[openrtm-commit:02204] r902 - in trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC: . executionContext jfsm/machine
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2017年 1月 12日 (木) 02:35:41 JST
Author: win-ei
Date: 2017-01-12 02:35:39 +0900 (Thu, 12 Jan 2017)
New Revision: 902
Modified:
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObjectStateMachine.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/EventDrivenExecutionContext.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/jfsm/machine/MachineBase.java
Log:
[FSM4RTC]Fixed bugs. refs #3772
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObjectStateMachine.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObjectStateMachine.java 2017-01-11 10:27:38 UTC (rev 901)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObjectStateMachine.java 2017-01-11 17:35:39 UTC (rev 902)
@@ -34,9 +34,10 @@
m_dfcVar = null;
m_fsmVar = null;
m_modeVar = null;
- m_rtobjPtr = null;
- m_measure = false;
- m_count = 0;
+ m_rtobjPtr = null;
+ m_fsmobjPtr = null;
+ m_measure = false;
+ m_count = 0;
// Setting Action callback objects
setComponentAction(comp);
setDataFlowComponentAction(comp);
@@ -58,6 +59,10 @@
new onError());
m_sm.setExitAction (LifeCycleState.ERROR_STATE,
new onReset());
+
+ m_sm.setDoAction (LifeCycleState.ACTIVE_STATE,
+ new onAction());
+
// Setting inital state
StateHolder<LifeCycleState> st = new StateHolder<LifeCycleState>();
st.prev = LifeCycleState.INACTIVE_STATE;
@@ -240,6 +245,22 @@
return;
}
}
+ /**
+ * {@.ja onActionアクション定義用抽象クラス}
+ */
+ private class onAction implements StateAction {
+ public void doAction(StateHolder state) {
+ if (!m_fsm) {
+ return;
+ }
+ ReturnCode_t ret = m_fsmVar.on_action(m_id);
+ if (ret != ReturnCode_t.RTC_OK) {
+ m_sm.goTo(LifeCycleState.ERROR_STATE);
+ return;
+ }
+ return;
+ }
+ }
// functions for stored RTObject reference
@@ -580,11 +601,12 @@
private DataFlowComponentAction m_dfcVar;
private FsmParticipantAction m_fsmVar;
private MultiModeComponentAction m_modeVar;
- private RTObject_impl m_rtobjPtr;
- private boolean m_measure;
- private TimeMeasure m_svtMeasure = new TimeMeasure();
- private TimeMeasure m_refMeasure = new TimeMeasure();
- private int m_count;
+ private RTObject_impl m_rtobjPtr;
+ private FsmParticipantBase m_fsmobjPtr;
+ private boolean m_measure;
+ private TimeMeasure m_svtMeasure = new TimeMeasure();
+ private TimeMeasure m_refMeasure = new TimeMeasure();
+ private int m_count;
// char dara[1000];
// Component action invoker
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/EventDrivenExecutionContext.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/EventDrivenExecutionContext.java 2017-01-11 10:27:38 UTC (rev 901)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/EventDrivenExecutionContext.java 2017-01-11 17:35:39 UTC (rev 902)
@@ -17,11 +17,11 @@
import jp.go.aist.rtm.RTC.util.Properties;
import jp.go.aist.rtm.RTC.util.TimeValue;
import jp.go.aist.rtm.RTC.util.equalFunctor;
-import OpenRTM.DataFlowComponent;
import RTC.ExecutionContextService;
import RTC.ExecutionContextServiceHelper;
import RTC.ExecutionContextServicePOA;
import RTC.ExecutionKind;
+import RTC.FsmParticipant;
import RTC.LifeCycleState;
import RTC.LightweightRTObject;
import RTC.ReturnCode_t;
@@ -49,11 +49,11 @@
* <p>
* {@.ja デフォルトコンストラクタ
* プロファイルに以下の項目を設定する。
- * - kind : PERIODIC
+ * - kind : EVENT_DRIVEN
* - rate : 0.0}
* {@.en Default Constructor
* Set the following items to profile.
- * - kind : PERIODIC
+ * - kind : EVENT_DRIVEN
* - rate : 0.0}
*/
public EventDrivenExecutionContext() {
@@ -62,10 +62,12 @@
m_svc = false;
m_nowait = false;
setObjRef((ExecutionContextService)this.__this());
- setKind(ExecutionKind.PERIODIC);
+ setKind(ExecutionKind.EVENT_DRIVEN);
+/*
setRate(1000);
rtcout.println(Logbuf.DEBUG, "Actual period: " + m_profile.getPeriod().sec() + " [sec], "
+ m_profile.getPeriod().usec() + " [usec]");
+*/
}
@@ -99,7 +101,7 @@
rtcout.println(Logbuf.TRACE, "EventDrivenExecutionContext.setObjRef()");
m_worker.setECRef(ref);
m_profile.setObjRef(ref);
- m_ref = ref;
+ m_ref = ref;
}
/**
@@ -223,6 +225,7 @@
*
* @return 実行判定結果
*/
+ @Override
public boolean is_running() {
return isRunning();
}
@@ -476,6 +479,7 @@
*
* @return 実行結果
*/
+ @Override
public ReturnCode_t start() {
rtcout.println(Logbuf.TRACE, "EventDrivenExecutionContext.start()");
@@ -508,6 +512,7 @@
*
* @return 実行結果
*/
+ @Override
public ReturnCode_t stop(){
rtcout.println(Logbuf.TRACE, "EventDrivenExecutionContext.stop()");
@@ -538,6 +543,7 @@
*
* @return 実行周期(Hz)
*/
+ @Override
public double get_rate() {
rtcout.println(Logbuf.TRACE, "EventDrivenExecutionContext.get_rate()");
@@ -555,6 +561,7 @@
*
* @param rate 実行周期(Hz)
*/
+ @Override
public ReturnCode_t set_rate(double rate) {
rtcout.println(Logbuf.TRACE, "EventDrivenExecutionContext.set_rate("+rate+")");
@@ -586,6 +593,7 @@
*
* @return 実行結果
*/
+ @Override
public ReturnCode_t activate_component(LightweightRTObject comp) {
rtcout.println(Logbuf.TRACE, "EventDrivenExecutionContext.activate_component()");
@@ -695,6 +703,7 @@
*
* @return 実行結果
*/
+ @Override
public ReturnCode_t deactivate_component(LightweightRTObject comp) {
rtcout.println(Logbuf.TRACE, "EventDrivenExecutionContext.deactivate_component()");
@@ -803,6 +812,7 @@
*
* @return 実行結果
*/
+ @Override
public ReturnCode_t reset_component(LightweightRTObject comp){
rtcout.println(Logbuf.TRACE, "EventDrivenExecutionContext.reset_component()");
@@ -911,6 +921,7 @@
*
* @return コンポーネント状態
*/
+ @Override
public LifeCycleState get_component_state(LightweightRTObject comp) {
rtcout.println(Logbuf.TRACE, "EventDrivenExecutionContext.get_component_state()");
@@ -937,6 +948,7 @@
*
* @return ExecutionKind
*/
+ @Override
public ExecutionKind get_kind() {
rtcout.println(Logbuf.TRACE, "EventDrivenExecutionContext.get_kind() ="
@@ -980,6 +992,7 @@
*
*
*/
+ @Override
public ReturnCode_t add_component(LightweightRTObject comp) {
rtcout.println(Logbuf.TRACE,
@@ -1070,6 +1083,7 @@
* {@.en The return code of ReturnCode_t type}
*
*/
+ @Override
public ReturnCode_t remove_component(LightweightRTObject comp) {
rtcout.println(Logbuf.TRACE,
@@ -1127,7 +1141,7 @@
}
/**
- * <p>DataFlowComponentのAction定義用抽象クラスです。</p>
+ * <p>FsmParticipantComponentのAction定義用抽象クラスです。</p>
*/
protected abstract class DFPBase {
/**
@@ -1141,13 +1155,13 @@
m_sm.setListener(this);
StateHolder st = new StateHolder();
m_sm.setEntryAction(LifeCycleState.ACTIVE_STATE, new onActivated());
- m_sm.setDoAction(LifeCycleState.ACTIVE_STATE, new onExecute());
- m_sm.setPostDoAction(LifeCycleState.ACTIVE_STATE, new onStateUpdate());
m_sm.setExitAction(LifeCycleState.ACTIVE_STATE, new onDeactivated());
m_sm.setEntryAction(LifeCycleState.ERROR_STATE, new onAborting());
m_sm.setDoAction(LifeCycleState.ERROR_STATE, new onError());
m_sm.setExitAction(LifeCycleState.ERROR_STATE, new onReset());
+ m_sm.setDoAction(LifeCycleState.ACTIVE_STATE, new onAction());
+
st.prev = LifeCycleState.INACTIVE_STATE;
st.curr = LifeCycleState.INACTIVE_STATE;
st.next = LifeCycleState.INACTIVE_STATE;
@@ -1163,22 +1177,6 @@
}
}
/**
- * <p>onExecuteアクション定義用抽象クラスです。</p>
- */
- private class onExecute implements StateAction {
- public void doAction(StateHolder state) {
- on_execute(state);
- }
- }
- /**
- * <p>onStateUpdateアクション定義用抽象クラスです。</p>
- */
- private class onStateUpdate implements StateAction {
- public void doAction(StateHolder state) {
- on_state_update(state);
- }
- }
- /**
* <p>onDeactivatedアクション定義用抽象クラスです。</p>
*/
private class onDeactivated implements StateAction {
@@ -1210,6 +1208,14 @@
on_reset(state);
}
}
+ /**
+ * <p>onActionアクション定義用抽象クラスです。</p>
+ */
+ private class onAction implements StateAction {
+ public void doAction(StateHolder state) {
+ on_action(state);
+ }
+ }
/**
* <p>ExecutionContextのstart時に呼ばれる抽象メソッドです。</p>
@@ -1241,19 +1247,10 @@
*/
public abstract void on_reset(final StateHolder st);
/**
- * <p>コンポーネント実行時に呼ばれる抽象メソッドです。</p>
+ * <p>action時に呼ばれる抽象メソッドです。</p>
*/
- public abstract void on_execute(final StateHolder st);
+ public abstract void on_action(final StateHolder st);
/**
- * <p>コンポーネントの実行時に呼ばれる抽象メソッドです。</p>
- */
- public abstract void on_state_update(final StateHolder st);
-
- /**
- * <p>ExecutionContextの実行周期変更時に呼ばれる抽象メソッドです。</p>
- */
- public abstract void on_rate_changed();
- /**
* <p>ExecutionContextの状態遷移用ワーカーです。</p>
*/
public void worker() {
@@ -1290,7 +1287,7 @@
}
/**
- * <p>DataFlowComponentのAction定義用抽象クラスです。</p>
+ * <p>FsmParticipantのAction定義用抽象クラスです。</p>
*/
protected class DFP extends DFPBase {
/**
@@ -1299,7 +1296,7 @@
* @param obj 対象コンポーネント
* @param id ExecutionContextのID
*/
- public DFP(DataFlowComponent obj, int id) {
+ public DFP(FsmParticipant obj, int id) {
super(id);
m_obj = obj;
}
@@ -1358,32 +1355,16 @@
return;
}
/**
- * <p>onExecuteアクション定義用メソッドです。</p>
+ * <p>onActionアクション定義用メソッドです。</p>
*/
- public void on_execute(final StateHolder st) {
- if( m_obj.on_execute(ec_id) != ReturnCode_t.RTC_OK) {
+ public void on_action(final StateHolder st) {
+ if( m_obj.on_action(ec_id) != ReturnCode_t.RTC_OK) {
m_sm.goTo(LifeCycleState.ERROR_STATE);
return;
}
return;
}
- /**
- * <p>onStateUpdateアクション定義用メソッドです。</p>
- */
- public void on_state_update(final StateHolder st) {
- if( m_obj.on_state_update(ec_id) != ReturnCode_t.RTC_OK) {
- m_sm.goTo(LifeCycleState.ERROR_STATE);
- return;
- }
- return;
- }
- /**
- * <p>onRateChangedアクション定義用メソッドです。</p>
- */
- public void on_rate_changed() {
- m_obj.on_rate_changed(ec_id);
- }
- private DataFlowComponent m_obj;
+ private FsmParticipant m_obj;
}
/**
@@ -1397,7 +1378,7 @@
* @param dfp ExecutionContextの対象StateMachine
* @param id ExecutionContextのID
*/
- public Comp(LightweightRTObject ref, DataFlowComponent dfp, int id) {
+ public Comp(LightweightRTObject ref, FsmParticipant dfp, int id) {
this._ref = ref;
this._sm = new DFP(dfp, id);
}
@@ -1458,12 +1439,6 @@
this._sm.on_shutdown();
}
/**
- * <p>RateChanged時に呼び出されるメソッドです。</p>
- */
- public void invoke_on_rate_changed(){
- this._sm.on_rate_changed();
- }
- /**
* <p>StateMachine管理対象コンポーネントです。</p>
*/
public LightweightRTObject _ref;
@@ -1709,6 +1684,7 @@
* BAD_PARAMETER: Invalid value. The value might be negative.}
*
*/
+ @Override
public ReturnCode_t setRate(double rate) {
return m_profile.setRate(rate);
}
@@ -1891,12 +1867,9 @@
rtcout.println(Logbuf.DEBUG, "Configuration " + key +" not found.");
return false;
}
- /*!
- * @if jp
- * @brief Propertiesから実行コンテキストをセットする
- * @else
- * @brief Setting execution rate from given properties.
- * @endif
+ /**
+ * {@.ja Propertiesから実行コンテキストをセットする}
+ * {@.en Setting execution rate from given properties.}
*/
public boolean setExecutionRate(Properties props)
{
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/jfsm/machine/MachineBase.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/jfsm/machine/MachineBase.java 2017-01-11 10:27:38 UTC (rev 901)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/jfsm/machine/MachineBase.java 2017-01-11 17:35:39 UTC (rev 902)
@@ -8,6 +8,7 @@
import java.util.Iterator;
import java.util.Map;
+import jp.go.aist.rtm.RTC.ExtendedFsmServiceProvider;
import jp.go.aist.rtm.RTC.jfsm.Event;
import jp.go.aist.rtm.RTC.jfsm.State;
import jp.go.aist.rtm.RTC.jfsm.StateDef;
@@ -15,7 +16,7 @@
//import org.slf4j.LoggerFactory;
import jp.go.aist.rtm.RTC.log.Logbuf;
-public class MachineBase {
+public class MachineBase extends ExtendedFsmServiceProvider {
//private static final Logger LOGGER = LoggerFactory.getLogger(MachineBase.class);
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