[openrtm-commit:02336] r920 - trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port

[openrtm ＠ openrtm.org]

Author: win-ei
Date: 2017-01-26 00:55:39 +0900 (Thu, 26 Jan 2017)
New Revision: 920

Added:
   trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/Timestamp.java
Modified:
   trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/InPort.java
   trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/OutPort.java
Log:
[FSM4RTC,incomapt] Timestamp class template has been added. Timestamp listeners have been added to InPort and OutPort. refs #3886

Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/InPort.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/InPort.java	2017-01-25 15:50:57 UTC (rev 919)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/InPort.java	2017-01-25 15:55:39 UTC (rev 920)
@@ -161,6 +161,11 @@
             rtcout.println(Logbuf.WARN, 
                    "Exception caught."+e.toString());
         }
+        this.addConnectorDataListener(ConnectorDataListenerType.ON_RECEIVED,
+                                     new Timestamp<DataType>("on_received",cl));
+        this.addConnectorDataListener(ConnectorDataListenerType.ON_BUFFER_READ,
+                                     new Timestamp<DataType>("on_read",cl));
+
     }
     
     /**

Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/OutPort.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/OutPort.java	2017-01-25 15:50:57 UTC (rev 919)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/OutPort.java	2017-01-25 15:55:39 UTC (rev 920)
@@ -317,6 +317,11 @@
             m_propValueIndex = NVUtil.find_index(nvholder, 
                                                  "dataport.data_value");
         }
+        this.addConnectorDataListener(ConnectorDataListenerType.ON_BUFFER_WRITE,
+                                     new Timestamp<DataType>("on_write",cl));
+        this.addConnectorDataListener(ConnectorDataListenerType.ON_SEND,
+                                     new Timestamp<DataType>("on_send",cl));
+
     }
     
     /**

Added: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/Timestamp.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/Timestamp.java	                        (rev 0)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/Timestamp.java	2017-01-25 15:55:39 UTC (rev 920)
@@ -0,0 +1,42 @@
+package jp.go.aist.rtm.RTC.port;
+
+import jp.go.aist.rtm.RTC.connectorListener.ReturnCode;
+import jp.go.aist.rtm.RTC.port.ConnectorBase;
+import jp.go.aist.rtm.RTC.util.TimeValue;
+import jp.go.aist.rtm.RTC.util.clock.ClockManager;
+import jp.go.aist.rtm.RTC.util.clock.IClock;
+
+public class Timestamp<DataType> extends ConnectorDataListenerT<DataType>{
+    public Timestamp(final String name, Class cl){
+        super(cl);
+        m_tstype = name;
+        m_clock = ClockManager.getInstance().getClock("system");
+    }
+    public ReturnCode operator(ConnectorBase.ConnectorInfo info,
+                               DataType data) {
+        if(!info.properties.getProperty("timestamp_policy").equals(m_tstype)){
+            return ReturnCode.NO_CHANGE;
+        }
+        
+        TimeValue tv = m_clock.getTime();
+        RTC.Time tm = new RTC.Time((int)(tv.getSec()),
+                                   (int)(tv.getUsec()*1000));
+        Class cl = data.getClass();
+        String str = cl.getName();
+        try {
+            cl.getField("tm").set(data,tm);
+        }
+        catch(NoSuchFieldException e){
+            //getField throws
+        }
+        catch(IllegalAccessException e){
+            //set throws
+        }
+        return ReturnCode.DATA_CHANGED;
+    }
+
+    public String m_tstype;
+    private IClock m_clock;
+
+}
+