[openrtm-users 01378] Re: RTの状態遷移に関して

[Ando Noriaki]

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RTC::ReturnCode_t YourComponent::onExecute(RTC::UniqueId ec_id)
{
  ExecutionContext_var ec = get_context(ec_id);
  ec->deactivate_component(RTC::RTObject::_duplicate(getObjRef()));
  // duplicate $B$O$$$i$J$$$+$b$7$l$J$$!#!#!#!#(B
  std::cout << "I'm going to Inactive state." <<std::endl;
  return RTC::RTC_OK;
}

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PeriodicExecutionContext.h $B$NCf$K0J2<$N$h$&$J5-=R$,$"$j$^$9!#(B
      DFPBase(RTC::ExecutionContextHandle_t id)
        : ec_id(id), m_sm(NUM_OF_LIFECYCLESTATE)
      {
        m_sm.setListener(this);
        m_sm.setEntryAction (ACTIVE_STATE, &DFPBase::on_activated);
        m_sm.setDoAction    (ACTIVE_STATE, &DFPBase::on_execute);
        m_sm.setPostDoAction(ACTIVE_STATE, &DFPBase::on_state_update);
        m_sm.setExitAction  (ACTIVE_STATE, &DFPBase::on_deactivated);
        m_sm.setEntryAction (ERROR_STATE,  &DFPBase::on_aborting);
        m_sm.setDoAction    (ERROR_STATE,  &DFPBase::on_error);
        m_sm.setExitAction  (ERROR_STATE,  &DFPBase::on_reset);

        ECStates st;
        st.prev = INACTIVE_STATE;
        st.curr = INACTIVE_STATE;
        st.next = INACTIVE_STATE;
        m_sm.setStartState(st);
        m_sm.goTo(INACTIVE_STATE);
      }
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m_sm.goTo(ACTIVE_STATE);

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-- 
$B0BF#7D><!wFHN)9T@/K!?M;:6H5;=QAm9g8&5f=j(B $BCNG=%7%9%F%`8&5fItLg(B
    $BE}9gCNG=8&5f%0%k!<%W(B $B<gG$8&5f0w(B, $BGn;N(B($B9)3X(B)
    $B")(B305-8568 $B$D$/$P;TG_1`(B1-1-1 $BCf1{Bh(B2
    e-mail: n-ando ＠ aist.go.jp, web: http://staff.aist.go.jp/n-ando
    OpenRTM-aist: http://www.openrtm.org