[openrtm-commit:02474] r954 - trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port

[openrtm ＠ openrtm.org]

Author: win-ei
Date: 2017-02-21 16:09:31 +0900 (Tue, 21 Feb 2017)
New Revision: 954

Modified:
   trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/ConnectorDataListenerT.java
Log:
[FSM4RTC] Added the check of the type of the listener's argument. refs #3780

Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/ConnectorDataListenerT.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/ConnectorDataListenerT.java	2017-02-21 01:40:41 UTC (rev 953)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/ConnectorDataListenerT.java	2017-02-21 07:09:31 UTC (rev 954)
@@ -1,6 +1,8 @@
 package jp.go.aist.rtm.RTC.port;
 
 import java.lang.reflect.Field;
+import java.lang.reflect.Method;
+import java.lang.reflect.InvocationTargetException;
 import java.util.Observable;
 import java.util.Observer;
 
@@ -11,6 +13,7 @@
 import jp.go.aist.rtm.RTC.log.Logbuf;
 
 import jp.go.aist.rtm.RTC.util.ORBUtil;
+import jp.go.aist.rtm.RTC.util.Properties;
 
 import RTC.ReturnCode_t;
 
@@ -45,11 +48,18 @@
                                          this.getClass().getClassLoader());
             m_streamable = (Streamable)holder.newInstance();
             m_field = m_streamable.getClass().getField("value");
+            Class helper = Class.forName(class_name+"Helper");
+
+            Method method = helper.getMethod("id");
+            m_id =  (String)method.invoke( null );
         }
         catch(NoSuchFieldException e){
             //getField throws
             e.printStackTrace();
         }
+        catch(NoSuchMethodException e){
+            e.printStackTrace();
+        }
         catch(java.lang.InstantiationException e){
             e.printStackTrace();
         }
@@ -65,6 +75,10 @@
             //invoke throws
             e.printStackTrace();
         }
+        catch(InvocationTargetException e){
+            //invoke throws
+            e.printStackTrace();
+        }
     }
     /**
      * {@.ja コールバックメソッド}
@@ -88,6 +102,11 @@
         ConnectorDataListenerArgumentDataRef<DataType> arg 
             = (ConnectorDataListenerArgumentDataRef<DataType>)obj;
         String type = arg.m_info.properties.getProperty("interface_type");
+
+        String data_type = arg.m_info.properties.getProperty("data_type");
+        if(!m_id.equals(data_type)) {
+            return;
+        }
         //rtcout.println(Logbuf.TRACE, "interface_type:"+type);
         if(type.equals("direct")) {
             m_datatype = (DataType)arg.m_data;
@@ -172,6 +191,7 @@
     private Field m_field = null;
     private DataType m_datatype = null;
     protected Logbuf rtcout;
+    protected String m_id;
 }