[openrtm-commit:02628] r3000 - trunk/OpenRTM-aist/src/lib/rtm

[openrtm ＠ openrtm.org]

Author: miyamoto
Date: 2017-06-12 17:14:36 +0900 (Mon, 12 Jun 2017)
New Revision: 3000

Added:
   trunk/OpenRTM-aist/src/lib/rtm/SimulatorExecutionContext.cpp
   trunk/OpenRTM-aist/src/lib/rtm/SimulatorExecutionContext.h
Modified:
   trunk/OpenRTM-aist/src/lib/rtm/Makefile.am
   trunk/OpenRTM-aist/src/lib/rtm/OpenHRPExecutionContext.h
Log:
[incompat, Choreonoid] add SimulatorExecutionContext

Modified: trunk/OpenRTM-aist/src/lib/rtm/Makefile.am
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/Makefile.am	2017-06-04 23:53:03 UTC (rev 2999)
+++ trunk/OpenRTM-aist/src/lib/rtm/Makefile.am	2017-06-12 08:14:36 UTC (rev 3000)
@@ -89,7 +89,8 @@
 	SdoConfiguration.cpp         \
 	SdoServiceAdmin.cpp          \
 	SdoOrganization.cpp          \
-	PeriodicECSharedComposite.cpp
+	PeriodicECSharedComposite.cpp\
+	SimulatorExecutionContext.cpp 
 
 PORT_SRC =                           \
 	InPortConnector.cpp          \

Modified: trunk/OpenRTM-aist/src/lib/rtm/OpenHRPExecutionContext.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/OpenHRPExecutionContext.h	2017-06-04 23:53:03 UTC (rev 2999)
+++ trunk/OpenRTM-aist/src/lib/rtm/OpenHRPExecutionContext.h	2017-06-12 08:14:36 UTC (rev 3000)
@@ -488,17 +488,21 @@
     virtual RTC::ExecutionContextProfile* get_profile(void)
       throw (CORBA::SystemException);
   protected:
-	// template virtual functions adding/removing component	
-	/*!
-	* @brief onAddedComponent() template function
-	*/
-	virtual RTC::ReturnCode_t
+    // template virtual functions adding/removing component	
+    /*!
+    * @brief onAddedComponent() template function
+    */
+    virtual RTC::ReturnCode_t
 		onAddedComponent(RTC::LightweightRTObject_ptr rtobj);
-	/*!
-	* @brief onRemovedComponent() template function
-	*/
-	virtual RTC::ReturnCode_t
+    /*!
+    * @brief onRemovedComponent() template function
+    */
+    virtual RTC::ReturnCode_t
 		onRemovedComponent(RTC::LightweightRTObject_ptr rtobj);
+    /*!
+     * @brief Mutex to gurad tick() reenter.
+     */
+    coil::Mutex m_tickmutex;
   private:
     /*!
      * @if jp
@@ -513,10 +517,7 @@
      * @brief A counter for log message in worker
      */
     unsigned int m_count;
-    /*!
-     * @brief Mutex to gurad tick() reenter.
-     */
-    coil::Mutex m_tickmutex;
+
   };  // class OpenHRPExecutionContext
 };  // namespace RTC
 

Added: trunk/OpenRTM-aist/src/lib/rtm/SimulatorExecutionContext.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/SimulatorExecutionContext.cpp	                        (rev 0)
+++ trunk/OpenRTM-aist/src/lib/rtm/SimulatorExecutionContext.cpp	2017-06-12 08:14:36 UTC (rev 3000)
@@ -0,0 +1,136 @@
+#include "SimulatorExecutionContext.h"
+#include <rtm/ECFactory.h>
+
+#ifdef OPENRTM_VERSION110
+#else
+#include <rtm/RTObjectStateMachine.h>
+#endif
+
+
+
+namespace RTC
+{
+
+	SimulatorExecutionContext::SimulatorExecutionContext()
+		: RTC::OpenHRPExecutionContext()
+  {
+	  
+	  
+	
+  }
+
+
+  SimulatorExecutionContext::~SimulatorExecutionContext()
+  {
+
+  }
+
+
+
+  RTC::ReturnCode_t SimulatorExecutionContext::
+	  activate_component(RTC::LightweightRTObject_ptr comp)
+	  throw (CORBA::SystemException)
+  {
+	Guard guard(m_tickmutex);
+
+	RTC_impl::RTObjectStateMachine* rtobj = m_worker.findComponent(comp);
+
+	if (rtobj == NULL)
+	{
+		return RTC::BAD_PARAMETER;
+	}
+	if (!(rtobj->isCurrentState(RTC::INACTIVE_STATE)))
+	{
+		return RTC::PRECONDITION_NOT_MET;
+	}
+	m_syncActivation = false;
+
+	RTC::ReturnCode_t ret = ExecutionContextBase::activateComponent(comp);
+	invokeWorkerPreDo();
+	if ((rtobj->isCurrentState(RTC::ACTIVE_STATE)))
+	{
+		return RTC::RTC_OK;
+	}
+	return RTC::RTC_ERROR;
+
+  }
+
+
+  RTC::ReturnCode_t SimulatorExecutionContext::
+  deactivate_component(RTC::LightweightRTObject_ptr comp)
+    throw (CORBA::SystemException)
+  {
+	Guard guard(m_tickmutex);
+
+	RTC_impl::RTObjectStateMachine* rtobj = m_worker.findComponent(comp);
+
+	if (rtobj == NULL)
+	{
+		  return RTC::BAD_PARAMETER;
+	}
+	if (!(rtobj->isCurrentState(RTC::ACTIVE_STATE)))
+	{
+		  return RTC::PRECONDITION_NOT_MET;
+	}
+	m_syncDeactivation = false;
+	RTC::ReturnCode_t ret = ExecutionContextBase::deactivateComponent(comp);
+	invokeWorkerPreDo();
+	invokeWorkerDo();
+	invokeWorkerPostDo();
+
+	if ((rtobj->isCurrentState(RTC::INACTIVE_STATE)))
+	{
+		return RTC::RTC_OK;
+	}
+	return RTC::RTC_ERROR;
+
+  }
+
+  RTC::ReturnCode_t SimulatorExecutionContext::
+  reset_component(RTC::LightweightRTObject_ptr comp)
+    throw (CORBA::SystemException)
+  {
+	Guard guard(m_tickmutex);
+
+	RTC_impl::RTObjectStateMachine* rtobj = m_worker.findComponent(comp);
+
+	if (rtobj == NULL)
+	{
+		return RTC::BAD_PARAMETER;
+	}
+	if (!(rtobj->isCurrentState(RTC::ERROR_STATE)))
+	{
+		return RTC::PRECONDITION_NOT_MET;
+	}
+	m_syncReset = false;
+	RTC::ReturnCode_t ret = ExecutionContextBase::resetComponent(comp);
+	invokeWorkerPreDo();
+	invokeWorkerDo();
+	invokeWorkerPostDo();
+
+	if ((rtobj->isCurrentState(RTC::INACTIVE_STATE)))
+	{
+		return RTC::RTC_OK;
+	}
+	return RTC::RTC_ERROR;
+
+
+  }
+
+};
+
+
+
+
+extern "C"
+{
+  void SimulatorExecutionContextInit(RTC::Manager* manager)
+  {
+    RTC::ExecutionContextFactory::
+      instance().addFactory("SimulatorExecutionContext",
+                            ::coil::Creator< ::RTC::ExecutionContextBase,
+                            ::RTC::SimulatorExecutionContext>,
+                            ::coil::Destructor< ::RTC::ExecutionContextBase,
+                            ::RTC::SimulatorExecutionContext>);
+  }
+};
\ No newline at end of file

Added: trunk/OpenRTM-aist/src/lib/rtm/SimulatorExecutionContext.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/SimulatorExecutionContext.h	                        (rev 0)
+++ trunk/OpenRTM-aist/src/lib/rtm/SimulatorExecutionContext.h	2017-06-12 08:14:36 UTC (rev 3000)
@@ -0,0 +1,50 @@
+#ifndef TEST_EC_H
+#define TEST_EC_H
+
+
+
+#include <coil/Mutex.h>
+#include <coil/Guard.h>
+#include <rtm/RTC.h>
+#include <rtm/ExecutionContextBase.h>
+#include <rtm/OpenHRPExecutionContext.h>
+
+
+namespace RTC
+{
+  class SimulatorExecutionContext
+	  : public virtual RTC::OpenHRPExecutionContext
+  {
+	  typedef coil::Mutex Mutex;
+	  typedef coil::Guard<coil::Mutex> Guard;
+  public:
+    SimulatorExecutionContext();
+    virtual ~SimulatorExecutionContext(void);
+
+    virtual RTC::ReturnCode_t
+    activate_component(RTC::LightweightRTObject_ptr comp)
+      throw (CORBA::SystemException);
+    virtual RTC::ReturnCode_t
+    deactivate_component(RTC::LightweightRTObject_ptr comp)
+      throw (CORBA::SystemException);
+    virtual RTC::ReturnCode_t
+    reset_component(RTC::LightweightRTObject_ptr comp)
+      throw (CORBA::SystemException);
+
+  private:
+
+  };
+};
+
+
+
+#ifdef WIN32
+#pragma warning( default : 4290 )
+#endif
+
+extern "C"
+{
+  DLL_EXPORT void SimulatorExecutionContextInit(RTC::Manager* manager);
+};
+
+#endif
\ No newline at end of file