[openrtm-commit:02079] r2789 - in branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer: . test test/idl
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2016年 10月 27日 (木) 00:47:26 JST
Author: n-ando
Date: 2016-10-27 00:47:26 +0900 (Thu, 27 Oct 2016)
New Revision: 2789
Added:
branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/idl/
branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/idl/ComponentObserver.idl
branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/idl/Makefile
branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/idl/SDOPackage.idl
branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/observer.py
branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/rtc.conf
Modified:
branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/ComponentObserverConsumer.cpp
branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/ComponentObserverConsumer.h
branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/test.sh
Log:
[FSM4RTC,ext,example] Now component observer is connected to the FSM state change operation.
Modified: branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/ComponentObserverConsumer.cpp
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/ComponentObserverConsumer.cpp 2016-10-26 15:32:34 UTC (rev 2788)
+++ branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/ComponentObserverConsumer.cpp 2016-10-26 15:47:26 UTC (rev 2789)
@@ -763,6 +763,10 @@
*/
void ComponentObserverConsumer::setFSMStructureListeners()
{
+ m_fsmaction.fsmActionListener =
+ m_rtobj->addPreFsmActionListener(PRE_ON_STATE_CHANGE,
+ m_fsmaction,
+ &FSMAction::updateFsmStatus);
}
/*!
Modified: branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/ComponentObserverConsumer.h
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/ComponentObserverConsumer.h 2016-10-26 15:32:34 UTC (rev 2788)
+++ branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/ComponentObserverConsumer.h 2016-10-26 15:47:26 UTC (rev 2789)
@@ -26,6 +26,7 @@
#include <rtm/SdoServiceConsumerBase.h>
#include <rtm/CorbaConsumer.h>
#include <rtm/ComponentActionListener.h>
+#include <rtm/FsmActionListener.h>
#include <rtm/idl/SDOPackageStub.h>
#include "ComponentObserverStub.h"
@@ -625,8 +626,14 @@
FSMAction(ComponentObserverConsumer& coc)
: m_coc(coc) {}
// Action callback functions here
+ void updateFsmStatus(const char* state)
+ {
+ std::cout << "ComponentObserver::updateFsmStatus(" << state << ")" << std::endl;
+ m_coc.updateStatus(RTC::FSM_STATUS, state);
+ }
// Listener object's pointer holder
+ PreFsmActionListener* fsmActionListener;
private:
ComponentObserverConsumer& m_coc;
Added: branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/idl/ComponentObserver.idl
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/idl/ComponentObserver.idl (rev 0)
+++ branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/idl/ComponentObserver.idl 2016-10-26 15:47:26 UTC (rev 2789)
@@ -0,0 +1,36 @@
+#ifndef _COMPONENT_OBSERVER_IDL_
+#define _COMPONENT_OBSERVER_IDL_
+
+#include <SDOPackage.idl>
+
+#pragma prefix "omg.org"
+
+module RTC
+{
+ enum StatusKind
+ {
+ COMPONENT_PROFILE,
+ RTC_STATUS,
+ EC_STATUS,
+ PORT_PROFILE,
+ CONFIGURATION,
+ RTC_HEARTBEAT,
+ EC_HEARTBEAT,
+ FSM_PROFILE,
+ FSM_STATUS,
+ FSM_STRUCTURE,
+ USER_DEFINED,
+ STATUS_KIND_NUM
+ };
+ #pragma version StatusKind 1.0
+
+ interface ComponentObserver : SDOPackage::SDOService
+ {
+ oneway void update_status(in StatusKind status_kind,
+ in string hint);
+ };
+ #pragma version ComponentObserver 1.0
+};
+
+#endif // _COMPONENT_OBSERVER_IDL_
+
Added: branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/idl/Makefile
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/idl/Makefile (rev 0)
+++ branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/idl/Makefile 2016-10-26 15:47:26 UTC (rev 2789)
@@ -0,0 +1,10 @@
+all:
+ touch __init__.py
+ omniidl -bpython -I. SDOPackage.idl
+ omniidl -bpython -I. ComponentObserver.idl
+
+clean:
+ rm -f *.py *.pyc
+ rm -rf SDOPackage SDOPackage__POA
+ rm -rf RTC RTC__POA
+
Added: branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/idl/SDOPackage.idl
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/idl/SDOPackage.idl (rev 0)
+++ branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/idl/SDOPackage.idl 2016-10-26 15:47:26 UTC (rev 2789)
@@ -0,0 +1,296 @@
+//Platform Independent Model (PIM) and Platform Specific Model (PSM)
+//for Super Distributed Objects (SDO) Specification, v1.1 - OMG IDL Summary File
+//Object Management Group, Inc.
+//Copyright (c) 2003, Fraunhofer FOKUS
+//Copyright (c) 2003, Hitachi, Ltd.
+//The companies listed above have granted to the Object Management Group, Inc.
+//(OMG) a nonexclusive, royalty-free, paid up, worldwide license to copy and
+//distribute this document and to modify this document and distribute copies of
+//the modified version. Each of the copyright holders listed above has agreed
+//that no person shall be deemed to have infringed the copyright in the included
+//material of any such copyright holder by reason of having used the
+//specification set forth herein or having conformed any computer software to
+//the specification.
+//
+//This file contains OMG IDL from the Naming Service Specification, v1.2.
+//OMG regularly publishes a summary file that contains all the "code" parts of
+//an OMG formal document. Every formal document line that is IDL, PIDL, or
+//language code is included in the summary file. The reason for such a listing
+//is to give readers an electronic version of the "code" so that they can
+//extract pieces of it. Readers might want to test an example, include it in
+//their own code, or use it for documentation purposes. Having the code lines
+//available electronically means there is less likelihood of a transcription
+//error.
+//
+// ver 1.0 formal/2004-11-02
+// ver 1.1 (RTF report: dtc/2008-03-05)
+//
+//SDOPackage.idl
+
+#ifndef _SDO_PACKAGE_IDL_
+#define _SDO_PACKAGE_IDL_
+
+#ifdef TAO_IDL
+#include <orb.idl>
+#endif
+#ifdef USE_MONITORING
+#include <CosNotifyComm.idl>
+#endif
+
+/** CORBA specific model for SDOs */
+
+#pragma prefix "org.omg"
+#define exception_body { string description; }
+
+module SDOPackage
+{
+ interface SDO;
+ interface SDOService;
+ interface SDOSystemElement;
+ interface Configuration;
+ interface Monitoring;
+ interface Organization;
+
+ /** ------- Data Types -------*/
+ typedef sequence<string> StringList;
+ typedef sequence<SDO> SDOList;
+ typedef sequence<Organization> OrganizationList;
+ typedef string UniqueIdentifier;
+
+ struct NameValue
+ {
+ string name;
+ any value;
+ };
+
+ typedef sequence<NameValue> NVList;
+
+ enum NumericType
+ {
+ SHORT_TYPE,
+ LONG_TYPE,
+ FLOAT_TYPE,
+ DOUBLE_TYPE
+ };
+
+ union Numeric switch (NumericType)
+ {
+ case SHORT_TYPE: short short_value;
+ case LONG_TYPE: long long_value;
+ case FLOAT_TYPE: float float_value;
+ case DOUBLE_TYPE: double double_value;
+ };
+
+ struct EnumerationType
+ {
+ StringList enumerated_values;
+ };
+
+ struct RangeType
+ {
+ Numeric min;
+ Numeric max;
+ boolean min_inclusive;
+ boolean max_inclusive;
+ };
+
+ struct IntervalType
+ {
+ Numeric min;
+ Numeric max;
+ boolean min_inclusive;
+ boolean max_inclusive;
+ Numeric step;
+ };
+
+ enum ComplexDataType
+ {
+ ENUMERATION, RANGE, INTERVAL
+ };
+
+ union AllowedValues switch (ComplexDataType)
+ {
+ case ENUMERATION: EnumerationType allowed_enum;
+ case INTERVAL: IntervalType allowed_interval;
+ case RANGE: RangeType allowed_range;
+ };
+
+ struct Parameter
+ {
+ string name;
+#ifdef __ORBIT_IDL__
+ TypeCode type;
+#else
+ CORBA::TypeCode type;
+#endif
+ AllowedValues allowed_values;
+ };
+
+ typedef sequence<Parameter> ParameterList;
+ struct OrganizationProperty
+ {
+ NVList properties;
+ };
+ enum DependencyType
+ {
+ OWN,
+ OWNED,
+ NO_DEPENDENCY
+ };
+
+ struct DeviceProfile
+ {
+ string device_type;
+ string manufacturer;
+ string model;
+ string version;
+ NVList properties;
+ };
+
+ struct ServiceProfile
+ {
+ string id;
+ string interface_type;
+ NVList properties;
+ SDOService service;
+ };
+
+ typedef sequence <ServiceProfile> ServiceProfileList;
+ struct ConfigurationSet
+ {
+ string id;
+ string description;
+ NVList configuration_data;
+ };
+
+ typedef sequence<ConfigurationSet> ConfigurationSetList;
+
+
+ /** ------- Exceptions -------*/
+ exception NotAvailable exception_body;
+ exception InterfaceNotImplemented exception_body;
+ exception InvalidParameter exception_body;
+ exception InternalError exception_body;
+
+ /** ------- Interfaces -------*/
+ interface SDOSystemElement
+ {
+ OrganizationList get_owned_organizations()
+ raises (NotAvailable,InternalError);
+ };
+ interface SDO : SDOSystemElement
+ {
+ UniqueIdentifier get_sdo_id()
+ raises (NotAvailable, InternalError);
+ string get_sdo_type()
+ raises (NotAvailable, InternalError);
+ DeviceProfile get_device_profile ()
+ raises (NotAvailable, InternalError);
+ ServiceProfileList get_service_profiles ()
+ raises (NotAvailable, InternalError);
+ ServiceProfile get_service_profile (in UniqueIdentifier id)
+ raises (InvalidParameter, NotAvailable, InternalError);
+ SDOService get_sdo_service (in UniqueIdentifier id)
+ raises (InvalidParameter, NotAvailable, InternalError);
+ Configuration get_configuration ()
+ raises (InterfaceNotImplemented, NotAvailable, InternalError);
+ Monitoring get_monitoring ()
+ raises (InterfaceNotImplemented, NotAvailable, InternalError);
+ OrganizationList get_organizations ()
+ raises (NotAvailable, InternalError);
+ NVList get_status_list ()
+ raises (NotAvailable, InternalError);
+ any get_status (in string nme)
+ raises (InvalidParameter, NotAvailable, InternalError);
+ };
+
+
+ interface Configuration
+ {
+ boolean set_device_profile (in DeviceProfile dProfile)
+ raises (InvalidParameter, NotAvailable, InternalError);
+ boolean add_service_profile (in ServiceProfile sProfile)
+ raises (InvalidParameter, NotAvailable, InternalError);
+ boolean add_organization (in Organization organization_object)
+ raises (InvalidParameter, NotAvailable, InternalError);
+ boolean remove_service_profile (in UniqueIdentifier id)
+ raises (InvalidParameter, NotAvailable, InternalError);
+ boolean remove_organization (in UniqueIdentifier organization_id)
+ raises (InvalidParameter, NotAvailable, InternalError);
+ ParameterList get_configuration_parameters ()
+ raises (NotAvailable, InternalError);
+ NVList get_configuration_parameter_values ()
+ raises (NotAvailable, InternalError);
+ any get_configuration_parameter_value (in string name)
+ raises (InvalidParameter, NotAvailable, InternalError);
+ boolean set_configuration_parameter (in string name,
+ in any value)
+ raises (InvalidParameter, NotAvailable, InternalError);
+ ConfigurationSetList get_configuration_sets ()
+ raises (NotAvailable, InternalError);
+ ConfigurationSet get_configuration_set (in UniqueIdentifier config_id)
+ raises (NotAvailable, InternalError);
+ boolean set_configuration_set_values (in ConfigurationSet configuration_set)
+ raises (InvalidParameter, NotAvailable, InternalError);
+ ConfigurationSet get_active_configuration_set ()
+ raises (NotAvailable, InternalError);
+ boolean add_configuration_set (in ConfigurationSet configuration_set)
+ raises (InvalidParameter, NotAvailable, InternalError);
+ boolean remove_configuration_set (in UniqueIdentifier config_id)
+ raises (InvalidParameter, NotAvailable, InternalError);
+ boolean activate_configuration_set (in UniqueIdentifier config_id)
+ raises (InvalidParameter, NotAvailable, InternalError);
+ };
+
+
+#ifdef USE_MONITORING
+ interface Monitoring : CosNotifyComm::StructuredPushConsumer,
+ CosNotifyComm::StructuredPushSupplier
+ {
+ any get_monitoring_parameter_value (in string name)
+ raises (InvalidParameter, NotAvailable, InternalError);
+ ParameterList get_monitoring_parameters ()
+ raises (NotAvailable, InternalError);
+ NVList get_monitoring_parameter_values ()
+ raises (NotAvailable, InternalError);
+ };
+#else
+ interface Monitoring {};
+#endif
+
+ interface SDOService {};
+
+ interface Organization
+ {
+ UniqueIdentifier get_organization_id ()
+ raises (InvalidParameter, NotAvailable, InternalError);
+ OrganizationProperty get_organization_property ()
+ raises (NotAvailable, InternalError);
+ any get_organization_property_value (in string name)
+ raises (InvalidParameter, NotAvailable, InternalError);
+ boolean add_organization_property (in OrganizationProperty organization_property)
+ raises (InvalidParameter, NotAvailable, InternalError);
+ boolean set_organization_property_value (in string name,
+ in any value)
+ raises (InvalidParameter, NotAvailable, InternalError);
+ boolean remove_organization_property ( in string name )
+ raises (InvalidParameter, NotAvailable, InternalError);
+ SDOSystemElement get_owner ()
+ raises (NotAvailable, InternalError);
+ boolean set_owner (in SDOSystemElement sdo)
+ raises (InvalidParameter, NotAvailable, InternalError);
+ SDOList get_members ()
+ raises (NotAvailable, InternalError);
+ boolean set_members (in SDOList sdos)
+ raises (InvalidParameter, NotAvailable, InternalError);
+ boolean add_members ( in SDOList sdo_list)
+ raises (InvalidParameter, NotAvailable, InternalError);
+ boolean remove_member (in UniqueIdentifier id)
+ raises (InvalidParameter, NotAvailable, InternalError);
+ DependencyType get_dependency()
+ raises (NotAvailable, InternalError);
+ boolean set_dependency (in DependencyType dependency)
+ raises (NotAvailable, InternalError);
+ };
+};
+#endif //_SDO_PACKAGE_IDL_
Added: branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/observer.py
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/observer.py (rev 0)
+++ branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/observer.py 2016-10-26 15:47:26 UTC (rev 2789)
@@ -0,0 +1,60 @@
+#!/usr/bin/env python
+# -*- Python -*-
+# -*- coding: utf-8 -*-
+
+#import sys
+#sys.path = sys.path
+
+import idl
+import RTC__POA
+import idl.ComponentObserver_idl
+import SDOPackage
+from omniORB import CORBA, PortableServer, any
+import omniORB
+import sys
+import uuid
+
+def dict_to_nvlist(dict):
+ '''Convert a dictionary into a CORBA namevalue list.'''
+ result = []
+ for item in list(dict.keys()):
+ result.append(SDOPackage.NameValue(item, omniORB.any.to_any(dict[item])))
+ return result
+
+class RTCObserver(RTC__POA.ComponentObserver):
+ def __init__(self):
+ pass
+
+ def update_status(self, kind, hint):
+ kind = str(kind)
+ print "kind: " + kind + " hint: " + hint
+
+
+orb = CORBA.ORB_init(sys.argv, CORBA.ORB_ID)
+poa = orb.resolve_initial_references("RootPOA")
+poa._get_the_POAManager().activate()
+
+fd = open("comp.ior", "r")
+ior = fd.readline()
+fd.close()
+
+print ior
+
+obj = orb.string_to_object(ior)
+sdo = obj._narrow(SDOPackage.SDO)
+conf = sdo.get_configuration()
+
+obs = RTCObserver()
+uuid_val = uuid.uuid4().get_bytes()
+intf_type = obs._this()._NP_RepositoryId
+props = dict_to_nvlist({'heartbeat.enable': 'YES',
+ 'heartbeat.interval': '1.0',
+ 'observed_status': 'ALL'})
+
+sprof = SDOPackage.ServiceProfile(id=uuid_val,
+ interface_type=intf_type,
+ service=obs._this(),
+ properties=props)
+res = conf.add_service_profile(sprof)
+orb.run()
+print res
Property changes on: branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/observer.py
___________________________________________________________________
Added: svn:executable
+ *
Added: branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/rtc.conf
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/rtc.conf (rev 0)
+++ branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/rtc.conf 2016-10-26 15:47:26 UTC (rev 2789)
@@ -0,0 +1,12 @@
+logger.enable: YES
+logger.log_level: TRACE
+naming.formats: comp.ior
+
+manager.local_service.org.openrtm.local_service.nameservice.file_nameservice.base_path: ./
+manager.local_service.org.openrtm.local_service.nameservice.file_nameservice.file_structure: flat
+manager.local_service.org.openrtm.local_service.nameservice.file_nameservice.context_delimiter: .
+
+manager.local_service.modules: \
+ ../.libs/ComponentObserverConsumer.so(ComponentObserverConsumerInit), \
+ ../../../local_service/nameservice_file/.libs/FileNameservice.so(FileNameserviceInit)
+
Modified: branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/test.sh
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/test.sh 2016-10-26 15:32:34 UTC (rev 2788)
+++ branches/FSM4RTC/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/test/test.sh 2016-10-26 15:47:26 UTC (rev 2789)
@@ -1,4 +1,5 @@
#!/bin/sh
rm *.log
-../../../../../examples/SimpleIO/ConsoleInComp -o "logger.log_level:DEBUG" -o "manager.local_service.modules:../.libs/ComponentObserverConsumer.so(ComponentObserverConsumerInit)"
+../../../../../examples/Fsm/FsmComp -f ./rtc.conf
+
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