[openrtm-commit:02233] r904 - in trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC: idl src/jp/go/aist/rtm/RTC
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2017年 1月 17日 (火) 10:41:55 JST
Author: win-ei
Date: 2017-01-17 10:41:55 +0900 (Tue, 17 Jan 2017)
New Revision: 904
Modified:
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/idl/OpenRTM.idl
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/DataFlowComponentBase.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/DataFlowComponent_impl.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/FactoryInit.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/FiniteStateMachineComponentBase.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/FiniteStateMachineComponent_impl.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ManagerServant.java
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/RTObject_impl.java
Log:
[FSM4RTC]Fixed bugs. refs #3773
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/idl/OpenRTM.idl
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/idl/OpenRTM.idl 2017-01-13 10:25:47 UTC (rev 903)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/idl/OpenRTM.idl 2017-01-17 01:41:55 UTC (rev 904)
@@ -28,16 +28,16 @@
{
};
- interface FiniteStateMachineComponent
- : RTC::RTObject, RTC::FsmParticipant
- {
- };
-
- interface DataFlowFiniteStateMachineComponent
- : RTC::RTObject, RTC::DataFlowComponent, RTC::FsmParticipant
- {
- };
-
+// interface FiniteStateMachineComponent
+// : RTC::RTObject, RTC::FsmParticipant
+// {
+// };
+//
+// interface DataFlowFiniteStateMachineComponent
+// : RTC::RTObject, RTC::DataFlowComponent, RTC::FsmParticipant
+// {
+// };
+//
// interface DataFlowMultiModeComponent
// : RTC::RTObject, RTC::DataFlowComponent, RTC::MultiModeObject
// {
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/DataFlowComponentBase.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/DataFlowComponentBase.java 2017-01-13 10:25:47 UTC (rev 903)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/DataFlowComponentBase.java 2017-01-17 01:41:55 UTC (rev 904)
@@ -4,7 +4,6 @@
import OpenRTM.DataFlowComponent;
import OpenRTM.DataFlowComponentHelper;
-import RTC.RTObject;
/**
* {@.ja データフローコンポーネントのベースクラスです。}
@@ -16,8 +15,7 @@
* {@.en Inherit this class when implementing various data flow
* type RT-Components.}
*/
-//public class DataFlowComponentBase extends RTObject_impl {
-public class DataFlowComponentBase extends RTObject_impl<DataFlowComponent> {
+public class DataFlowComponentBase extends RTObject_impl {
/**
* {@.ja コンストラクタ}
@@ -30,7 +28,7 @@
public DataFlowComponentBase(Manager manager) {
super(manager);
- m_ref = DataFlowComponentHelper.narrow(this._this());
+ m_ref = this._this();
m_objref = m_ref;
}
@@ -40,9 +38,7 @@
* @return
* {@.ja 当該オブジェクトのCORBAオブジェクト参照}
*/
- //public RTObject _this() {
public DataFlowComponent _this() {
-
if (this.m_ref == null) {
try {
this.m_ref = DataFlowComponentHelper.narrow(POAUtil.getRef(this));
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/DataFlowComponent_impl.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/DataFlowComponent_impl.java 2017-01-13 10:25:47 UTC (rev 903)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/DataFlowComponent_impl.java 2017-01-17 01:41:55 UTC (rev 904)
@@ -127,6 +127,9 @@
*/
public static final int ECOTHER_OFFSET = 1000;
+ public DataFlowComponent_impl() {
+System.out.println("--20170113 00A00");
+ }
/**
* {@.ja コンストラクタ。}
* {@.en Constructor}
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/FactoryInit.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/FactoryInit.java 2017-01-13 10:25:47 UTC (rev 903)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/FactoryInit.java 2017-01-17 01:41:55 UTC (rev 904)
@@ -75,6 +75,6 @@
NodeNumberingPolicy.NodeNumberingPolicyInit();
NamingServiceNumberingPolicy.NamingServiceNumberingPolicyInit();
- ExtendedFsmServiceProvider.ExtendedFsmServiceProviderInit();
+ //ExtendedFsmServiceProvider.ExtendedFsmServiceProviderInit();
}
}
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/FiniteStateMachineComponentBase.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/FiniteStateMachineComponentBase.java 2017-01-13 10:25:47 UTC (rev 903)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/FiniteStateMachineComponentBase.java 2017-01-17 01:41:55 UTC (rev 904)
@@ -4,15 +4,15 @@
import jp.go.aist.rtm.RTC.log.Logbuf;
-import OpenRTM.FiniteStateMachineComponent;
-import OpenRTM.FiniteStateMachineComponentHelper;
+//import OpenRTM.FiniteStateMachineComponent;
+//import OpenRTM.FiniteStateMachineComponentHelper;
import RTC.ComponentProfile;
import RTC.ExecutionContext;
import RTC.ExecutionContextListHolder;
-//import RTC.FsmParticipant;
-//import RTC.FsmParticipantHelper;
-//import RTC.FsmParticipantPOA;
+import RTC.FsmParticipant;
+import RTC.FsmParticipantHelper;
+import RTC.FsmParticipantPOA;
import RTC.PortService;
import RTC.ReturnCode_t;
@@ -37,8 +37,8 @@
public FiniteStateMachineComponentBase(Manager manager) {
super(manager);
rtcout = new Logbuf("FiniteStateMachineComponentBase");
- m_ref = this._this();
- m_objref = m_ref;
+ //m_ref = this._this();
+ //m_objref = m_ref;
}
/**
@@ -47,11 +47,12 @@
* @return
* {@.ja 当該オブジェクトのCORBAオブジェクト参照}
*/
- public FiniteStateMachineComponent _this() {
+/*
+ public RTObject _this() {
if (this.m_ref == null) {
try {
- this.m_ref = FiniteStateMachineComponentHelper.narrow(POAUtil.getRef(this));
+ this.m_ref = FsmParticipantHelper.narrow(POAUtil.getRef(this));
} catch (Exception e) {
throw new IllegalStateException(e);
}
@@ -59,6 +60,7 @@
return this.m_ref;
}
+*/
/**
* {@.ja [CORBA interface] RTCを初期化する}
@@ -759,7 +761,7 @@
- private FiniteStateMachineComponent m_ref;
+ private FsmParticipant m_ref;
/**
* {@.ja ロガーストリーム}
* {@.en Logger stream}
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/FiniteStateMachineComponent_impl.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/FiniteStateMachineComponent_impl.java 2017-01-13 10:25:47 UTC (rev 903)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/FiniteStateMachineComponent_impl.java 2017-01-17 01:41:55 UTC (rev 904)
@@ -41,9 +41,9 @@
import OpenRTM.DataFlowComponent;
import OpenRTM.DataFlowComponentHelper;
import OpenRTM.DataFlowComponentPOA;
-import OpenRTM.FiniteStateMachineComponent;
-import OpenRTM.FiniteStateMachineComponentHelper;
-import OpenRTM.FiniteStateMachineComponentPOA;
+//import OpenRTM.FiniteStateMachineComponent;
+//import OpenRTM.FiniteStateMachineComponentHelper;
+//import OpenRTM.FiniteStateMachineComponentPOA;
import RTC.ComponentProfile;
import RTC.ConnectorProfile;
@@ -76,6 +76,9 @@
import _SDOPackage.ServiceProfileHolder;
import _SDOPackage.ServiceProfileListHolder;
+import RTC.FsmParticipant;
+import RTC.FsmParticipantHelper;
+import RTC.FsmParticipantPOA;
/**
* {@.ja RTコンポーネントクラス。}
* {@.en RT-Component class}
@@ -103,7 +106,7 @@
* (In current implementation, since only Periodic Sampled Data Processing is
* supported, this class inherits dataFlowComponent directly.)}
*/
-public class FiniteStateMachineComponent_impl extends FiniteStateMachineComponentPOA{
+public class FiniteStateMachineComponent_impl extends FsmParticipantPOA{
/**
* {@.ja RTコンポーネントのデフォルト・コンポーネント・プロファイル。}
@@ -158,7 +161,7 @@
manager.getConfig().getProperty("sdo.service.consumer.enabled_services"));
//m_sdoservice = new SdoServiceAdmin(this);
- m_objref = this._this();
+ //m_objref = this._this();
m_pSdoConfigImpl = new Configuration_impl(m_configsets,m_sdoservice);
m_pSdoConfig = m_pSdoConfigImpl.getObjRef();
if( m_ecMine == null ) {
@@ -203,7 +206,7 @@
rtcout = new Logbuf("FiniteStateMachineComponent_impl");
//m_sdoservice = new SdoServiceAdmin(this);
- m_objref = this._this();
+ //m_objref = this._this();
m_pSdoConfigImpl = new Configuration_impl(m_configsets,m_sdoservice);
m_pSdoConfig = m_pSdoConfigImpl.getObjRef();
@@ -232,7 +235,7 @@
* {@.ja DataFlowComponentオブジェクト}
* {@.en OpenRTM.DataFlowComponent object.}
*/
- public FiniteStateMachineComponent _this() {
+ public FsmParticipant _this() {
if (this.m_objref == null) {
try {
this.m_objref = RTObjectHelper.narrow(POAUtil.getRef(this));
@@ -242,7 +245,7 @@
}
- return FiniteStateMachineComponentHelper.narrow(this.m_objref);
+ return FsmParticipantHelper.narrow(this.m_objref);
}
/**
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ManagerServant.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ManagerServant.java 2017-01-13 10:25:47 UTC (rev 903)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ManagerServant.java 2017-01-17 01:41:55 UTC (rev 904)
@@ -154,6 +154,7 @@
* {@.en RTM.Manager object.}
*/
public RTM.Manager _this() {
+System.out.println("--20170113 00D00");
if (this.m_objref == null) {
try {
this.m_objref = ManagerHelper.narrow(POAUtil.getRef(this));
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 2017-01-13 10:25:47 UTC (rev 903)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObjectStateMachine.java 2017-01-17 01:41:55 UTC (rev 904)
@@ -35,7 +35,7 @@
m_fsmVar = null;
m_modeVar = null;
m_rtobjPtr = null;
- m_fsmobjPtr = null;
+// m_fsmobjPtr = null;
m_measure = false;
m_count = 0;
// Setting Action callback objects
@@ -59,10 +59,10 @@
new onError());
m_sm.setExitAction (LifeCycleState.ERROR_STATE,
new onReset());
-
- m_sm.setDoAction (LifeCycleState.ACTIVE_STATE,
- new onAction());
-
+//
+// m_sm.setDoAction (LifeCycleState.ACTIVE_STATE,
+// new onAction());
+//
// Setting inital state
StateHolder<LifeCycleState> st = new StateHolder<LifeCycleState>();
st.prev = LifeCycleState.INACTIVE_STATE;
@@ -602,7 +602,7 @@
private FsmParticipantAction m_fsmVar;
private MultiModeComponentAction m_modeVar;
private RTObject_impl m_rtobjPtr;
- private FiniteStateMachineComponentBase m_fsmobjPtr;
+// private FiniteStateMachineComponentBase m_fsmobjPtr;
private boolean m_measure;
private TimeMeasure m_svtMeasure = new TimeMeasure();
private TimeMeasure m_refMeasure = new TimeMeasure();
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObject_impl.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObject_impl.java 2017-01-13 10:25:47 UTC (rev 903)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObject_impl.java 2017-01-17 01:41:55 UTC (rev 904)
@@ -38,13 +38,13 @@
import org.omg.CORBA.SystemException;
import org.omg.PortableServer.POA;
-import OpenRTM.DataFlowFiniteStateMachineComponent;
-import OpenRTM.DataFlowFiniteStateMachineComponentHelper;
-import OpenRTM.DataFlowFiniteStateMachineComponentPOA;
+//import OpenRTM.DataFlowFiniteStateMachineComponent;
+//import OpenRTM.DataFlowFiniteStateMachineComponentHelper;
+//import OpenRTM.DataFlowFiniteStateMachineComponentPOA;
import OpenRTM.DataFlowComponent;
import OpenRTM.DataFlowComponentHelper;
import OpenRTM.DataFlowComponentPOA;
-import OpenRTM.FiniteStateMachineComponent;
+//import OpenRTM.FiniteStateMachineComponent;
import RTC.ComponentProfile;
@@ -61,7 +61,7 @@
import RTC.PortService;
import RTC.RTObject;
import RTC.RTObjectHelper;
-import RTC.RTObjectPOA;
+//import RTC.RTObjectPOA;
import RTC.ReturnCode_t;
import _SDOPackage.Configuration;
import _SDOPackage.DeviceProfile;
@@ -107,13 +107,8 @@
* (In current implementation, since only Periodic Sampled Data Processing is
* supported, this class inherits dataFlowComponent directly.)}
*/
-//public class RTObject_impl extends DataFlowFiniteStateMachineComponentPOA {
-//public class RTObject_impl extends DataFlowComponentPOA {
-//public class RTObject_impl<COMP_TYPE extends RTObject> implements DataFlowComponent, FiniteStateMachineComponent{
-//public class RTObject_impl<COMP_TYPE extends RTObject> implements DataFlowComponent, FiniteStateMachineComponent{
-//public class RTObject_impl<COMP_TYPE extends org.omg.CORBA.portable.InvokeHandler> extends COMP_TYPE {
-//public class RTObject_impl<COMP_TYPE extends RTObject> implements DataFlowComponent, FiniteStateMachineComponent{
-public class RTObject_impl<COMP_TYPE extends RTObject> extends RTObjectPOA{
+//public class RTObject_impl<COMP_TYPE extends RTObject> extends RTObjectPOA{
+public class RTObject_impl extends DataFlowComponentPOA {
/**
* {@.ja RTコンポーネントのデフォルト・コンポーネント・プロファイル。}
@@ -242,10 +237,7 @@
* {@.ja DataFlowComponentオブジェクト}
* {@.en OpenRTM.DataFlowComponent object.}
*/
- //public RTObject _this(){
- //public DataFlowFiniteStateMachineComponent _this(){
- //public DataFlowComponent _this() {
- public COMP_TYPE _this() {
+ public DataFlowComponent _this() {
if (this.m_objref == null) {
try {
this.m_objref = RTObjectHelper.narrow(POAUtil.getRef(this));
@@ -254,12 +246,7 @@
}
}
-
- return (COMP_TYPE) this.m_objref;
- //return DataFlowComponentHelper.narrow(this.m_objref);
- //return DataFlowFiniteStateMachineComponentHelper.narrow(this.m_objref);
- //return this.m_objref;
-
+ return DataFlowComponentHelper.narrow(this.m_objref);
}
/**
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