[openrtm-commit:02275] r2879 - branches/FSM4RTC/OpenRTM-aist/src/lib/rtm

[openrtm ＠ openrtm.org]

Author: n-ando
Date: 2017-01-19 17:37:36 +0900 (Thu, 19 Jan 2017)
New Revision: 2879

Added:
   branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/Timestamp.h
Modified:
   branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/InPort.h
   branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/Makefile.am
   branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/OutPort.h
Log:
[FSM4RTC,incomapt] Timestamp class template has been added. Timestamp listeners have been added to InPort and OutPort. refs #3871

Modified: branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/InPort.h
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/InPort.h	2017-01-19 08:31:44 UTC (rev 2878)
+++ branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/InPort.h	2017-01-19 08:37:36 UTC (rev 2879)
@@ -36,6 +36,7 @@
 #include <rtm/CdrBufferBase.h>
 #include <rtm/PortCallback.h>
 #include <rtm/InPortConnector.h>
+#include <rtm/Timestamp.h>
 
 namespace RTC
 {
@@ -157,6 +158,10 @@
         m_OnRead(NULL),  m_OnReadConvert(NULL),
         m_status(1), m_directNewData(false)
     {
+      this->addConnectorDataListener(ON_RECEIVED,
+                                     new Timestamp<DataType>("on_received"));
+      this->addConnectorDataListener(ON_BUFFER_READ,
+                                     new Timestamp<DataType>("on_read"));
     }
     
     /*!

Modified: branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/Makefile.am
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/Makefile.am	2017-01-19 08:31:44 UTC (rev 2878)
+++ branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/Makefile.am	2017-01-19 08:37:36 UTC (rev 2879)
@@ -160,6 +160,7 @@
 	SdoServiceConsumerBase.h \
 	StateMachine.h 		 \
 	Typename.h               \
+	Timestamp.h			\
 	LocalServiceBase.h	 \
 	ListenerHolder.h         \
 	config_rtc.h

Modified: branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/OutPort.h
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/OutPort.h	2017-01-19 08:31:44 UTC (rev 2878)
+++ branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/OutPort.h	2017-01-19 08:37:36 UTC (rev 2879)
@@ -144,6 +144,11 @@
         m_propValueIndex = NVUtil::find_index(m_profile.properties,
                                               "dataport.data_value");
       }
+      this->addConnectorDataListener(ON_BUFFER_WRITE,
+                                     new Timestamp<DataType>("on_write"));
+      this->addConnectorDataListener(ON_SEND,
+                                     new Timestamp<DataType>("on_send"));
+
     }
     
     /*!

Added: branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/Timestamp.h
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/Timestamp.h	                        (rev 0)
+++ branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/Timestamp.h	2017-01-19 08:37:36 UTC (rev 2879)
@@ -0,0 +1,48 @@
+// -*- C++ -*-
+/*!
+ * @file Timestamp.h
+ * @brief Timestamp listener class
+ * @date $Date$
+ * @author Noriaki Ando <n-ando at aist.go.jp>
+ *
+ * Copyright (C) 2017
+ *     Noriaki Ando
+ *     National Institute of
+ *         Advanced Industrial Science and Technology (AIST), Japan
+ *     All rights reserved.
+ *
+ * $Id$
+ *
+ */
+
+#ifndef RTM_TIMESTAMP_H
+#define RTM_TIMESTAMP_H
+
+#include <rtm/ConnectorListener.h>
+
+namespace RTC
+{
+  template <class DataType>
+  class Timestamp
+    : public ConnectorDataListenerT<DataType>
+  {
+    USE_CONNLISTENER_STATUS;
+  public:
+    Timestamp(const char* ts_type) : m_tstype(ts_type) {}
+    virtual ~Timestamp() {}
+    virtual ReturnCode operator()(ConnectorInfo& info, DataType& data)
+    {
+      if (info.properties["timestamp_policy"] != m_tstype)
+        {
+          return NO_CHANGE;
+        }
+      coil::TimeValue tm(coil::gettimeofday());
+      data.tm.sec  = tm.sec();
+      data.tm.nsec = tm.usec() * 1000;
+      return DATA_CHANGED;
+    }
+    std::string m_tstype;
+  };
+}; // End of namesepace RTM
+
+#endif // RTM_TIMESTAMP_H


Property changes on: branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/Timestamp.h
___________________________________________________________________
Added: svn:executable
   + *