
- setOutputData(9);
- }
-
- @Override
- public void onExit() {
- System.out.println("ShootingCamera_Storing::onExit");
- }
-
- @Override
- public void on_do() {
- System.out.println("ShootingCamera_Storing::on_do");
- }
-
-}
-
-
Deleted: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/StaticFsm.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/StaticFsm.java 2017-02-07 06:31:32 UTC (rev 935)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/StaticFsm.java 2017-02-07 06:39:01 UTC (rev 936)
@@ -1,53 +0,0 @@
-package RTMExamples.StaticFsm;
-/**
- * {@.ja StaticFsm}
- * {@.en StaticFsm}
- *
- */
-
-import jp.go.aist.rtm.RTC.Manager;
-import jp.go.aist.rtm.RTC.RTObject_impl;
-import jp.go.aist.rtm.RTC.RtcDeleteFunc;
-import jp.go.aist.rtm.RTC.RtcNewFunc;
-import jp.go.aist.rtm.RTC.RegisterModuleFunc;
-import jp.go.aist.rtm.RTC.util.Properties;
-
-/**
- * {@.ja Definition class}
- * {@.en Definition class}
- * <p>
- * {@.ja The class where ComponentProfile(etc) was defined.}
- * {@.en The class where ComponentProfile(etc) was defined.}
- */
-public class StaticFsm implements RtcNewFunc, RtcDeleteFunc, RegisterModuleFunc {
-
-// Module specification
-// <rtc-template block="module_spec">
- public static String component_conf[] = {
- "implementation_id", "StaticFsm",
- "type_name", "StaticFsm",
- "description", "StaticFsm",
- "version", "1.0.0",
- "vendor", "Noriaki Ando, AIST",
- "category", "example",
- "activity_type", "STATIC",
- "max_instance", "1",
- "language", "Java",
- "lang_type", "compile",
- ""
- };
-// </rtc-template>
-
- public RTObject_impl createRtc(Manager mgr) {
- return new StaticFsmImpl(mgr);
- }
-
- public void deleteRtc(RTObject_impl rtcBase) {
- rtcBase = null;
- }
- public void registerModule() {
- Properties prop = new Properties(component_conf);
- final Manager manager = Manager.instance();
- manager.registerFactory(prop, new StaticFsm(), new StaticFsm());
- }
-}
Deleted: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/StaticFsmComp.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/StaticFsmComp.java 2017-02-07 06:31:32 UTC (rev 935)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/StaticFsmComp.java 2017-02-07 06:39:01 UTC (rev 936)
@@ -1,122 +0,0 @@
-package RTMExamples.StaticFsm;
-/**
- *
- * {@.ja Standalone component}
- * {@.en Standalone component}
- *
- */
-
-import jp.go.aist.rtm.RTC.Manager;
-import jp.go.aist.rtm.RTC.ModuleInitProc;
-import jp.go.aist.rtm.RTC.RTObject_impl;
-import jp.go.aist.rtm.RTC.util.NVUtil;
-import jp.go.aist.rtm.RTC.util.Properties;
-
-import RTC.ComponentProfile;
-import RTC.PortService;
-import RTC.PortServiceListHolder;
-import RTC.PortInterfacePolarity;
-import RTC.PortInterfaceProfileListHolder;
-import RTC.RTObject;
-import RTC.RTObjectHelper;
-
-import _SDOPackage.NVListHolder;
-/**
- * {@.ja Sample component of static FSM}
- * {@.en Sample component of static FSM}
- *
- */
-public class StaticFsmComp implements ModuleInitProc {
-
- public void myModuleInit(Manager mgr) {
- Properties prop = new Properties(StaticFsm.component_conf);
- mgr.registerFactory(prop, new StaticFsm(), new StaticFsm());
-
- // Create a component
- System.out.println("Creating a component: \"StaticFsm\"....");
- RTObject_impl comp = mgr.createComponent("StaticFsm");
- if( comp==null ) {
- System.err.println("Component create failed.");
- System.exit(0);
- }
- System.out.println("succeed.");
-
- ComponentProfile prof = comp.get_component_profile();
- System.out.println( "=================================================" );
- System.out.println( " Component Profile" );
- System.out.println( "-------------------------------------------------" );
- System.out.println( "InstanceID: " + prof.instance_name );
- System.out.println( "Implementation: " + prof.type_name );
- System.out.println( "Description: " + prof.description );
- System.out.println( "Version: " + prof.version );
- System.out.println( "Maker: " + prof.vendor );
- System.out.println( "Category: " + prof.category );
- System.out.println( " Other properties " );
- NVUtil.dump(new NVListHolder(prof.properties));
- System.out.println( "=================================================" );
- // Example
- // The following procedure is examples how handle RT-Components.
- // These should not be in this function.
-
- // Get the component's object reference
- Manager manager = Manager.instance();
- RTObject rtobj = null;
- try {
- rtobj = RTObjectHelper.narrow(manager.getPOA().servant_to_reference(comp));
- } catch (Exception e) {
- e.printStackTrace();
- }
-
- // Get the port list of the component
- PortServiceListHolder ports = new PortServiceListHolder();
- ports.value = rtobj.get_ports();
-
- // getting port profiles
- System.out.println( "Number of Ports: " );
- System.out.println( ports.value.length );
- for( int intIdx=0;intIdx<ports.value.length;++intIdx ) {
- PortService port = ports.value[intIdx];
- System.out.println( "Port" + intIdx + " (name): ");
- System.out.println( port.get_port_profile().name );
-
- PortInterfaceProfileListHolder iflist = new PortInterfaceProfileListHolder();
- iflist.value = port.get_port_profile().interfaces;
- System.out.println( "---interfaces---" );
- for( int intIdx2=0;intIdx2<iflist.value.length;++intIdx2 ) {
- System.out.println( "I/F name: " );
- System.out.println( iflist.value[intIdx2].instance_name );
- System.out.println( "I/F type: " );
- System.out.println( iflist.value[intIdx2].type_name );
- if( iflist.value[intIdx2].polarity==PortInterfacePolarity.PROVIDED ) {
- System.out.println( "Polarity: PROVIDED" );
- } else {
- System.out.println( "Polarity: REQUIRED" );
- }
- }
- System.out.println( "---properties---" );
- NVUtil.dump( new NVListHolder(port.get_port_profile().properties) );
- System.out.println( "----------------" );
- }
- }
-
- public static void main(String[] args) {
- // Initialize manager
- final Manager manager = Manager.init(args);
-
- // Set module initialization proceduer
- // This procedure will be invoked in activateManager() function.
- StaticFsmComp init = new StaticFsmComp();
- manager.setModuleInitProc(init);
-
- // Activate manager and register to naming service
- manager.activateManager();
-
- // run the manager in blocking mode
- // runManager(false) is the default.
- manager.runManager();
-
- // If you want to run the manager in non-blocking mode, do like this
- // manager.runManager(true);
- }
-
-}
Deleted: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/StaticFsmImpl.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/StaticFsmImpl.java 2017-02-07 06:31:32 UTC (rev 935)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/StaticFsmImpl.java 2017-02-07 06:39:01 UTC (rev 936)
@@ -1,479 +0,0 @@
-package RTMExamples.StaticFsm;
-/**
- * {@.ja StaticFsmImpl}
- * {@.en StaticFsmImpl}
- */
-
-import java.lang.reflect.Array;
-import java.lang.reflect.Constructor;
-import java.lang.reflect.Field;
-import java.lang.reflect.InvocationTargetException;
-import java.lang.reflect.Method;
-
-import java.util.ArrayDeque;
-import java.util.Queue;
-
-import jp.go.aist.rtm.RTC.DataFlowComponentBase;
-import jp.go.aist.rtm.RTC.Manager;
-import jp.go.aist.rtm.RTC.connectorListener.ReturnCode;
-import jp.go.aist.rtm.RTC.jfsm.Event;
-import jp.go.aist.rtm.RTC.jfsm.Machine;
-import jp.go.aist.rtm.RTC.jfsm.machine.EventBase;
-import jp.go.aist.rtm.RTC.port.ConnectorBase;
-import jp.go.aist.rtm.RTC.port.InPort;
-import jp.go.aist.rtm.RTC.port.OutPort;
-import jp.go.aist.rtm.RTC.port.ConnectorDataListenerT;
-import jp.go.aist.rtm.RTC.port.ConnectorDataListenerType;
-import jp.go.aist.rtm.RTC.util.DataRef;
-
-import RTC.TimedLong;
-import RTC.ReturnCode_t;
-
-/**
- * {@.ja Implemented class of a sample component of static FSM}
- * {@.en Implemented class of a sample component of static FSM}
- *
- */
-public class StaticFsmImpl extends DataFlowComponentBase {
-
- /**
- * {@.ja constructor}
- * {@.en constructor}
- * @param manager
- * {@.ja Maneger Object}
- * {@.en Maneger Object}
- */
- public StaticFsmImpl(Manager manager) {
- super(manager);
- // <rtc-template block="initializer">
- m_EvConfig_val = new TimedLong();
- initializeParam(m_EvConfig_val);
- m_EvConfig = new DataRef<TimedLong>(m_EvConfig_val);
- m_EvConfigIn = new InPort<TimedLong>("EvConfig", m_EvConfig);
- m_EvInFocus_val = new TimedLong();
- initializeParam(m_EvInFocus_val);
- m_EvInFocus = new DataRef<TimedLong>(m_EvInFocus_val);
- m_EvInFocusIn = new InPort<TimedLong>("EvInFocus", m_EvInFocus);
- m_EvOff_val = new TimedLong();
- initializeParam(m_EvOff_val);
- m_EvOff = new DataRef<TimedLong>(m_EvOff_val);
- m_EvOffIn = new InPort<TimedLong>("EvOff", m_EvOff);
- m_EvOn_val = new TimedLong();
- initializeParam(m_EvOn_val);
- m_EvOn = new DataRef<TimedLong>(m_EvOn_val);
- m_EvOnIn = new InPort<TimedLong>("EvOn", m_EvOn);
- m_EvShutterFull_val = new TimedLong();
- initializeParam(m_EvShutterFull_val);
- m_EvShutterFull = new DataRef<TimedLong>(m_EvShutterFull_val);
- m_EvShutterFullIn = new InPort<TimedLong>("EvShutterFull", m_EvShutterFull);
- m_EvShutterHalf_val = new TimedLong();
- initializeParam(m_EvShutterHalf_val);
- m_EvShutterHalf = new DataRef<TimedLong>(m_EvShutterHalf_val);
- m_EvShutterHalfIn = new InPort<TimedLong>("EvShutterHalf", m_EvShutterHalf);
- m_EvShutterReleased_val = new TimedLong();
- initializeParam(m_EvShutterReleased_val);
- m_EvShutterReleased = new DataRef<TimedLong>(m_EvShutterReleased_val);
- m_EvShutterReleasedIn = new InPort<TimedLong>("EvShutterReleased", m_EvShutterReleased);
- m_out_val = new TimedLong();
- m_out = new DataRef<TimedLong>(m_out_val);
- m_outOut = new OutPort<TimedLong>("out", m_out);
- // </rtc-template>
-
- }
-
- /**
- *
- * The initialize action (on CREATED->ALIVE transition)
- * formaer rtc_init_entry()
- *
- * @return RTC::ReturnCode_t
- *
- *
- */
- @Override
- protected ReturnCode_t onInitialize() {
- // Registration: InPort/OutPort/Service
- // <rtc-template block="registration">
- // Set InPort buffers
- addInPort("EvConfig", m_EvConfigIn);
- addInPort("EvInFocus", m_EvInFocusIn);
- addInPort("EvOff", m_EvOffIn);
- addInPort("EvOn", m_EvOnIn);
- addInPort("EvShutterFull", m_EvShutterFullIn);
- addInPort("EvShutterHalf", m_EvShutterHalfIn);
- addInPort("EvShutterReleased", m_EvShutterReleasedIn);
-
- machine_ = new Machine<>(Top.class, CameraProtocol.class, null);
- m_que = new ArrayDeque<Event>();
-
-
- m_EvConfigIn.addConnectorDataListener(
- ConnectorDataListenerType.ON_RECEIVED,
- new DataListener("EvConfig",m_que));
- m_EvInFocusIn.addConnectorDataListener(
- ConnectorDataListenerType.ON_RECEIVED,
- new DataListener("EvInFocus",m_que));
- m_EvOffIn.addConnectorDataListener(
- ConnectorDataListenerType.ON_RECEIVED,
- new DataListener("EvOff",m_que));
- m_EvOnIn.addConnectorDataListener(
- ConnectorDataListenerType.ON_RECEIVED,
- new DataListener("EvOn",m_que));
- m_EvShutterFullIn.addConnectorDataListener(
- ConnectorDataListenerType.ON_RECEIVED,
- new DataListener("EvShutterFull",m_que));
- m_EvShutterHalfIn.addConnectorDataListener(
- ConnectorDataListenerType.ON_RECEIVED,
- new DataListener("EvShutterHalf",m_que));
- m_EvShutterReleasedIn.addConnectorDataListener(
- ConnectorDataListenerType.ON_RECEIVED,
- new DataListener("EvShutterReleased",m_que));
-
- // Set OutPort buffer
- addOutPort("out", m_outOut);
- // </rtc-template>
-
-
-
- return super.onInitialize();
- }
-
- /***
- *
- * The finalize action (on ALIVE->END transition)
- * formaer rtc_exiting_entry()
- *
- * @return RTC::ReturnCode_t
- *
- *
- */
-// @Override
-// protected ReturnCode_t onFinalize() {
-// return super.onFinalize();
-// }
-
- /***
- *
- * The startup action when ExecutionContext startup
- * former rtc_starting_entry()
- *
- * @param ec_id target ExecutionContext Id
- *
- * @return RTC::ReturnCode_t
- *
- *
- */
-// @Override
-// protected ReturnCode_t onStartup(int ec_id) {
-// return super.onStartup(ec_id);
-// }
-
- /***
- *
- * The shutdown action when ExecutionContext stop
- * former rtc_stopping_entry()
- *
- * @param ec_id target ExecutionContext Id
- *
- * @return RTC::ReturnCode_t
- *
- *
- */
-// @Override
-// protected ReturnCode_t onShutdown(int ec_id) {
-// return super.onShutdown(ec_id);
-// }
-
- /***
- *
- * The activated action (Active state entry action)
- * former rtc_active_entry()
- *
- * @param ec_id target ExecutionContext Id
- *
- * @return RTC::ReturnCode_t
- *
- *
- */
-// @Override
-// protected ReturnCode_t onActivated(int ec_id) {
-// return super.onActivated(ec_id);
-// }
-
- /***
- *
- * The deactivated action (Active state exit action)
- * former rtc_active_exit()
- *
- * @param ec_id target ExecutionContext Id
- *
- * @return RTC::ReturnCode_t
- *
- *
- */
-// @Override
-// protected ReturnCode_t onDeactivated(int ec_id) {
-// return super.onDeactivated(ec_id);
-// }
-
- /**
- *
- * The execution action that is invoked periodically
- * former rtc_active_do()
- *
- * @param ec_id target ExecutionContext Id
- *
- * @return RTC::ReturnCode_t
- *
- *
- */
- @Override
- protected ReturnCode_t onExecute(int ec_id) {
- synchronized (m_que) {
- while (!m_que.isEmpty()) {
- Event ev = m_que.poll();
- machine_.dispatch(ev);
- }
- }
- while (!machine_.current().isOutputData()) {
- m_out_val.data = machine_.current().getOutputData();
- System.out.println("output data: " + m_out_val.data);
- m_outOut.write();
- }
- machine_.current().on_do();
- return super.onExecute(ec_id);
- }
-
- /***
- *
- * The aborting action when main logic error occurred.
- * former rtc_aborting_entry()
- *
- * @param ec_id target ExecutionContext Id
- *
- * @return RTC::ReturnCode_t
- *
- *
- */
-// @Override
-// public ReturnCode_t onAborting(int ec_id) {
-// return super.onAborting(ec_id);
-// }
-
- /***
- *
- * The error action in ERROR state
- * former rtc_error_do()
- *
- * @param ec_id target ExecutionContext Id
- *
- * @return RTC::ReturnCode_t
- *
- *
- */
-// @Override
-// public ReturnCode_t onError(int ec_id) {
-// return super.onError(ec_id);
-// }
-
- /***
- *
- * The reset action that is invoked resetting
- * This is same but different the former rtc_init_entry()
- *
- * @param ec_id target ExecutionContext Id
- *
- * @return RTC::ReturnCode_t
- *
- *
- */
-// @Override
-// protected ReturnCode_t onReset(int ec_id) {
-// return super.onReset(ec_id);
-// }
-
- /***
- *
- * The state update action that is invoked after onExecute() action
- * no corresponding operation exists in OpenRTm-aist-0.2.0
- *
- * @param ec_id target ExecutionContext Id
- *
- * @return RTC::ReturnCode_t
- *
- *
- */
-// @Override
-// protected ReturnCode_t onStateUpdate(int ec_id) {
-// return super.onStateUpdate(ec_id);
-// }
-
- /***
- *
- * The action that is invoked when execution context's rate is changed
- * no corresponding operation exists in OpenRTm-aist-0.2.0
- *
- * @param ec_id target ExecutionContext Id
- *
- * @return RTC::ReturnCode_t
- *
- *
- */
-// @Override
-// protected ReturnCode_t onRateChanged(int ec_id) {
-// return super.onRateChanged(ec_id);
-// }
-//
- // DataInPort declaration
- // <rtc-template block="inport_declare">
- protected TimedLong m_EvConfig_val;
- protected DataRef<TimedLong> m_EvConfig;
- /*!
- */
- protected InPort<TimedLong> m_EvConfigIn;
-
- protected TimedLong m_EvInFocus_val;
- protected DataRef<TimedLong> m_EvInFocus;
- /*!
- */
- protected InPort<TimedLong> m_EvInFocusIn;
-
- protected TimedLong m_EvOff_val;
- protected DataRef<TimedLong> m_EvOff;
- /*!
- */
- protected InPort<TimedLong> m_EvOffIn;
-
- protected TimedLong m_EvOn_val;
- protected DataRef<TimedLong> m_EvOn;
- /*!
- */
- protected InPort<TimedLong> m_EvOnIn;
-
- protected TimedLong m_EvShutterFull_val;
- protected DataRef<TimedLong> m_EvShutterFull;
- /*!
- */
- protected InPort<TimedLong> m_EvShutterFullIn;
-
- protected TimedLong m_EvShutterHalf_val;
- protected DataRef<TimedLong> m_EvShutterHalf;
- /*!
- */
- protected InPort<TimedLong> m_EvShutterHalfIn;
-
- protected TimedLong m_EvShutterReleased_val;
- protected DataRef<TimedLong> m_EvShutterReleased;
- /*!
- */
- protected InPort<TimedLong> m_EvShutterReleasedIn;
-
-
- // </rtc-template>
-
- // DataOutPort declaration
- // <rtc-template block="outport_declare">
- protected TimedLong m_out_val;
- protected DataRef<TimedLong> m_out;
- /*!
- */
- protected OutPort<TimedLong> m_outOut;
-
- private Machine<Top, CameraProtocol> machine_;
- private Queue<Event> m_que;
-
- // </rtc-template>
-
- // CORBA Port declaration
- // <rtc-template block="corbaport_declare">
-
- // </rtc-template>
-
- // Service declaration
- // <rtc-template block="service_declare">
-
- // </rtc-template>
-
- // Consumer declaration
- // <rtc-template block="consumer_declare">
-
- // </rtc-template>
-
-
- private void initializeParam(Object target) {
- Class<?> targetClass = target.getClass();
- ClassLoader loader = target.getClass().getClassLoader();
- //
- Field[] fields = targetClass.getFields();
- for(Field field : fields) {
- if(field.getType().isPrimitive()) continue;
-
- try {
- if(field.getType().isArray()) {
- Object arrayValue = null;
- Class<?> clazz = null;
- if(field.getType().getComponentType().isPrimitive()) {
- clazz = field.getType().getComponentType();
- } else {
- clazz = loader.loadClass(field.getType().getComponentType().getName());
- }
- arrayValue = Array.newInstance(clazz, 0);
- field.set(target, arrayValue);
-
- } else {
- Constructor<?>[] constList = field.getType().getConstructors();
- if(constList.length==0) {
- Method[] methodList = field.getType().getMethods();
- for(Method method : methodList) {
- if(method.getName().equals("from_int")==false) continue;
- Object objFld = method.invoke(target, new Object[]{ new Integer(0) });
- field.set(target, objFld);
- break;
- }
- } else {
- Class<?> classFld = Class.forName(field.getType().getName(), true, loader);
- Object objFld = classFld.newInstance();
- initializeParam(objFld);
- field.set(target, objFld);
- }
- }
- } catch (ClassNotFoundException e) {
- e.printStackTrace();
- } catch (InstantiationException e) {
- e.printStackTrace();
- } catch (IllegalAccessException e) {
- e.printStackTrace();
- } catch (IllegalArgumentException e) {
- e.printStackTrace();
- } catch (InvocationTargetException e) {
- e.printStackTrace();
- }
- }
- }
-
- class DataListener extends ConnectorDataListenerT<TimedLong>{
- public DataListener(final String name, Queue<Event> que){
- super(TimedLong.class);
- m_name = name;
- m_que = que;
- }
-
- public ReturnCode operator(ConnectorBase.ConnectorInfo arg,
- TimedLong data) {
- ConnectorBase.ConnectorInfo info =(ConnectorBase.ConnectorInfo)arg;
- System.out.println("------------------------------");
- System.out.println("Listener: "+m_name);
- System.out.println("Data: "+data.data);
- System.out.println("------------------------------");
- synchronized (m_que) {
- Class<?>[] args = new Class<?>[1];
- args[0] = data.getClass();
- m_que.offer(new Event(m_name,args,(Object)data));
- }
- return ReturnCode.NO_CHANGE;
- }
-
- private String m_name;
- private Queue<Event> m_que;
- }
-}
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Top.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Top.java 2017-02-07 06:31:32 UTC (rev 935)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Top.java 2017-02-07 06:39:01 UTC (rev 936)
@@ -12,39 +12,18 @@
/**
*
*/
-//@DataType(Top.Data.class)
-public class Top extends StateDef implements CameraProtocol {
+ at DataType(Top.Data.class)
+public class Top extends StateDef implements MicrowaveProtocol {
-/*
public static class Data {
private int myCookingTime;
-// pyfsm/test/api_test.py:10
-// class Data(object):
-// def __init__(self):
-// self.my_cooking_time = 0
-//
-// def print_timer(self):
-// pyfsm_logger.debug(" Timer set to {0} minutes".format(self.my_cooking_time))
-//
-// def increment_timer(self):
-// self.my_cooking_time += 1
-//
-// def decrement_timer(self):
-// self.my_cooking_time -= 1
-//
-// def reset_timer(self):
-// self.my_cooking_time = 0
-//
-// def get_remaining_time(self):
-// return self.my_cooking_time
-
public Data() {
myCookingTime = 0;
}
public void printTimer() {
- LOGGER.debug(" Timer set to {} minutes", myCookingTime);
+ System.out.println(" Timer set to {} minutes"+ myCookingTime);
}
public void incrementTimer() {
@@ -63,67 +42,52 @@
return myCookingTime;
}
}
-*/
@Override
- public void onEntry() {
- System.out.println("Top::onEntry");
- setOutputData(0);
+ public void onInit() {
+ System.out.println("[Microwave] TOP::onInit()");
+ setState(new State(Operational.class));
}
@Override
- public void onInit() {
- System.out.println("Top::onInit");
- setState(new State(Off.class));
+ public void onEntry() {
+ System.out.println("[Microwave] TOP::onEntry()");
}
@Override
public void onExit() {
- System.out.println("Top::onExit");
+ System.out.println("[Microwave] TOP::onExit()");
}
@Override
- public void on_do() {
- System.out.println("Top::on_do");
+ public void open() {
+ // do nothing
}
@Override
- public void EvOn(TimedLong param){
+ public void close() {
+ // do nothing
}
+
@Override
- public void EvOff(TimedLong param){
+ public void minute() {
+ // do nothing
}
+
@Override
- public void EvConfig(TimedLong param){
+ public void start() {
+ // do nothing
}
- @Override
- public void EvInFocus(TimedLong param){
- }
- @Override
- public void EvShutterHalf(TimedLong param){
- }
- @Override
- public void EvShutterFull(TimedLong param){
- }
- @Override
- public void EvShutterReleased(TimedLong param){
- }
@Override
- public int getOutputData() {
- return m_que.poll();
+ public void stop() {
+ // do nothing
}
@Override
- public boolean isOutputData() {
- return m_que.isEmpty();
+ public void tick() {
+ // do nothing
}
- protected void setOutputData(int val) {
- m_que.offer(val);
- }
-
- private int m_val;
- private static Queue<Integer> m_que = new ArrayDeque<Integer>();;
}
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