[openrtm-commit:02077] r2787 - branches/FSM4RTC/OpenRTM-aist/src/lib/rtm
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2016年 10月 27日 (木) 00:31:23 JST
Author: n-ando
Date: 2016-10-27 00:31:22 +0900 (Thu, 27 Oct 2016)
New Revision: 2787
Modified:
branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/FsmActionListener.cpp
branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/FsmActionListener.h
Log:
[FSM4RTC,incompat] renameed FsmStructureAction->FsmStructure, FsmProfileListener added.
Modified: branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/FsmActionListener.cpp
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/FsmActionListener.cpp 2016-10-24 03:47:59 UTC (rev 2786)
+++ branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/FsmActionListener.cpp 2016-10-26 15:31:22 UTC (rev 2787)
@@ -42,15 +42,24 @@
/*!
* @if jp
+ * @class FsmProfileListener クラス
+ * @else
+ * @class PortActionListener class
+ * @endif
+ */
+ FsmProfileListener::~FsmProfileListener(){}
+
+ /*!
+ * @if jp
* @class PortActionListener クラス
* @else
* @class PortActionListener class
* @endif
*/
- FsmStructureActionListener::~FsmStructureActionListener(){}
-
+ FsmStructureListener::~FsmStructureListener(){}
+
//============================================================
/*!
* @if jp
@@ -62,8 +71,7 @@
PreFsmActionListenerHolder::PreFsmActionListenerHolder()
{
}
-
-
+
PreFsmActionListenerHolder::~PreFsmActionListenerHolder()
{
Guard guard(m_mutex);
@@ -76,7 +84,6 @@
}
}
-
void PreFsmActionListenerHolder::
addListener(PreFsmActionListener* listener,
bool autoclean)
@@ -84,14 +91,13 @@
Guard guard(m_mutex);
m_listeners.push_back(Entry(listener, autoclean));
}
-
-
+
void PreFsmActionListenerHolder::
removeListener(PreFsmActionListener* listener)
{
Guard guard(m_mutex);
std::vector<Entry>::iterator it(m_listeners.begin());
-
+
for (; it != m_listeners.end(); ++it)
{
if ((*it).first == listener)
@@ -104,16 +110,14 @@
return;
}
}
-
}
-
-
- void PreFsmActionListenerHolder::notify(UniqueId ec_id)
+
+ void PreFsmActionListenerHolder::notify(const char* state)
{
Guard guard(m_mutex);
for (int i(0), len(m_listeners.size()); i < len; ++i)
{
- m_listeners[i].first->operator()(ec_id);
+ m_listeners[i].first->operator()(state);
}
}
@@ -128,7 +132,6 @@
PostFsmActionListenerHolder::PostFsmActionListenerHolder()
{
}
-
PostFsmActionListenerHolder::~PostFsmActionListenerHolder()
{
@@ -142,7 +145,6 @@
}
}
-
void PostFsmActionListenerHolder::
addListener(PostFsmActionListener* listener, bool autoclean)
{
@@ -150,7 +152,6 @@
m_listeners.push_back(Entry(listener, autoclean));
}
-
void PostFsmActionListenerHolder::
removeListener(PostFsmActionListener* listener)
{
@@ -168,34 +169,30 @@
return;
}
}
-
}
-
- void PostFsmActionListenerHolder::notify(UniqueId ec_id,
- ReturnCode_t ret)
+ void PostFsmActionListenerHolder::notify(const char* state,
+ ReturnCode_t ret)
{
Guard guard(m_mutex);
for (int i(0), len(m_listeners.size()); i < len; ++i)
{
- m_listeners[i].first->operator()(ec_id, ret);
+ m_listeners[i].first->operator()(state, ret);
}
}
-
/*!
* @if jp
- * @class FsmStructureActionListener ホルダクラス
+ * @class FsmProfileListener ホルダクラス
* @else
- * @class FsmStructureActionListener holder class
+ * @class FsmProfileListener holder class
* @endif
*/
- FsmStructureActionListenerHolder::FsmStructureActionListenerHolder()
+ FsmProfileListenerHolder::FsmProfileListenerHolder()
{
}
-
-
- FsmStructureActionListenerHolder::~FsmStructureActionListenerHolder()
+
+ FsmProfileListenerHolder::~FsmProfileListenerHolder()
{
Guard guard(m_mutex);
for (int i(0), len(m_listeners.size()); i < len; ++i)
@@ -207,20 +204,19 @@
}
}
-
- void FsmStructureActionListenerHolder::addListener(FsmStructureActionListener* listener,
+ void FsmProfileListenerHolder::addListener(FsmProfileListener* listener,
bool autoclean)
{
Guard guard(m_mutex);
m_listeners.push_back(Entry(listener, autoclean));
}
-
-
- void FsmStructureActionListenerHolder::removeListener(FsmStructureActionListener* listener)
+
+ void
+ FsmProfileListenerHolder::removeListener(FsmProfileListener* listener)
{
Guard guard(m_mutex);
std::vector<Entry>::iterator it(m_listeners.begin());
-
+
for (; it != m_listeners.end(); ++it)
{
if ((*it).first == listener)
@@ -233,19 +229,76 @@
return;
}
}
-
}
-
-
- void FsmStructureActionListenerHolder::notify(const RTC::FsmStructure& pprofile)
+
+ void FsmProfileListenerHolder::notify(RTC::FsmProfile& profile)
{
Guard guard(m_mutex);
for (int i(0), len(m_listeners.size()); i < len; ++i)
{
- m_listeners[i].first->operator()(pprofile);
+ m_listeners[i].first->operator()(profile);
}
}
+ /*!
+ * @if jp
+ * @class FsmStructureListener ホルダクラス
+ * @else
+ * @class FsmStructureListener holder class
+ * @endif
+ */
+ FsmStructureListenerHolder::FsmStructureListenerHolder()
+ {
+ }
+
+ FsmStructureListenerHolder::~FsmStructureListenerHolder()
+ {
+ Guard guard(m_mutex);
+ for (int i(0), len(m_listeners.size()); i < len; ++i)
+ {
+ if (m_listeners[i].second)
+ {
+ delete m_listeners[i].first;
+ }
+ }
+ }
+
+ void FsmStructureListenerHolder::addListener(FsmStructureListener* listener,
+ bool autoclean)
+ {
+ Guard guard(m_mutex);
+ m_listeners.push_back(Entry(listener, autoclean));
+ }
+
+ void
+ FsmStructureListenerHolder::removeListener(FsmStructureListener* listener)
+ {
+ Guard guard(m_mutex);
+ std::vector<Entry>::iterator it(m_listeners.begin());
+
+ for (; it != m_listeners.end(); ++it)
+ {
+ if ((*it).first == listener)
+ {
+ if ((*it).second)
+ {
+ delete (*it).first;
+ }
+ m_listeners.erase(it);
+ return;
+ }
+ }
+ }
+
+ void FsmStructureListenerHolder::notify(RTC::FsmStructure& structure)
+ {
+ Guard guard(m_mutex);
+ for (int i(0), len(m_listeners.size()); i < len; ++i)
+ {
+ m_listeners[i].first->operator()(structure);
+ }
+ }
+
};
Modified: branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/FsmActionListener.h
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/FsmActionListener.h 2016-10-24 03:47:59 UTC (rev 2786)
+++ branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/FsmActionListener.h 2016-10-26 15:31:22 UTC (rev 2787)
@@ -32,7 +32,23 @@
struct FsmStructure
{
};
- typedef ExecutionContextHandle_t UniqueId;
+ /*!
+ * @if jp
+ *
+ * FSMコンポーネントに関する種々の振る舞いをフックするためのリスナ定
+ * 義。リスナには大きく分けると、
+ *
+ * - FSMそのものの動作をフックするためのリスナ
+ * - FSMに関するメタデータ変更等の動作をフックするためのリスナ
+ *
+ * の2種類に分けられる。
+ *
+ * - PreFsmActionListener
+ * - PostFsmActionListener
+ * - FsmProfileListner
+ * - FsmStructureListener
+ */
+
//============================================================
/*!
* @if jp
@@ -154,7 +170,7 @@
*
* @endif
*/
- virtual void operator()(UniqueId ec_id) = 0;
+ virtual void operator()(const char*) = 0;
};
@@ -285,39 +301,55 @@
*
* @endif
*/
- virtual void operator()(UniqueId ec_id,
+ virtual void operator()(const char* state,
ReturnCode_t ret) = 0;
};
//============================================================
/*!
* @if jp
- * @brief FsmStructureActionListener のタイプ
+ * @brief FsmProfileListener のタイプ
*
- * - ADD_PORT: Port 追加時
- * - REMOVE_PORT: Port 削除時
+ * - SET_FSM_PROFILE : FSM Profile設定時
+ * - GET_FSM_PROFILE : FSM Profile取得時
+ * - ADD_FSM_STATE : FSMにStateが追加された
+ * - REMOVE_FSM_STATE : FSMからStateが削除された
+ * - ADD_FSM_TRANSITION : FSMに遷移が追加された
+ * - REMOVE_FSM_TRANSITION : FSMから遷移が削除された
+ * - BIND_FSM_EVENT : FSMにイベントがバインドされた
+ * - UNBIND_FSM_EVENT : FSMにイベントがアンバインドされた
*
* @else
- * @brief The types of FsmStructureActionListener
- *
+ * @brief The types of FsmProfileListener
+ *
+ * - SET_FSM_PROFILE : Setting FSM Profile
+ * - GET_FSM_PROFILE : Getting FSM Profile
+ * - ADD_FSM_STATE : A State added to the FSM
+ * - REMOVE_FSM_STATE : A State removed from FSM
+ * - ADD_FSM_TRANSITION : A transition added to the FSM
+ * - REMOVE_FSM_TRANSITION : A transition removed from FSM
+ * - BIND_FSM_EVENT : An event bounded to the FSM
+ * - UNBIND_FSM_EVENT : An event unbounded to the FSM
+ *
* @endif
*/
-
- enum FsmStructureActionListenerType
+ enum FsmProfileListenerType
{
- ADD_STATE,
- REMOVE_STATE,
- ADD_TRANSITION,
- REMOVE_TRANSITION,
- BIND_EVENT,
- UNBIND_EVENT,
- FSM_STRUCTURE_ACTION_LISTENER_NUM
+ SET_FSM_PROFILE,
+ GET_FSM_PROFILE,
+ ADD_FSM_STATE,
+ REMOVE_FSM_STATE,
+ ADD_FSM_TRANSITION,
+ REMOVE_FSM_TRANSITION,
+ BIND_FSM_EVENT,
+ UNBIND_FSM_EVENT,
+ FSM_PROFILE_LISTENER_NUM
};
/*!
* @if jp
- * @class FsmStructureActionListener クラス
- * @brief FsmStructureActionListener クラス
+ * @class FsmProfileListener クラス
+ * @brief FsmProfileListener クラス
*
* 各アクションに対応するユーザーコードが呼ばれる直前のタイミング
* でコールされるリスなクラスの基底クラス。
@@ -326,49 +358,53 @@
* - REMOVE_PORT:
*
* @else
- * @class FsmStructureActionListener class
- * @brief FsmStructureActionListener class
+ * @class FsmProfileListener class
+ * @brief FsmProfileListener class
*
* This class is abstract base class for listener classes that
* provides callbacks for various events in rtobject.
*
* @endif
*/
- class FsmStructureActionListener
+ class FsmProfileListener
{
public:
/*!
* @if jp
*
- * @brief PreFsmActionListenerType を文字列に変換
+ * @brief FsmProfileListenerType を文字列に変換
*
- * PreFsmActionListenerType を文字列に変換する
+ * FsmProfileListenerType を文字列に変換する
*
- * @param type 変換対象 PreFsmActionListenerType
- *
+ * @param type 変換対象 FsmProfileListenerType
* @return 文字列変換結果
*
* @else
*
- * @brief Convert PreFsmActionListenerType into the string.
+ * @brief Convert FsmProfileListenerType into the string.
*
- * Convert PreFsmActionListenerType into the string.
+ * Convert FsmProfileListenerType into the string.
*
- * @param type The target PreFsmActionListenerType for transformation
- *
+ * @param type The target FsmProfileListenerType for transformation
* @return Trnasformation result of string representation
*
* @endif
*/
- static const char* toString(FsmStructureActionListenerType type)
+ static const char* toString(FsmProfileListenerType type)
{
static const char* typeString[] =
{
- "ADD_PORT",
- "REMOVE_PORT",
- "FSM_STRUCTURE_ACTION_LISTENER_NUM"
+ "SET_FSM_PROFILE",
+ "GET_FSM_PROFILE",
+ "ADD_FSM_STATE",
+ "REMOVE_FSM_STATE",
+ "ADD_FSM_TRANSITION",
+ "REMOVE_FSM_TRANSITION",
+ "BIND_FSM_EVENT",
+ "UNBIND_FSM_EVENT",
+ "FSM_PROFILE_LISTENER_NUM"
};
- if (type < FSM_STRUCTURE_ACTION_LISTENER_NUM) { return typeString[type]; }
+ if (type < FSM_PROFILE_LISTENER_NUM) { return typeString[type]; }
return "";
}
@@ -379,34 +415,139 @@
* @brief Destructor
* @endif
*/
- virtual ~FsmStructureActionListener();
+ virtual ~FsmProfileListener();
/*!
* @if jp
*
* @brief 仮想コールバック関数
*
- * FsmStructureActionListener のコールバック関数
+ * FsmProfileListener のコールバック関数
*
* @else
*
* @brief Virtual Callback function
*
- * This is a the Callback function for FsmStructureActionListener
+ * This is a the Callback function for FsmProfileListener
*
* @endif
*/
- virtual void operator()(const ::RTC::FsmStructure& pprof) = 0;
+ virtual void operator()(const ::RTC::FsmProfile& fsmprof) = 0;
};
+ //============================================================
+ /*!
+ * @if jp
+ * @brief FsmStructureListener のタイプ
+ *
+ * - SET_FSM_STRUCTURE: FSM構造の設定
+ * - GET_FSM_STRUCTURE: FSM構造の取得
+ *
+ * @else
+ * @brief The types of FsmStructureListener
+ *
+ * - SET_FSM_STRUCTURE: Setting FSM structure
+ * - GET_FSM_STRUCTURE: Getting FSM structure
+ *
+ * @endif
+ */
+ enum FsmStructureListenerType
+ {
+ SET_FSM_STRUCTURE,
+ GET_FSM_STRUCTURE,
+ FSM_STRUCTURE_LISTENER_NUM
+ };
+ /*!
+ * @if jp
+ * @class FsmStructureListener クラス
+ * @brief FsmStructureListener クラス
+ *
+ * 各アクションに対応するユーザーコードが呼ばれる直前のタイミング
+ * でコールされるリスなクラスの基底クラス。
+ *
+ * @else
+ * @class FsmStructureListener class
+ * @brief FsmStructureListener class
+ *
+ * This class is abstract base class for listener classes that
+ * provides callbacks for various events in rtobject.
+ *
+ * @endif
+ */
+ class FsmStructureListener
+ {
+ public:
+ /*!
+ * @if jp
+ *
+ * @brief FsmStructureListenerType を文字列に変換
+ *
+ * FsmStructureListenerType を文字列に変換する
+ *
+ * @param type 変換対象 FsmStructureListenerType
+ *
+ * @return 文字列変換結果
+ *
+ * @else
+ *
+ * @brief Convert FsmStructureListenerType into the string.
+ *
+ * Convert FsmStructureListenerType into the string.
+ *
+ * @param type The target FsmStructureListenerType for transformation
+ *
+ * @return Trnasformation result of string representation
+ *
+ * @endif
+ */
+ static const char* toString(FsmStructureListenerType type)
+ {
+ static const char* typeString[] =
+ {
+ "SET_FSM_STRUCTURE",
+ "GET_FSM_STRUCTURE",
+ "FSM_STRUCTURE_LISTENER_NUM"
+ };
+ if (type < FSM_STRUCTURE_LISTENER_NUM) { return typeString[type]; }
+ return "";
+ }
+ /*!
+ * @if jp
+ * @brief デストラクタ
+ * @else
+ * @brief Destructor
+ * @endif
+ */
+ virtual ~FsmStructureListener();
+ /*!
+ * @if jp
+ *
+ * @brief 仮想コールバック関数
+ *
+ * FsmStructureListener のコールバック関数
+ *
+ * @else
+ *
+ * @brief Virtual Callback function
+ *
+ * This is a the Callback function for FsmStructureListener
+ *
+ * @endif
+ */
+ virtual void operator()(::RTC::FsmStructure& pprof) = 0;
+ };
+
+
//============================================================
+ // Holder classes
+ //============================================================
/*!
* @if jp
- * @class PreFsmActionListenerHolder
+ * @class PreFsmActionListenerHolder
* @brief PreFsmActionListener ホルダクラス
*
* 複数の PreFsmActionListener を保持し管理するクラス。
@@ -502,7 +643,7 @@
* @param info ConnectorInfo
* @endif
*/
- void notify(UniqueId ec_id);
+ void notify(const char* state);
private:
std::vector<Entry> m_listeners;
@@ -609,7 +750,7 @@
* @param cdrdata Data
* @endif
*/
- void notify(UniqueId ec_id, ReturnCode_t ret);
+ void notify(const char* state, ReturnCode_t ret);
private:
std::vector<Entry> m_listeners;
@@ -620,23 +761,23 @@
//============================================================
/*!
* @if jp
- * @class FsmStructureActionListenerHolder
- * @brief FsmStructureActionListener ホルダクラス
+ * @class FsmProfileListenerHolder
+ * @brief FsmProfileListener ホルダクラス
*
- * 複数の FsmStructureActionListener を保持し管理するクラス。
+ * 複数の FsmProfileListener を保持し管理するクラス。
*
* @else
- * @class FsmStructureActionListenerHolder
- * @brief FsmStructureActionListener holder class
+ * @class FsmProfileListenerHolder
+ * @brief FsmProfileListener holder class
*
* This class manages one ore more instances of
- * FsmStructureActionListener class.
+ * FsmProfileListener class.
*
* @endif
*/
- class FsmStructureActionListenerHolder
+ class FsmProfileListenerHolder
{
- typedef std::pair<FsmStructureActionListener*, bool> Entry;
+ typedef std::pair<FsmProfileListener*, bool> Entry;
typedef coil::Guard<coil::Mutex> Guard;
public:
/*!
@@ -646,7 +787,7 @@
* @brief Constructor
* @endif
*/
- FsmStructureActionListenerHolder();
+ FsmProfileListenerHolder();
/*!
* @if jp
* @brief デストラクタ
@@ -654,8 +795,8 @@
* @brief Destructor
* @endif
*/
- virtual ~FsmStructureActionListenerHolder();
-
+ virtual ~FsmProfileListenerHolder();
+
/*!
* @if jp
*
@@ -670,15 +811,15 @@
*
* @brief Add the listener.
*
- * This method adds the listener.
+ * This method adds the listener.
*
* @param listener Added listener
* @param autoclean true:The listener is deleted at the destructor.,
- * false:The listener is not deleted at the destructor.
+ * false:The listener is not deleted at the destructor.
* @endif
*/
- void addListener(FsmStructureActionListener* listener, bool autoclean);
-
+ void addListener(FsmProfileListener* listener, bool autoclean);
+
/*!
* @if jp
*
@@ -689,15 +830,15 @@
* @param listener 削除するリスナ
* @else
*
- * @brief Remove the listener.
+ * @brief Remove the listener.
*
- * This method removes the listener.
+ * This method removes the listener.
*
* @param listener Removed listener
* @endif
*/
- void removeListener(FsmStructureActionListener* listener);
-
+ void removeListener(FsmProfileListener* listener);
+
/*!
* @if jp
*
@@ -717,8 +858,8 @@
* @param cdrdata Data
* @endif
*/
- void notify(const RTC::FsmStructure& structure);
-
+ void notify(RTC::FsmProfile& profile);
+
private:
std::vector<Entry> m_listeners;
coil::Mutex m_mutex;
@@ -726,6 +867,113 @@
/*!
* @if jp
+ * @class FsmStructureListenerHolder
+ * @brief FsmStructureListener ホルダクラス
+ *
+ * 複数の FsmStructureListener を保持し管理するクラス。
+ *
+ * @else
+ * @class FsmStructureListenerHolder
+ * @brief FsmStructureListener holder class
+ *
+ * This class manages one ore more instances of
+ * FsmStructureListener class.
+ *
+ * @endif
+ */
+ class FsmStructureListenerHolder
+ {
+ typedef std::pair<FsmStructureListener*, bool> Entry;
+ typedef coil::Guard<coil::Mutex> Guard;
+ public:
+ /*!
+ * @if jp
+ * @brief コンストラクタ
+ * @else
+ * @brief Constructor
+ * @endif
+ */
+ FsmStructureListenerHolder();
+ /*!
+ * @if jp
+ * @brief デストラクタ
+ * @else
+ * @brief Destructor
+ * @endif
+ */
+ virtual ~FsmStructureListenerHolder();
+
+ /*!
+ * @if jp
+ *
+ * @brief リスナーの追加
+ *
+ * リスナーを追加する。
+ *
+ * @param listener 追加するリスナ
+ * @param autoclean true:デストラクタで削除する,
+ * false:デストラクタで削除しない
+ * @else
+ *
+ * @brief Add the listener.
+ *
+ * This method adds the listener.
+ *
+ * @param listener Added listener
+ * @param autoclean true:The listener is deleted at the destructor.,
+ * false:The listener is not deleted at the destructor.
+ * @endif
+ */
+ void addListener(FsmStructureListener* listener, bool autoclean);
+
+ /*!
+ * @if jp
+ *
+ * @brief リスナーの削除
+ *
+ * リスナを削除する。
+ *
+ * @param listener 削除するリスナ
+ * @else
+ *
+ * @brief Remove the listener.
+ *
+ * This method removes the listener.
+ *
+ * @param listener Removed listener
+ * @endif
+ */
+ void removeListener(FsmStructureListener* listener);
+
+ /*!
+ * @if jp
+ *
+ * @brief リスナーへ通知する
+ *
+ * 登録されているリスナのコールバックメソッドを呼び出す。
+ *
+ * @param info ConnectorInfo
+ * @param cdrdata データ
+ * @else
+ *
+ * @brief Notify listeners.
+ *
+ * This calls the Callback method of the registered listener.
+ *
+ * @param info ConnectorInfo
+ * @param cdrdata Data
+ * @endif
+ */
+ void notify(RTC::FsmStructure& structure);
+
+ private:
+ std::vector<Entry> m_listeners;
+ coil::Mutex m_mutex;
+ };
+
+ //============================================================
+ /*!
+ * @if jp
* @class FsmActionListeners
* @brief FsmActionListeners クラス
*
@@ -764,18 +1012,28 @@
postaction_[POST_FSM_ACTION_LISTENER_NUM];
/*!
* @if jp
- * @brief FsmStructureActionTypeリスナ配列
- * FsmStructureActionTypeリスナを格納
+ * @brief FsmProfileTypeリスナ配列
+ * FsmProfileTypeリスナを格納
* @else
- * @brief FsmStructureActionType listener array
- * The FsmStructureActionType listener is stored.
+ * @brief FsmProfileType listener array
+ * The FsmProfileType listener is stored.
* @endif
*/
- FsmStructureActionListenerHolder
- portaction_[FSM_STRUCTURE_ACTION_LISTENER_NUM];
+ FsmProfileListenerHolder
+ profile_[FSM_PROFILE_LISTENER_NUM];
+ /*!
+ * @if jp
+ * @brief FsmStructureTypeリスナ配列
+ * FsmStructureTypeリスナを格納
+ * @else
+ * @brief FsmStructureType listener array
+ * The FsmStructureType listener is stored.
+ * @endif
+ */
+ FsmStructureListenerHolder
+ structure_[FSM_STRUCTURE_LISTENER_NUM];
};
-
}; // namespace RTC
#endif // RTC_FSMACTIONLISTENER_H
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