[openrtm-commit:00712] r672 - trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2012年 2月 14日 (火) 14:47:13 JST
Author: fsi-katami
Date: 2012-02-14 14:47:12 +0900 (Tue, 14 Feb 2012)
New Revision: 672
Added:
trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObjectStateMachine.java
Modified:
trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/StateMachine.java
Log:
RTObjectStateMachine class was implemented. refs #2344
Added: trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObjectStateMachine.java
===================================================================
--- trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObjectStateMachine.java (rev 0)
+++ trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObjectStateMachine.java 2012-02-14 05:47:12 UTC (rev 672)
@@ -0,0 +1,437 @@
+package jp.go.aist.rtm.RTC;
+
+import jp.go.aist.rtm.RTC.log.Logbuf;
+
+import RTC.ComponentAction;
+import RTC.ComponentActionHelper;
+import RTC.DataFlowComponentAction;
+import RTC.DataFlowComponentActionHelper;
+import RTC.FsmParticipantAction;
+import RTC.FsmParticipantActionHelper;
+import RTC.LifeCycleState;
+import RTC.LightweightRTObject;
+import RTC.MultiModeComponentAction;
+import RTC.MultiModeComponentActionHelper;
+import RTC.ReturnCode_t;
+
+public class RTObjectStateMachine {
+ private static final int NUM_OF_LIFECYCLESTATE = 4;
+ /**
+ * {@.ja コンストラクタ}
+ * {@.en Constructor}
+ *
+ */
+ protected RTObjectStateMachine(int id, LightweightRTObject comp){
+ m_id = id;
+ m_rtobj = (LightweightRTObject)comp._duplicate();
+ m_sm = new StateMachine<LifeCycleState,
+ RTObjectStateMachine>(NUM_OF_LIFECYCLESTATE);
+ m_ca = false;
+ m_dfc = false;
+ m_fsm = false;
+ m_mode = false;
+ m_caVar = null;
+ m_dfcVar = null;
+ m_fsmVar = null;
+ m_modeVar = null;
+ // Setting Action callback objects
+ setComponentAction(comp);
+ setDataFlowComponentAction(comp);
+ setFsmParticipantAction(comp);
+ setMultiModeComponentAction(comp);
+ // Setting callback functions to StateMachine
+ m_sm.setListener(this);
+ m_sm.setEntryAction (LifeCycleState.ACTIVE_STATE,
+ new onActivated());
+ m_sm.setDoAction (LifeCycleState.ACTIVE_STATE,
+ new onExecute());
+ m_sm.setPostDoAction(LifeCycleState.ACTIVE_STATE,
+ new onStateUpdate());
+ m_sm.setExitAction (LifeCycleState.ACTIVE_STATE,
+ new onDeactivated());
+ m_sm.setEntryAction (LifeCycleState.ERROR_STATE,
+ new onAborting());
+ m_sm.setDoAction (LifeCycleState.ERROR_STATE,
+ new onError());
+ m_sm.setExitAction (LifeCycleState.ERROR_STATE,
+ new onReset());
+ // Setting inital state
+ StateHolder<LifeCycleState> st = new StateHolder<LifeCycleState>();
+ st.prev = LifeCycleState.INACTIVE_STATE;
+ st.curr = LifeCycleState.INACTIVE_STATE;
+ st.next = LifeCycleState.INACTIVE_STATE;
+ m_sm.setStartState(st);
+ m_sm.goTo(LifeCycleState.INACTIVE_STATE);
+ }
+// RTObjectStateMachine(final RTObjectStateMachine& rtobjsm);
+// RTObjectStateMachine& operator=(final RTObjectStateMachine& rtobjsm);
+// void swap(RTObjectStateMachine& rtobjsm) throw();
+ /**
+ * {@.ja onActivatedアクション定義用抽象クラス}
+ */
+ private class onActivated implements StateAction {
+ public void doAction(StateHolder state) {
+ if (!m_ca) {
+ return;
+ }
+ if (m_caVar.on_activated(m_id) != ReturnCode_t.RTC_OK) {
+ m_sm.goTo(LifeCycleState.ERROR_STATE);
+ return;
+ }
+ return;
+ }
+ }
+ /**
+ * {@.ja onExecuteアクション定義用抽象クラス}
+ */
+ private class onExecute implements StateAction {
+ public void doAction(StateHolder state) {
+ if (!m_dfc) {
+ return;
+ }
+ if (m_dfcVar.on_execute(m_id) != ReturnCode_t.RTC_OK) {
+ m_sm.goTo(LifeCycleState.ERROR_STATE);
+ return;
+ }
+ return;
+ }
+ }
+ /**
+ * {@.ja onStateUpdateアクション定義用抽象クラス}
+ */
+ private class onStateUpdate implements StateAction {
+ public void doAction(StateHolder state) {
+ if (!m_dfc) {
+ return;
+ }
+ if (m_dfcVar.on_state_update(m_id) != ReturnCode_t.RTC_OK) {
+ m_sm.goTo(LifeCycleState.ERROR_STATE);
+ return;
+ }
+ return;
+ }
+ }
+ /**
+ * {@.ja onDeactivatedアクション定義用抽象クラス}
+ */
+ private class onDeactivated implements StateAction {
+ public void doAction(StateHolder state) {
+ if (!m_ca) {
+ return;
+ }
+ m_caVar.on_deactivated(m_id);
+ }
+ }
+ /**
+ * {@.ja onAbortingアクション定義用抽象クラス}
+ */
+ private class onAborting implements StateAction {
+ public void doAction(StateHolder state) {
+ if (!m_ca) {
+ return;
+ }
+ m_caVar.on_error(m_id);
+ }
+ }
+ /**
+ * {@.ja onErrorアクション定義用抽象クラス}
+ */
+ private class onError implements StateAction {
+ public void doAction(StateHolder state) {
+ if (!m_ca) {
+ return;
+ }
+ m_caVar.on_error(m_id);
+ }
+ }
+ /**
+ * {@.ja onResetアクション定義用抽象クラス}
+ */
+ private class onReset implements StateAction {
+ public void doAction(StateHolder state) {
+ if (!m_ca) {
+ return;
+ }
+ if (m_caVar.on_reset(m_id) != ReturnCode_t.RTC_OK) {
+ m_sm.goTo(LifeCycleState.ERROR_STATE);
+ return;
+ }
+ return;
+ }
+ }
+
+
+ // functions for stored RTObject reference
+ /**
+ *
+ */
+ public LightweightRTObject getRTObject() {
+ return (LightweightRTObject)m_rtobj._duplicate();
+ }
+ /**
+ *
+ */
+ public boolean isEquivalent(LightweightRTObject comp) {
+ return m_rtobj._is_equivalent(comp);
+ }
+ /**
+ *
+ */
+ public int getExecutionContextHandle() {
+ return m_id;
+ }
+
+ // RTC::ComponentAction operations
+ /**
+ *
+ */
+ public void onStartup(){
+ if (!m_ca) {
+ return;
+ }
+ m_caVar.on_startup(m_id);
+ }
+ /**
+ *
+ */
+ public void onShutdown(){
+ if (!m_ca) {
+ return;
+ }
+ m_caVar.on_shutdown(m_id);
+ }
+ /**
+ *
+ */
+ public void onActivated(final StateHolder<LifeCycleState> st) {
+ if (!m_ca) {
+ return;
+ }
+ if (m_caVar.on_activated(m_id) != ReturnCode_t.RTC_OK) {
+ m_sm.goTo(LifeCycleState.ERROR_STATE);
+ return;
+ }
+ return;
+ }
+ /**
+ *
+ */
+ public void onDeactivated(final StateHolder<LifeCycleState> st) {
+ if (!m_ca) {
+ return;
+ }
+ m_caVar.on_deactivated(m_id);
+ }
+ /**
+ *
+ */
+ public void onAborting(final StateHolder<LifeCycleState> st) {
+ if (!m_ca) {
+ return;
+ }
+ m_caVar.on_error(m_id);
+ }
+ /**
+ *
+ */
+ public void onError(final StateHolder<LifeCycleState> st){
+ if (!m_ca) {
+ return;
+ }
+ m_caVar.on_error(m_id);
+ }
+ /**
+ *
+ */
+ public void onReset(final StateHolder<LifeCycleState> st){
+ if (!m_ca) {
+ return;
+ }
+ if (m_caVar.on_reset(m_id) != ReturnCode_t.RTC_OK) {
+ m_sm.goTo(LifeCycleState.ERROR_STATE);
+ return;
+ }
+ return;
+
+ }
+
+ // RTC::DataflowComponentAction
+ /**
+ *
+ */
+ public void onExecute(final StateHolder<LifeCycleState> st){
+ if (!m_dfc) {
+ return;
+ }
+ if (m_dfcVar.on_execute(m_id) != ReturnCode_t.RTC_OK) {
+ m_sm.goTo(LifeCycleState.ERROR_STATE);
+ return;
+ }
+ return;
+ }
+ /**
+ *
+ */
+ public void onStateUpdate(final StateHolder<LifeCycleState> st){
+ if (!m_dfc) {
+ return;
+ }
+ if (m_dfcVar.on_state_update(m_id) != ReturnCode_t.RTC_OK) {
+ m_sm.goTo(LifeCycleState.ERROR_STATE);
+ return;
+ }
+ return;
+ }
+ /**
+ *
+ */
+ public void onRateChanged(){
+ if (!m_dfc) {
+ return;
+ }
+ if (m_dfcVar.on_rate_changed(m_id) != ReturnCode_t.RTC_OK) {
+ m_sm.goTo(LifeCycleState.ERROR_STATE);
+ return;
+ }
+ return;
+ }
+
+ // FsmParticipantAction
+ /**
+ *
+ */
+ public void onAction(final StateHolder<LifeCycleState> st){
+ if (!m_fsm) {
+ return;
+ }
+ if (m_fsmVar.on_action(m_id) != ReturnCode_t.RTC_OK) {
+ m_sm.goTo(LifeCycleState.ERROR_STATE);
+ return;
+ }
+ return;
+ }
+
+ // MultiModeComponentAction
+ /**
+ *
+ */
+ public void onModeChanged(final StateHolder<LifeCycleState> st){
+ if (!m_mode) {
+ return;
+ }
+ if (m_modeVar.on_mode_changed(m_id) != ReturnCode_t.RTC_OK) {
+ m_sm.goTo(LifeCycleState.ERROR_STATE);
+ return;
+ }
+ return;
+ }
+
+ // Getting state of the context
+ /**
+ *
+ */
+ public LifeCycleState getState(){
+ return m_sm.getState();
+ }
+ /**
+ *
+ */
+ public StateHolder<LifeCycleState> getStates(){
+ return m_sm.getStates();
+ }
+ /**
+ *
+ */
+ public boolean isCurrentState(LifeCycleState state){
+ if(getState() == state){
+ return true;
+ }
+ return false;
+ }
+ /**
+ *
+ */
+ public boolean isNextState(LifeCycleState state){
+ if(m_sm.getStates().next == state){
+ return true;
+ }
+ return false;
+ }
+ /**
+ *
+ */
+ public void goTo(LifeCycleState state){
+ m_sm.goTo(state);
+ }
+
+ // Workers
+ /**
+ *
+ */
+ public void workerPreDo(){
+ m_sm.worker_pre();
+ }
+ /**
+ *
+ */
+ public void workerDo(){
+ m_sm.worker_do();
+ }
+ /**
+ *
+ */
+ public void workerPostDo(){
+ m_sm.worker_post();
+ }
+
+ protected void setComponentAction(final LightweightRTObject comp) {
+ m_caVar = ComponentActionHelper.narrow(comp);
+ if (m_caVar!=null) {
+ m_ca = true;
+ }
+ }
+ protected void setDataFlowComponentAction(final LightweightRTObject comp){
+ m_dfcVar = DataFlowComponentActionHelper.narrow(comp);
+ if (m_dfcVar!=null) {
+ m_dfc = true;
+ }
+ }
+ protected void setFsmParticipantAction(final LightweightRTObject comp){
+ m_fsmVar = FsmParticipantActionHelper.narrow(comp);
+ if (m_fsmVar!=null) {
+ m_fsm = true;
+ }
+ }
+ protected void setMultiModeComponentAction(final LightweightRTObject comp){
+ m_modeVar = MultiModeComponentActionHelper.narrow(comp);
+ if (m_modeVar!=null) {
+ m_mode = true;
+ }
+ }
+
+ /**
+ * {@.ja ロガーストリーム}
+ * {@.en Logger stream}
+ */
+ private Logbuf rtcout;
+ // ExecutionContext id
+ private int m_id;
+ // Associated RTObject reference
+ private LightweightRTObject m_rtobj;
+ // State machine
+ private StateMachine<LifeCycleState,
+ RTObjectStateMachine> m_sm;
+ private boolean m_ca;
+ private boolean m_dfc;
+ private boolean m_fsm;
+ private boolean m_mode;
+ private ComponentAction m_caVar;
+ private DataFlowComponentAction m_dfcVar;
+ private FsmParticipantAction m_fsmVar;
+ private MultiModeComponentAction m_modeVar;
+
+ // char dara[1000];
+ // Component action invoker
+
+}
+
Modified: trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/StateMachine.java
===================================================================
--- trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/StateMachine.java 2012-02-14 02:00:41 UTC (rev 671)
+++ trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/StateMachine.java 2012-02-14 05:47:12 UTC (rev 672)
@@ -412,6 +412,25 @@
}
/**
+ * {@.ja 状態を取得する}
+ * {@.en Gets states}
+ * <p>
+ * {@.ja 状態情報を取得する。
+ * 現在の状態、１つ前の状態、遷移予定の状態を取得することができる。}
+ * {@.en Get state information.
+ * Get the current state, the previous state and the next state to
+ * be expected to transfer.}
+ *
+ * @return
+ * {@.ja 状態情報}
+ * {@.en State information}
+ *
+ */
+ public StateHolder<STATE> getStates() {
+ return m_states;
+ }
+
+ /**
* {@.ja 現在の状態を取得する}
* {@.en Get current state}
*
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