[openrtm-commit:03125] r794 - in trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java: manager template/java template/java/test
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2018年 1月 23日 (火) 22:47:36 JST
Author: ga
Date: 2018-01-23 22:47:36 +0900 (Tue, 23 Jan 2018)
New Revision: 794
Added:
trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java/template/java/test/
trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java/template/java/test/Java_Test_Comp.java.vsl
trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java/template/java/test/Java_Test_RTC.java.vsl
trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java/template/java/test/Java_Test_RTC_Impl.java.vsl
Modified:
trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java/manager/JavaGenerateManager.java
Log:
Added function to output test RTC. #4433
Modified: trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java/manager/JavaGenerateManager.java
===================================================================
--- trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java/manager/JavaGenerateManager.java 2018-01-23 13:47:23 UTC (rev 793)
+++ trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java/manager/JavaGenerateManager.java 2018-01-23 13:47:36 UTC (rev 794)
@@ -152,7 +152,23 @@
result.add(gr);
}
}
+ /////
+ gr = generateTestCompSource(contextMap);
+ result.add(gr);
+ gr = generateTestRTCSource(contextMap);
+ result.add(gr);
+ gr = generateTestRTCImplSource(contextMap);
+ result.add(gr);
+ for (IdlFileParam idl : rtcParam.getConsumerIdlPathes()) {
+ contextMap.put("idlFileParam", idl);
+ for (ServiceClassParam svc : idl.getTestServiceClassParams()) {
+ contextMap.put("serviceClassParam", svc);
+ gr = generateTestSVCSource(contextMap);
+ result.add(gr);
+ }
+ }
+
return result;
}
@@ -237,7 +253,46 @@
String infile = "java/build.xml.vsl";
return generate(infile, outfile, contextMap);
}
+
+ //////////
+ public GeneratedResult generateTestCompSource(Map<String, Object> contextMap) {
+ RtcParam rtcParam = (RtcParam) contextMap.get("rtcParam");
+ String outfile = "test/src/" + rtcParam.getName() + "TestComp.java";
+ String infile = "java/test/Java_Test_Comp.java.vsl";
+ GeneratedResult result = generate(infile, outfile, contextMap);
+ result.setNotBom(true);
+ return result;
+ }
+ public GeneratedResult generateTestRTCSource(Map<String, Object> contextMap) {
+ RtcParam rtcParam = (RtcParam) contextMap.get("rtcParam");
+ String outfile = "test/src/" + rtcParam.getName() + "Test.java";
+ String infile = "java/test/Java_Test_RTC.java.vsl";
+ GeneratedResult result = generate(infile, outfile, contextMap);
+ result.setNotBom(true);
+ return result;
+ }
+
+ public GeneratedResult generateTestRTCImplSource(Map<String, Object> contextMap) {
+ RtcParam rtcParam = (RtcParam) contextMap.get("rtcParam");
+ String outfile = "test/src/" + rtcParam.getName() + "TestImpl.java";
+ String infile = "java/test/Java_Test_RTC_Impl.java.vsl";
+ GeneratedResult result = generate(infile, outfile, contextMap);
+ result.setNotBom(true);
+ return result;
+ }
+
+ public GeneratedResult generateTestSVCSource(Map<String, Object> contextMap) {
+ ServiceClassParam svc = (ServiceClassParam) contextMap
+ .get("serviceClassParam");
+ String outfile = "test/src/" + TemplateHelper.getBasename(svc.getName())
+ + TemplateHelper.getServiceImplSuffix() + ".java";
+ String infile = "java/Java_SVC.java.vsl";
+ GeneratedResult result = generate(infile, outfile, contextMap);
+ result.setNotBom(true);
+ return result;
+ }
+
public GeneratedResult generate(String infile, String outfile,
Map<String, Object> contextMap) {
try {
Added: trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java/template/java/test/Java_Test_Comp.java.vsl
===================================================================
--- trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java/template/java/test/Java_Test_Comp.java.vsl (rev 0)
+++ trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java/template/java/test/Java_Test_Comp.java.vsl 2018-01-23 13:47:36 UTC (rev 794)
@@ -0,0 +1,110 @@
+// -*- Java -*-
+/*!
+ * @file ${rtcParam.name}TestComp.java
+ * @brief Standalone component
+#set( $Date$ = "dummy" )
+ * @date \$Date$
+#if( ${rtcParam.docCreator.length()} > 0 )
+ *
+ * @author ${tmpltHelper.convertAuthorDoc(${rtcParam.docCreator})}
+#end
+#if( ${rtcParam.docLicense.length()} > 0 )
+ *
+ * ${tmpltHelper.convertDoc(${rtcParam.docLicense})}
+#end
+ *
+#set( $Id$ = "dummy" )
+ * \$Id$
+ */
+
+import jp.go.aist.rtm.RTC.Manager;
+import jp.go.aist.rtm.RTC.ModuleInitProc;
+import jp.go.aist.rtm.RTC.RTObject_impl;
+import jp.go.aist.rtm.RTC.util.Properties;
+
+/*!
+ * @class ${rtcParam.name}TestComp
+ * @brief Standalone component Class
+ *
+ */
+public class ${rtcParam.name}TestComp implements ModuleInitProc {
+
+ public void myModuleInit(Manager mgr) {
+ Properties prop = new Properties(${rtcParam.name}Test.component_conf);
+ mgr.registerFactory(prop, new ${rtcParam.name}Test(), new ${rtcParam.name}Test());
+
+ // Create a component
+ RTObject_impl comp = mgr.createComponent("${rtcParam.name}Test");
+ if( comp==null ) {
+ System.err.println("Component create failed.");
+ System.exit(0);
+ }
+
+ // Example
+ // The following procedure is examples how handle RT-Components.
+ // These should not be in this function.
+
+// // Get the component's object reference
+// Manager manager = Manager.instance();
+// RTObject rtobj = null;
+// try {
+// rtobj = RTObjectHelper.narrow(manager.getPOA().servant_to_reference(comp));
+// } catch (ServantNotActive e) {
+// e.printStackTrace();
+// } catch (WrongPolicy e) {
+// e.printStackTrace();
+// }
+//
+// // Get the port list of the component
+// PortListHolder portlist = new PortListHolder();
+// portlist.value = rtobj.get_ports();
+//
+// // getting port profiles
+// System.out.println( "Number of Ports: " );
+// System.out.println( portlist.value.length );
+// for( int intIdx=0;intIdx<portlist.value.length;++intIdx ) {
+// Port port = portlist.value[intIdx];
+// System.out.println( "Port" + intIdx + " (name): ");
+// System.out.println( port.get_port_profile().name );
+//
+// PortInterfaceProfileListHolder iflist = new PortInterfaceProfileListHolder();
+// iflist.value = port.get_port_profile().interfaces;
+// System.out.println( "---interfaces---" );
+// for( int intIdx2=0;intIdx2<iflist.value.length;++intIdx2 ) {
+// System.out.println( "I/F name: " );
+// System.out.println( iflist.value[intIdx2].instance_name );
+// System.out.println( "I/F type: " );
+// System.out.println( iflist.value[intIdx2].type_name );
+// if( iflist.value[intIdx2].polarity==PortInterfacePolarity.PROVIDED ) {
+// System.out.println( "Polarity: PROVIDED" );
+// } else {
+// System.out.println( "Polarity: REQUIRED" );
+// }
+// }
+// System.out.println( "---properties---" );
+// NVUtil.dump( new NVListHolder(port.get_port_profile().properties) );
+// System.out.println( "----------------" );
+// }
+ }
+
+ public static void main(String[] args) {
+ // Initialize manager
+ final Manager manager = Manager.init(args);
+
+ // Set module initialization proceduer
+ // This procedure will be invoked in activateManager() function.
+ ${rtcParam.name}TestComp init = new ${rtcParam.name}TestComp();
+ manager.setModuleInitProc(init);
+
+ // Activate manager and register to naming service
+ manager.activateManager();
+
+ // run the manager in blocking mode
+ // runManager(false) is the default.
+ manager.runManager();
+
+ // If you want to run the manager in non-blocking mode, do like this
+ // manager.runManager(true);
+ }
+
+}
Added: trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java/template/java/test/Java_Test_RTC.java.vsl
===================================================================
--- trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java/template/java/test/Java_Test_RTC.java.vsl (rev 0)
+++ trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java/template/java/test/Java_Test_RTC.java.vsl 2018-01-23 13:47:36 UTC (rev 794)
@@ -0,0 +1,93 @@
+// -*- Java -*-
+/*!
+ * @file ${rtcParam.name}Test.java
+#set( $Date$ = "dummy" )
+ * @date \$Date$
+#if( ${rtcParam.docCreator.length()} > 0 )
+ *
+ * @author ${tmpltHelper.convertAuthorDoc(${rtcParam.docCreator})}
+#end
+#if( ${rtcParam.docLicense.length()} > 0 )
+ *
+ * ${tmpltHelper.convertDoc(${rtcParam.docLicense})}
+#end
+ *
+#set( $Id$ = "dummy" )
+ * \$Id$
+ */
+
+import jp.go.aist.rtm.RTC.Manager;
+import jp.go.aist.rtm.RTC.RTObject_impl;
+import jp.go.aist.rtm.RTC.RtcDeleteFunc;
+import jp.go.aist.rtm.RTC.RtcNewFunc;
+import jp.go.aist.rtm.RTC.RegisterModuleFunc;
+import jp.go.aist.rtm.RTC.util.Properties;
+
+/*!
+ * @class ${rtcParam.name}Test
+ * @brief ${rtcParam.description}
+ */
+public class ${rtcParam.name}Test implements RtcNewFunc, RtcDeleteFunc, RegisterModuleFunc {
+
+// Module specification
+// <rtc-template block="module_spec">
+ public static String component_conf[] = {
+ "implementation_id", "${rtcParam.name}Test",
+ "type_name", "${rtcParam.name}Test",
+ "description", "${rtcParam.description}",
+ "version", "${rtcParam.version}",
+ "vendor", "${rtcParam.vender}",
+ "category", "${rtcParam.category}",
+ "activity_type", "${rtcParam.componentType}",
+ "max_instance", "${rtcParam.maxInstance}",
+ "language", "Java",
+ "lang_type", "compile",
+#if( ${rtcParam.configParams.size()} > 0 )
+ // Configuration variables
+#foreach($configParam in ${rtcParam.configParams})
+ "conf.default.${configParam.name}", "${configParam.defaultVal}",
+#end
+
+ // Widget
+#foreach($configParam in ${rtcParam.configParams})
+#if( ${configParam.widget.length()} > 0 )
+ "conf.__widget__.${configParam.name}", "${configParam.widget}#if( ${configParam.step.length()} > 0 ).${configParam.step}#end",
+#end
+#end
+ // Constraints
+#foreach($configParam in ${rtcParam.configParams})
+#if( ${configParam.constraint.length()} > 0 )
+ "conf.__constraints__.${configParam.name}", "${configParam.constraint}",
+#end
+#end
+
+#foreach($configParam in ${rtcParam.configParams})
+ "conf.__type__.${configParam.name}", "${configParam.type}",
+#end
+
+#end
+#if( ${rtcParam.configParameterParams.size()} > 0 )
+ // System Configuration
+#foreach($parameterParam in ${rtcParam.configParameterParams})
+#if( ${parameterParam.isNonPeriodic()} )
+ "${parameterParam.configName}", "${parameterParam.defaultVal}",
+#end
+#end
+#end
+ ""
+ };
+// </rtc-template>
+
+ public RTObject_impl createRtc(Manager mgr) {
+ return new ${rtcParam.name}TestImpl(mgr);
+ }
+
+ public void deleteRtc(RTObject_impl rtcBase) {
+ rtcBase = null;
+ }
+ public void registerModule() {
+ Properties prop = new Properties(component_conf);
+ final Manager manager = Manager.instance();
+ manager.registerFactory(prop, new ${rtcParam.name}Test(), new ${rtcParam.name}Test());
+ }
+}
Added: trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java/template/java/test/Java_Test_RTC_Impl.java.vsl
===================================================================
--- trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java/template/java/test/Java_Test_RTC_Impl.java.vsl (rev 0)
+++ trunk/rtmtools/jp.go.aist.rtm.rtcbuilder.java/src/jp/go/aist/rtm/rtcbuilder/java/template/java/test/Java_Test_RTC_Impl.java.vsl 2018-01-23 13:47:36 UTC (rev 794)
@@ -0,0 +1,689 @@
+// -*- Java -*-
+/*!
+ * @file ${rtcParam.name}TestImpl.java
+ * @brief ${rtcParam.description}
+#set( $Date$ = "dummy" )
+ * @date \$Date$
+#if( ${rtcParam.docCreator.length()} > 0 )
+ *
+ * @author ${tmpltHelper.convertAuthorDoc(${rtcParam.docCreator})}
+#end
+#if( ${rtcParam.docLicense.length()} > 0 )
+ *
+ * ${tmpltHelper.convertDoc(${rtcParam.docLicense})}
+#end
+ *
+#set( $Id$ = "dummy" )
+ * \$Id$
+ */
+
+#if( ${rtcParam.inports.size()} > 0 || ${rtcParam.outports.size()} > 0 )
+import java.lang.reflect.Array;
+import java.lang.reflect.Constructor;
+import java.lang.reflect.Field;
+import java.lang.reflect.InvocationTargetException;
+import java.lang.reflect.Method;
+#end
+
+#foreach($type in ${javaConv.getPortTypes(${rtcParam})})
+${javaConv.getDataportPackageName(${type})}
+#end
+import jp.go.aist.rtm.RTC.DataFlowComponentBase;
+import jp.go.aist.rtm.RTC.Manager;
+#if( ${rtcParam.outports.size()} > 0 )
+import jp.go.aist.rtm.RTC.port.InPort;
+#end
+#if( ${rtcParam.inports.size()} > 0 )
+import jp.go.aist.rtm.RTC.port.OutPort;
+#end
+#if( ${rtcParam.inports.size()} > 0 || ${rtcParam.outports.size()} > 0 )
+import jp.go.aist.rtm.RTC.util.DataRef;
+#end
+#if( ${rtcParam.originalConsumerIdls.size()} > 0 )
+import jp.go.aist.rtm.RTC.port.CorbaConsumer;
+#end
+#if( ${rtcParam.originalProviderIdls.size()} > 0 || ${rtcParam.originalConsumerIdls.size()} > 0 )
+import jp.go.aist.rtm.RTC.port.CorbaPort;
+#end
+#if( ${rtcParam.originalProviderIdls.size()} > 0 )
+import org.omg.PortableServer.POAPackage.ObjectNotActive;
+import org.omg.PortableServer.POAPackage.ServantAlreadyActive;
+import org.omg.PortableServer.POAPackage.WrongPolicy;
+#end
+#if( ${rtcParam.configParams.size()} > 0 )
+#foreach($type in ${javaConv.getParamTypes(${rtcParam})})
+import jp.go.aist.rtm.RTC.util.${type};
+#end
+#end
+#if( ${javaConv.useReturnCode(${rtcParam})} )
+import RTC.ReturnCode_t;
+#end
+#if(${rtcParam.servicePorts.size()}>0)
+#foreach($servicePort in ${rtcParam.servicePorts})
+#if(${servicePort.servicePortInterfaces.size()}>0)
+#foreach($serviceInterface in ${servicePort.servicePortInterfaces})
+#if(${serviceInterface.index}==0)
+#if(${tmpltHelper.isModule(${serviceInterface.interfaceType})})import ${tmpltHelper.convFormat(${serviceInterface.interfaceType})};
+#end#end#end#end#end#end
+
+/*!
+ * @class ${rtcParam.name}TestImpl
+ * @brief ${rtcParam.description}
+#if( ${rtcParam.docDescription.length()} > 0 )
+ *
+ * ${tmpltHelper.convertDoc(${rtcParam.docDescription})}
+#end
+#if( ${rtcParam.docInOut.length()} > 0 )
+ *
+ * ${tmpltHelper.convertDoc(${rtcParam.docInOut})}
+#end
+#if( ${rtcParam.docAlgorithm.length()} > 0 )
+ *
+ * ${tmpltHelper.convertDoc(${rtcParam.docAlgorithm})}
+#end
+#if( ${rtcParam.docReference.length()} > 0 )
+ *
+ * ${tmpltHelper.convertDoc(${rtcParam.docReference})}
+#end
+ *
+ */
+public class ${rtcParam.name}TestImpl extends DataFlowComponentBase {
+
+ /*!
+ * @brief constructor
+ * @param manager Maneger Object
+ */
+ public ${rtcParam.name}TestImpl(Manager manager) {
+ super(manager);
+ // <rtc-template block="initializer">
+#foreach($port in ${rtcParam.outports})
+ m_${port.tmplVarName}_val = new ${javaConv.getDataTypeName(${port.type})}();
+ initializeParam(m_${port.tmplVarName}_val);
+ m_${port.tmplVarName} = new DataRef<${javaConv.getDataTypeName(${port.type})}>(m_${port.tmplVarName}_val);
+ m_${port.name}In = new InPort<${javaConv.getDataTypeName(${port.type})}>("${port.name}", m_${port.tmplVarName});
+#end
+#foreach($port in ${rtcParam.inports})
+ m_${port.tmplVarName}_val = new ${javaConv.getDataTypeName(${port.type})}();
+ m_${port.tmplVarName} = new DataRef<${javaConv.getDataTypeName(${port.type})}>(m_${port.tmplVarName}_val);
+ m_${port.name}Out = new OutPort<${javaConv.getDataTypeName(${port.type})}>("${port.name}", m_${port.tmplVarName});
+#end
+#if(${rtcParam.servicePorts.size()}>0)
+#foreach($servicePort in ${rtcParam.servicePorts})
+#if(${servicePort.servicePortInterfaces.size()}>0)
+ m_${servicePort.name}Port = new CorbaPort("${servicePort.name}");
+#end#end#end
+ // </rtc-template>
+
+ }
+
+ /*#if(${rtcParam.configParams.size()}==0)*#else!#end
+
+#if(${rtcParam.getDocActionOverView(0).length()}>0) * ${tmpltHelperJava.convertDescDocJava(${rtcParam.getDocActionOverView(0)})}
+#end
+ *
+ * The initialize action (on CREATED->ALIVE transition)
+ * formaer rtc_init_entry()
+ *
+ * @return RTC::ReturnCode_t
+ *
+#if(${rtcParam.getDocActionPreCondition(0).length()}>0) * @pre ${tmpltHelperJava.convertPreDocJava(${rtcParam.getDocActionPreCondition(0)})}
+#end
+#if(${rtcParam.getDocActionPostCondition(0).length()}>0) * @post ${tmpltHelperJava.convertPostDocJava(${rtcParam.getDocActionPostCondition(0)})}
+#end
+ *
+ */
+#if( ${rtcParam.configParams.size()}>0 || ${rtcParam.inports.size()}>0 || ${rtcParam.outports.size()}>0 || ${rtcParam.servicePorts.size()}>0 || !${rtcParam.IsNotImplemented(0)} )
+ @Override
+ protected ReturnCode_t onInitialize() {
+ // Registration: InPort/OutPort/Service
+ // <rtc-template block="registration">
+#if( ${rtcParam.outports.size()} > 0 )
+ // Set InPort buffers
+#foreach($port in ${rtcParam.outports})
+ addInPort("${port.name}", m_${port.name}In);
+#end
+#end
+#if( ${rtcParam.inports.size()} > 0 )
+
+ // Set OutPort buffer
+#foreach($port in ${rtcParam.inports})
+ addOutPort("${port.name}", m_${port.name}Out);
+#end
+#end
+#if( ${rtcParam.providerIdlPathes.size()} > 0 )
+
+ // Set service provider to Ports
+#if(${rtcParam.servicePorts.size()}>0)
+ try {
+#foreach($servicePort in ${rtcParam.servicePorts})
+#if(${servicePort.servicePortInterfaces.size()}>0)
+#foreach($serviceInterface in ${servicePort.servicePortInterfaces})
+#if(${serviceInterface.index}==1)
+ m_${servicePort.name}Port.registerProvider("${serviceInterface.name}", "${tmpltHelper.convFormat(${serviceInterface.interfaceType})}", m_${serviceInterface.tmplVarName});
+#end#end#end#end#end
+ } catch (ServantAlreadyActive e) {
+ e.printStackTrace();
+ } catch (WrongPolicy e) {
+ e.printStackTrace();
+ } catch (ObjectNotActive e) {
+ e.printStackTrace();
+ }
+#end
+#if(${rtcParam.servicePorts.size()}>0)
+
+ // Set service consumers to Ports
+#foreach($servicePort in ${rtcParam.servicePorts})
+#if(${servicePort.servicePortInterfaces.size()}>0)
+#foreach($serviceInterface in ${servicePort.servicePortInterfaces})
+#if(${serviceInterface.index}==0)
+ m_${servicePort.name}Port.registerConsumer("${serviceInterface.name}", "${tmpltHelper.convFormat(${serviceInterface.interfaceType})}", m_${serviceInterface.tmplVarName}Base);
+#end#end#end#end#end
+#if(${rtcParam.servicePorts.size()}>0)
+
+ // Set CORBA Service Ports
+#foreach($servicePort in ${rtcParam.servicePorts})
+#if(${servicePort.servicePortInterfaces.size()}>0)
+ addPort(m_${servicePort.name}Port);
+#end#end#end
+ // </rtc-template>
+#foreach($configParam in ${rtcParam.configParams})
+ bindParameter("${configParam.name}", m_${configParam.tmplVarName}, "${configParam.defaultVal}");
+#end
+#if(${tmpltHelper.checkDetailContent(0,${rtcParam})})${rtcParam.getDetailContent(0)}
+#end
+ return super.onInitialize();
+ }
+#else
+// @Override
+// protected ReturnCode_t onInitialize() {
+ // Registration: InPort/OutPort/Service
+ // <rtc-template block="registration">
+ // </rtc-template>
+// return super.onInitialize();
+// }
+#end
+
+ /***
+#if(${rtcParam.getDocActionOverView(1).length()}>0) * ${tmpltHelperJava.convertDescDocJava(${rtcParam.getDocActionOverView(1)})}
+#end
+ *
+ * The finalize action (on ALIVE->END transition)
+ * formaer rtc_exiting_entry()
+ *
+ * @return RTC::ReturnCode_t
+ *
+#if(${rtcParam.getDocActionPreCondition(1).length()}>0) * @pre ${tmpltHelperJava.convertPreDocJava(${rtcParam.getDocActionPreCondition(1)})}
+#end
+#if(${rtcParam.getDocActionPostCondition(1).length()}>0) * @post ${tmpltHelperJava.convertPostDocJava(${rtcParam.getDocActionPostCondition(1)})}
+#end
+ *
+ */
+#if(${rtcParam.IsNotImplemented(1)})//#end @Override
+#if(${rtcParam.IsNotImplemented(1)})//#end protected ReturnCode_t onFinalize() {
+#if(${tmpltHelper.checkDetailContent(1,${rtcParam})})${rtcParam.getDetailContent(1)}
+#end
+#if(${rtcParam.IsNotImplemented(1)})//#end return super.onFinalize();
+#if(${rtcParam.IsNotImplemented(1)})//#end }
+
+ /***
+#if(${rtcParam.getDocActionOverView(2).length()}>0) * ${tmpltHelperJava.convertDescDocJava(${rtcParam.getDocActionOverView(2)})}
+#end
+ *
+ * The startup action when ExecutionContext startup
+ * former rtc_starting_entry()
+ *
+ * @param ec_id target ExecutionContext Id
+ *
+ * @return RTC::ReturnCode_t
+ *
+#if(${rtcParam.getDocActionPreCondition(2).length()}>0) * @pre ${tmpltHelperJava.convertPreDocJava(${rtcParam.getDocActionPreCondition(2)})}
+#end
+#if(${rtcParam.getDocActionPostCondition(2).length()}>0) * @post ${tmpltHelperJava.convertPostDocJava(${rtcParam.getDocActionPostCondition(2)})}
+#end
+ *
+ */
+#if(${rtcParam.IsNotImplemented(2)})//#end @Override
+#if(${rtcParam.IsNotImplemented(2)})//#end protected ReturnCode_t onStartup(int ec_id) {
+#if(${tmpltHelper.checkDetailContent(2,${rtcParam})})${rtcParam.getDetailContent(2)}
+#end
+#if(${rtcParam.IsNotImplemented(2)})//#end return super.onStartup(ec_id);
+#if(${rtcParam.IsNotImplemented(2)})//#end }
+
+ /***
+#if(${rtcParam.getDocActionOverView(3).length()}>0) * ${tmpltHelperJava.convertDescDocJava(${rtcParam.getDocActionOverView(3)})}
+#end
+ *
+ * The shutdown action when ExecutionContext stop
+ * former rtc_stopping_entry()
+ *
+ * @param ec_id target ExecutionContext Id
+ *
+ * @return RTC::ReturnCode_t
+ *
+#if(${rtcParam.getDocActionPreCondition(3).length()}>0) * @pre ${tmpltHelperJava.convertPreDocJava(${rtcParam.getDocActionPreCondition(3)})}
+#end
+#if(${rtcParam.getDocActionPostCondition(3).length()}>0) * @post ${tmpltHelperJava.convertPostDocJava(${rtcParam.getDocActionPostCondition(3)})}
+#end
+ *
+ */
+#if(${rtcParam.IsNotImplemented(3)})//#end @Override
+#if(${rtcParam.IsNotImplemented(3)})//#end protected ReturnCode_t onShutdown(int ec_id) {
+#if(${tmpltHelper.checkDetailContent(3,${rtcParam})})${rtcParam.getDetailContent(3)}
+#end
+#if(${rtcParam.IsNotImplemented(3)})//#end return super.onShutdown(ec_id);
+#if(${rtcParam.IsNotImplemented(3)})//#end }
+
+ /***
+#if(${rtcParam.getDocActionOverView(4).length()}>0) * ${tmpltHelperJava.convertDescDocJava(${rtcParam.getDocActionOverView(4)})}
+#end
+ *
+ * The activated action (Active state entry action)
+ * former rtc_active_entry()
+ *
+ * @param ec_id target ExecutionContext Id
+ *
+ * @return RTC::ReturnCode_t
+ *
+#if(${rtcParam.getDocActionPreCondition(4).length()}>0) * @pre ${tmpltHelperJava.convertPreDocJava(${rtcParam.getDocActionPreCondition(4)})}
+#end
+#if(${rtcParam.getDocActionPostCondition(4).length()}>0) * @post ${tmpltHelperJava.convertPostDocJava(${rtcParam.getDocActionPostCondition(4)})}
+#end
+ *
+ */
+#if(${rtcParam.IsNotImplemented(4)})//#end @Override
+#if(${rtcParam.IsNotImplemented(4)})//#end protected ReturnCode_t onActivated(int ec_id) {
+#if(${tmpltHelper.checkDetailContent(4,${rtcParam})})${rtcParam.getDetailContent(4)}
+#end
+#if(${rtcParam.IsNotImplemented(4)})//#end return super.onActivated(ec_id);
+#if(${rtcParam.IsNotImplemented(4)})//#end }
+
+ /***
+#if(${rtcParam.getDocActionOverView(5).length()}>0) * ${tmpltHelperJava.convertDescDocJava(${rtcParam.getDocActionOverView(5)})}
+#end
+ *
+ * The deactivated action (Active state exit action)
+ * former rtc_active_exit()
+ *
+ * @param ec_id target ExecutionContext Id
+ *
+ * @return RTC::ReturnCode_t
+ *
+#if(${rtcParam.getDocActionPreCondition(5).length()}>0) * @pre ${tmpltHelperJava.convertPreDocJava(${rtcParam.getDocActionPreCondition(5)})}
+#end
+#if(${rtcParam.getDocActionPostCondition(5).length()}>0) * @post ${tmpltHelperJava.convertPostDocJava(${rtcParam.getDocActionPostCondition(5)})}
+#end
+ *
+ */
+#if(${rtcParam.IsNotImplemented(5)})//#end @Override
+#if(${rtcParam.IsNotImplemented(5)})//#end protected ReturnCode_t onDeactivated(int ec_id) {
+#if(${tmpltHelper.checkDetailContent(5,${rtcParam})})${rtcParam.getDetailContent(5)}
+#end
+#if(${rtcParam.IsNotImplemented(5)})//#end return super.onDeactivated(ec_id);
+#if(${rtcParam.IsNotImplemented(5)})//#end }
+
+ /***
+#if(${rtcParam.getDocActionOverView(9).length()}>0) * ${tmpltHelperJava.convertDescDocJava(${rtcParam.getDocActionOverView(9)})}
+#end
+ *
+ * The execution action that is invoked periodically
+ * former rtc_active_do()
+ *
+ * @param ec_id target ExecutionContext Id
+ *
+ * @return RTC::ReturnCode_t
+ *
+#if(${rtcParam.getDocActionPreCondition(9).length()}>0) * @pre ${tmpltHelperJava.convertPreDocJava(${rtcParam.getDocActionPreCondition(9)})}
+#end
+#if(${rtcParam.getDocActionPostCondition(9).length()}>0) * @post ${tmpltHelperJava.convertPostDocJava(${rtcParam.getDocActionPostCondition(9)})}
+#end
+ *
+ */
+#if(${rtcParam.IsNotImplemented(9)})//#end @Override
+#if(${rtcParam.IsNotImplemented(9)})//#end protected ReturnCode_t onExecute(int ec_id) {
+#if(${tmpltHelper.checkDetailContent(9,${rtcParam})})${rtcParam.getDetailContent(9)}
+#end
+#if(${rtcParam.IsNotImplemented(9)})//#end return super.onExecute(ec_id);
+#if(${rtcParam.IsNotImplemented(9)})//#end }
+
+ /***
+#if(${rtcParam.getDocActionOverView(6).length()}>0) * ${tmpltHelperJava.convertDescDocJava(${rtcParam.getDocActionOverView(6)})}
+#end
+ *
+ * The aborting action when main logic error occurred.
+ * former rtc_aborting_entry()
+ *
+ * @param ec_id target ExecutionContext Id
+ *
+ * @return RTC::ReturnCode_t
+ *
+#if(${rtcParam.getDocActionPreCondition(6).length()}>0) * @pre ${tmpltHelperJava.convertPreDocJava(${rtcParam.getDocActionPreCondition(6)})}
+#end
+#if(${rtcParam.getDocActionPostCondition(6).length()}>0) * @post ${tmpltHelperJava.convertPostDocJava(${rtcParam.getDocActionPostCondition(6)})}
+#end
+ *
+ */
+#if(${rtcParam.IsNotImplemented(6)})//#end @Override
+#if(${rtcParam.IsNotImplemented(6)})//#end public ReturnCode_t onAborting(int ec_id) {
+#if(${tmpltHelper.checkDetailContent(6,${rtcParam})})${rtcParam.getDetailContent(6)}
+#end
+#if(${rtcParam.IsNotImplemented(6)})//#end return super.onAborting(ec_id);
+#if(${rtcParam.IsNotImplemented(6)})//#end }
+
+ /***
+#if(${rtcParam.getDocActionOverView(7).length()}>0) * ${tmpltHelperJava.convertDescDocJava(${rtcParam.getDocActionOverView(7)})}
+#end
+ *
+ * The error action in ERROR state
+ * former rtc_error_do()
+ *
+ * @param ec_id target ExecutionContext Id
+ *
+ * @return RTC::ReturnCode_t
+ *
+#if(${rtcParam.getDocActionPreCondition(7).length()}>0) * @pre ${tmpltHelperJava.convertPreDocJava(${rtcParam.getDocActionPreCondition(7)})}
+#end
+#if(${rtcParam.getDocActionPostCondition(7).length()}>0) * @post ${tmpltHelperJava.convertPostDocJava(${rtcParam.getDocActionPostCondition(7)})}
+#end
+ *
+ */
+#if(${rtcParam.IsNotImplemented(7)})//#end @Override
+#if(${rtcParam.IsNotImplemented(7)})//#end public ReturnCode_t onError(int ec_id) {
+#if(${tmpltHelper.checkDetailContent(7,${rtcParam})})${rtcParam.getDetailContent(7)}
+#end
+#if(${rtcParam.IsNotImplemented(7)})//#end return super.onError(ec_id);
+#if(${rtcParam.IsNotImplemented(7)})//#end }
+
+ /***
+#if(${rtcParam.getDocActionOverView(8).length()}>0) * ${tmpltHelperJava.convertDescDocJava(${rtcParam.getDocActionOverView(8)})}
+#end
+ *
+ * The reset action that is invoked resetting
+ * This is same but different the former rtc_init_entry()
+ *
+ * @param ec_id target ExecutionContext Id
+ *
+ * @return RTC::ReturnCode_t
+ *
+#if(${rtcParam.getDocActionPreCondition(8).length()}>0) * @pre ${tmpltHelperJava.convertPreDocJava(${rtcParam.getDocActionPreCondition(8)})}
+#end
+#if(${rtcParam.getDocActionPostCondition(8).length()}>0) * @post ${tmpltHelperJava.convertPostDocJava(${rtcParam.getDocActionPostCondition(8)})}
+#end
+ *
+ */
+#if(${rtcParam.IsNotImplemented(8)})//#end @Override
+#if(${rtcParam.IsNotImplemented(8)})//#end protected ReturnCode_t onReset(int ec_id) {
+#if(${tmpltHelper.checkDetailContent(8,${rtcParam})})${rtcParam.getDetailContent(8)}
+#end
+#if(${rtcParam.IsNotImplemented(8)})//#end return super.onReset(ec_id);
+#if(${rtcParam.IsNotImplemented(8)})//#end }
+
+ /***
+#if(${rtcParam.getDocActionOverView(10).length()}>0) * ${tmpltHelperJava.convertDescDocJava(${rtcParam.getDocActionOverView(10)})}
+#end
+ *
+ * The state update action that is invoked after onExecute() action
+ * no corresponding operation exists in OpenRTm-aist-0.2.0
+ *
+ * @param ec_id target ExecutionContext Id
+ *
+ * @return RTC::ReturnCode_t
+ *
+#if(${rtcParam.getDocActionPreCondition(10).length()}>0) * @pre ${tmpltHelperJava.convertPreDocJava(${rtcParam.getDocActionPreCondition(10)})}
+#end
+#if(${rtcParam.getDocActionPostCondition(10).length()}>0) * @post ${tmpltHelperJava.convertPostDocJava(${rtcParam.getDocActionPostCondition(10)})}
+#end
+ *
+ */
+#if(${rtcParam.IsNotImplemented(10)})//#end @Override
+#if(${rtcParam.IsNotImplemented(10)})//#end protected ReturnCode_t onStateUpdate(int ec_id) {
+#if(${tmpltHelper.checkDetailContent(10,${rtcParam})})${rtcParam.getDetailContent(10)}
+#end
+#if(${rtcParam.IsNotImplemented(10)})//#end return super.onStateUpdate(ec_id);
+#if(${rtcParam.IsNotImplemented(10)})//#end }
+
+ /***
+#if(${rtcParam.getDocActionOverView(11).length()}>0) * ${tmpltHelperJava.convertDescDocJava(${rtcParam.getDocActionOverView(11)})}
+#end
+ *
+ * The action that is invoked when execution context's rate is changed
+ * no corresponding operation exists in OpenRTm-aist-0.2.0
+ *
+ * @param ec_id target ExecutionContext Id
+ *
+ * @return RTC::ReturnCode_t
+ *
+#if(${rtcParam.getDocActionPreCondition(11).length()}>0) * @pre ${tmpltHelperJava.convertPreDocJava(${rtcParam.getDocActionPreCondition(11)})}
+#end
+#if(${rtcParam.getDocActionPostCondition(11).length()}>0) * @post ${tmpltHelperJava.convertPostDocJava(${rtcParam.getDocActionPostCondition(11)})}
+#end
+ *
+ */
+#if(${rtcParam.IsNotImplemented(11)})//#end @Override
+#if(${rtcParam.IsNotImplemented(11)})//#end protected ReturnCode_t onRateChanged(int ec_id) {
+#if(${tmpltHelper.checkDetailContent(11,${rtcParam})})${rtcParam.getDetailContent(11)}
+#end
+#if(${rtcParam.IsNotImplemented(11)})//#end return super.onRateChanged(ec_id);
+#if(${rtcParam.IsNotImplemented(11)})//#end }
+//
+#if( ${rtcParam.configParams.size()} > 0 )
+ // Configuration variable declaration
+ // <rtc-template block="config_declare">
+#foreach($configParam in ${rtcParam.configParams})
+ /*!
+ * ${tmpltHelperJava.convertDescDocJava(${configParam.docDescription})}
+ * - Name: ${configParam.docDataName} ${configParam.tmplVarName}
+ * - DefaultValue: ${configParam.defaultVal}
+#if(${configParam.docUnit.length()}>0) * - Unit: ${tmpltHelperJava.convertUnitDocJava(${configParam.docUnit})}
+#end
+#if(${configParam.docRange.length()}>0) * - Range: ${tmpltHelperJava.convertRangeDocJava(${configParam.docRange})}
+#end
+#if(${configParam.docConstraint.length()}>0) * - Constraint: ${tmpltHelperJava.convertConstraintDocJava(${configParam.docConstraint})}
+#end
+ */
+ protected ${javaConv.convJava2ParamHolder(${configParam.type},true)} m_${configParam.tmplVarName} = new ${javaConv.convJava2ParamHolder(${configParam.type},true)}();
+#end
+ // </rtc-template>
+
+#end
+ // DataInPort declaration
+ // <rtc-template block="inport_declare">
+#foreach($port in ${rtcParam.outports})
+ protected ${javaConv.getDataTypeName(${port.type})} m_${port.tmplVarName}_val;
+ protected DataRef<${javaConv.getDataTypeName(${port.type})}> m_${port.tmplVarName};
+ /*!
+#if(${port.docDescription.length()}>0) * ${tmpltHelperJava.convertDescDocJava(${port.docDescription})}
+#end
+#if(${port.docType.length()}>0) * - Type: ${tmpltHelperJava.convertTypeDocJava(${port.docType})}
+#end
+#if(${port.docNum.length()}>0) * - Number: ${tmpltHelperJava.convertNumberDocJava(${port.docNum})}
+#end
+#if(${port.docSemantics.length()}>0) * - Semantics: ${tmpltHelperJava.convertSemanticsDocJava(${port.docSemantics})}
+#end
+#if(${port.docUnit.length()}>0) * - Unit: ${tmpltHelperJava.convertTypeDocJava(${port.docUnit})}
+#end
+#if(${port.docOccurrence.length()}>0) * - Frequency: ${tmpltHelperJava.convertFrequencyDocJava(${port.docOccurrence})}
+#end
+#if(${port.docOperation.length()}>0) * - Operation Cycle: ${tmpltHelperJava.convertCycleDocJava(${port.docOperation})}
+#end
+ */
+ protected InPort<${javaConv.getDataTypeName(${port.type})}> m_${port.name}In;
+
+#end
+
+ // </rtc-template>
+
+ // DataOutPort declaration
+ // <rtc-template block="outport_declare">
+#foreach($port in ${rtcParam.inports})
+ protected ${javaConv.getDataTypeName(${port.type})} m_${port.tmplVarName}_val;
+ protected DataRef<${javaConv.getDataTypeName(${port.type})}> m_${port.tmplVarName};
+ /*!
+#if(${port.docDescription.length()}>0) * ${tmpltHelperJava.convertDescDocJava(${port.docDescription})}
+#end
+#if(${port.docType.length()}>0) * - Type: ${tmpltHelperJava.convertTypeDocJava(${port.docType})}
+#end
+#if(${port.docNum.length()}>0) * - Number: ${tmpltHelperJava.convertNumberDocJava(${port.docNum})}
+#end
+#if(${port.docSemantics.length()}>0) * - Semantics: ${tmpltHelperJava.convertSemanticsDocJava(${port.docSemantics})}
+#end
+#if(${port.docUnit.length()}>0) * - Unit: ${tmpltHelperJava.convertTypeDocJava(${port.docUnit})}
+#end
+#if(${port.docOccurrence.length()}>0) * - Frequency: ${tmpltHelperJava.convertFrequencyDocJava(${port.docOccurrence})}
+#end
+#if(${port.docOperation.length()}>0) * - Operation Cycle: ${tmpltHelperJava.convertCycleDocJava(${port.docOperation})}
+#end
+ */
+ protected OutPort<${javaConv.getDataTypeName(${port.type})}> m_${port.name}Out;
+
+#end
+
+ // </rtc-template>
+
+ // CORBA Port declaration
+ // <rtc-template block="corbaport_declare">
+#if(${rtcParam.servicePorts.size()}>0)
+#foreach($servicePort in ${rtcParam.servicePorts})
+#if(${servicePort.servicePortInterfaces.size()}>0)
+ /*!
+#if(${servicePort.docDescription.length()}>0) * ${tmpltHelperJava.convertDescDocJava(${servicePort.docDescription})}
+#end
+#if(${servicePort.docIfDescription.length()}>0) * Interface: ${tmpltHelperJava.convertInterfaceDocJava(${servicePort.docIfDescription})}
+#end
+ */
+ protected CorbaPort m_${servicePort.name}Port;
+#end#end#end
+
+ // </rtc-template>
+
+ // Service declaration
+ // <rtc-template block="service_declare">
+#if(${rtcParam.servicePorts.size()}>0)
+#foreach($servicePort in ${rtcParam.servicePorts})
+#if(${servicePort.servicePortInterfaces.size()}>0)
+#foreach($serviceInterface in ${servicePort.servicePortInterfaces})
+#if(${serviceInterface.index}==1)
+ /*!
+#if(${serviceInterface.docDescription.length()}>0) * ${tmpltHelperJava.convertDescDocJava(${serviceInterface.docDescription})}
+#end
+#if(${serviceInterface.docArgument.length()}>0) * - Argument: ${tmpltHelperJava.convertInterfaceDetailDocJava(${serviceInterface.docArgument})}
+#end
+#if(${serviceInterface.docReturn.length()}>0) * - Return Value: ${tmpltHelperJava.convertInterfaceDetailDocJava(${serviceInterface.docReturn})}
+#end
+#if(${serviceInterface.docException.length()}>0) * - Exception: ${tmpltHelperJava.convertInterfaceDetailDocJava(${serviceInterface.docException})}
+#end
+#if(${serviceInterface.docPreCondition.length()}>0) * - PreCondition: ${tmpltHelperJava.convertInterfaceDetailDocJava(${serviceInterface.docPreCondition})}
+#end
+#if(${serviceInterface.docPostCondition.length()}>0) * - PostCondition: ${tmpltHelperJava.convertInterfaceDetailDocJava(${serviceInterface.docPostCondition})}
+#end
+ */
+ protected ${serviceInterface.interfaceRawType}${tmpltHelper.serviceImplSuffix} m_${serviceInterface.tmplVarName} = new ${serviceInterface.interfaceRawType}${tmpltHelper.serviceImplSuffix}();
+#end#end#end#end#end
+
+ // </rtc-template>
+
+ // Consumer declaration
+ // <rtc-template block="consumer_declare">
+#if(${rtcParam.servicePorts.size()}>0)
+#foreach($servicePort in ${rtcParam.servicePorts})
+#if(${servicePort.servicePortInterfaces.size()}>0)
+#foreach($serviceInterface in ${servicePort.servicePortInterfaces})
+#if(${serviceInterface.index}==0)
+ protected CorbaConsumer<${serviceInterface.interfaceRawType}> m_${serviceInterface.tmplVarName}Base = new CorbaConsumer<${serviceInterface.interfaceRawType}>(${serviceInterface.interfaceRawType}.class);
+ /*!
+#if(${serviceInterface.docDescription.length()}>0) * ${tmpltHelperJava.convertDescDocJava(${serviceInterface.docDescription})}
+#end
+#if(${serviceInterface.docArgument.length()}>0) * - Argument: ${tmpltHelperJava.convertInterfaceDetailDocJava(${serviceInterface.docArgument})}
+#end
+#if(${serviceInterface.docReturn.length()}>0) * - Return Value: ${tmpltHelperJava.convertInterfaceDetailDocJava(${serviceInterface.docReturn})}
+#end
+#if(${serviceInterface.docException.length()}>0) * - Exception: ${tmpltHelperJava.convertInterfaceDetailDocJava(${serviceInterface.docException})}
+#end
+#if(${serviceInterface.docPreCondition.length()}>0) * - PreCondition: ${tmpltHelperJava.convertInterfaceDetailDocJava(${serviceInterface.docPreCondition})}
+#end
+#if(${serviceInterface.docPostCondition.length()}>0) * - PostCondition: ${tmpltHelperJava.convertInterfaceDetailDocJava(${serviceInterface.docPostCondition})}
+#end
+ */
+ protected ${serviceInterface.interfaceRawType} m_${serviceInterface.tmplVarName};
+#end#end#end#end#end
+
+ // </rtc-template>
+
+#foreach($privateAttribute in ${rtcParam.privateAttributes})
+ ${privateAttribute}
+#end
+#foreach($privateOperation in ${rtcParam.privateOperations})
+ ${privateOperation}
+#end
+#foreach($protectedAttribute in ${rtcParam.protectedAttributes})
+ ${protectedAttribute}
+#end
+#foreach($protectedOperation in ${rtcParam.protectedOperations})
+ ${protectedOperation}
+#end
+#foreach($publicAttribute in ${rtcParam.publicAttributes})
+ ${publicAttribute}
+#end
+#foreach($publicOperation in ${rtcParam.publicOperations})
+ ${publicOperation}
+#end
+#if(${tmpltHelper.checkContents(${rtcParam.publicOpeSource})})${rtcParam.publicOpeSource}
+#end
+#if(${tmpltHelper.checkContents(${rtcParam.protectedOpeSource})})${rtcParam.protectedOpeSource}
+#end
+#if(${tmpltHelper.checkContents(${rtcParam.privateOpeSource})})${rtcParam.privateOpeSource}
+#end
+
+#if( ${rtcParam.inports.size()} > 0 || ${rtcParam.outports.size()} > 0 )
+ private void initializeParam(Object target) {
+ Class<?> targetClass = target.getClass();
+ ClassLoader loader = target.getClass().getClassLoader();
+ //
+ Field[] fields = targetClass.getFields();
+ for(Field field : fields) {
+ if(field.getType().isPrimitive()) continue;
+
+ try {
+ if(field.getType().isArray()) {
+ Object arrayValue = null;
+ Class<?> clazz = null;
+ if(field.getType().getComponentType().isPrimitive()) {
+ clazz = field.getType().getComponentType();
+ } else {
+ clazz = loader.loadClass(field.getType().getComponentType().getName());
+ }
+ arrayValue = Array.newInstance(clazz, 0);
+ field.set(target, arrayValue);
+
+ } else {
+ Constructor<?>[] constList = field.getType().getConstructors();
+ if(constList.length==0) {
+ Method[] methodList = field.getType().getMethods();
+ for(Method method : methodList) {
+ if(method.getName().equals("from_int")==false) continue;
+ Object objFld = method.invoke(target, new Object[]{ new Integer(0) });
+ field.set(target, objFld);
+ break;
+ }
+
+ } else {
+ Class<?> classFld = Class.forName(field.getType().getName(), true, loader);
+ Object objFld = classFld.newInstance();
+ initializeParam(objFld);
+ field.set(target, objFld);
+ }
+ }
+ } catch (ClassNotFoundException e) {
+ e.printStackTrace();
+ } catch (InstantiationException e) {
+ e.printStackTrace();
+ } catch (IllegalAccessException e) {
+ e.printStackTrace();
+ } catch (IllegalArgumentException e) {
+ e.printStackTrace();
+ } catch (InvocationTargetException e) {
+ e.printStackTrace();
+ }
+ }
+ }
+#end
+}
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