[openrtm-commit:03013] r3141 - in trunk/OpenRTM-aist/src/ext/sdo: extended_fsm logger

openrtm ＠ openrtm.org openrtm ＠ openrtm.org
2017年 12月 13日 (水) 15:34:49 JST 

Author: n-ando
Date: 2017-12-13 15:34:49 +0900 (Wed, 13 Dec 2017)
New Revision: 3141

Modified:
   trunk/OpenRTM-aist/src/ext/sdo/extended_fsm/ExtendedFsmServiceProvider.cpp
   trunk/OpenRTM-aist/src/ext/sdo/extended_fsm/ExtendedFsmServiceProvider.h
   trunk/OpenRTM-aist/src/ext/sdo/logger/LoggerConsumer.h
Log:
[compat,encoding] Encoding of some files have been changed.

Modified: trunk/OpenRTM-aist/src/ext/sdo/extended_fsm/ExtendedFsmServiceProvider.cpp
===================================================================
--- trunk/OpenRTM-aist/src/ext/sdo/extended_fsm/ExtendedFsmServiceProvider.cpp	2017-12-13 00:24:11 UTC (rev 3140)
+++ trunk/OpenRTM-aist/src/ext/sdo/extended_fsm/ExtendedFsmServiceProvider.cpp	2017-12-13 06:34:49 UTC (rev 3141)
@@ -1,326 +1,326 @@
-// -*- C++ -*-
-/*!
- * @file ExtendedFsmServiceProvider.h
- * @brief Component observer SDO service consumer implementation
- * @date $Date$
- * @author Noriaki Ando <n-ando at aist.go.jp>
- *
- * Copyright (C) 2016
- *     Noriaki Ando
- *     Robot Innovation Research Center,
- *     National Institute of
- *         Advanced Industrial Science and Technology (AIST), Japan
- *     All rights reserved.
- *
- * $Id$
- *
- */
-
-#include <coil/stringutil.h>
-#include <rtm/Typename.h>
-#include <rtm/idl/ExtendedFsmServiceStub.h>
-#include "ExtendedFsmServiceProvider.h"
-#include <iostream>
-
-namespace RTC
-{
-  /*!
-   * @if jp
-   * @brief ctor of ExtendedFsmServiceProvider
-   * @else
-   * @brief ctor of ExtendedFsmServiceProvider
-   * @endif
-   */
-  ExtendedFsmServiceProvider::ExtendedFsmServiceProvider()
-    : m_rtobj(NULL)
-  {
-    std::cout << "ExtendedFsmServiceProvider()" << std::endl;
-
-    // dummy code
-    m_fsmStructure.name = CORBA::string_dup("dummy_name");
-    m_fsmStructure.structure = CORBA::string_dup(
-    "<scxml xmlns=\"http://www.w3.org/2005/07/scxml\""
-    "           version=\"1.0\""
-    "           initial=\"airline-ticket\">"
-    "  <state id=\"state0\">"
-    "    <datamodel>"
-    "      <data id=\"data0\">"
-    "      </data>"
-    "    </datamodel>"
-    "    <transition event=\"toggle\" target=\"state1\" />"
-    "  </state>"
-    "  <state id=\"state1\">"
-    "    <datamodel>"
-    "      <data id=\"data1\">"
-    "      </data>"
-    "    </datamodel>"
-    "    <transition event=\"toggle\" target=\"state0\" />"
-    "  </state>"
-    " </scxml>"
-    );
-    m_fsmStructure.event_profiles.length(1);
-    FsmEventProfile event0;
-    event0.name = CORBA::string_dup("toggle");
-    event0.data_type = CORBA::string_dup("TimedShort");
-    m_fsmStructure.event_profiles[0] = event0;
-    NVUtil::appendStringValue(m_fsmStructure.properties,
-                              "fsm_structure.format",
-                              "scxml");
-    std::cout << m_fsmStructure.structure << std::endl;
-  }
-
-  /*!
-   * @if jp
-   * @brief dtor
-   * @else
-   * @brief dtor
-   * @endif
-   */
-  ExtendedFsmServiceProvider::~ExtendedFsmServiceProvider()
-  {
-  }
-
-  /*!
-   * @if jp
-   * @brief ‰Šú‰»
-   * @else
-   * @brief Initialization
-   * @endif
-   */
-  bool
-  ExtendedFsmServiceProvider::init(RTObject_impl& rtobj,
-                                   const SDOPackage::ServiceProfile& profile)
-  {
-    m_rtobj = &rtobj;
-    m_profile = profile;
-    //    coil::Properties prop;
-    //    NVUtil::copyToProperties(prop, profile.properties);
-    return true;
-  }
-
-  /*!
-   * @if jp
-   * @brief Ä‰Šú‰»
-   * @else
-   * @brief Re-initialization
-   * @endif
-   */
-  bool
-  ExtendedFsmServiceProvider::reinit(const SDOPackage::ServiceProfile& profile)
-  {
-    m_profile= profile;
-    //    coil::Properties prop;
-    //    NVUtil::copyToProperties(prop, profile.properties);
-    return true;
-  }
-
-  /*!
-   * @if jp
-   * @brief ServiceProfile ‚ðŽæ“¾‚·‚é
-   * @else
-   * @brief getting ServiceProfile
-   * @endif
-   */
-  const SDOPackage::ServiceProfile&
-  ExtendedFsmServiceProvider::getProfile() const
-  {
-    return m_profile;
-  }
-
-  /*!
-   * @if jp
-   * @brief I—¹ˆ—
-   * @else
-   * @brief Finalization
-   * @endif
-   */
-  void ExtendedFsmServiceProvider::finalize()
-  {
-  }
-
-  //============================================================
-  // CORBA operations
-  //
-  // string get_current_state();
-  // ReturnCode_t set_fsm_structure(in FsmStructure fsm_structure);
-  // ReturnCode_t get_fsm_structure(out FsmStructure fsm_structure);
-  //============================================================
-
-  /*!
-   * @if jp
-   * @brief FSM‚ÌŒ»Ý‚̏ó‘Ô‚ðŽæ“¾
-   * @else
-   * @brief Get Current FSM State
-   * @endif
-   */
-  char* ExtendedFsmServiceProvider::get_current_state()
-  {
-    return CORBA::string_dup(m_fsmState.c_str());
-  }
-
-  /*!
-   * @if jp
-   * @brief FSM‚̍\‘¢‚ðÝ’è‚·‚é
-   * @else
-   * @brief Set FSM Structure
-   * @endif
-   */
-  ReturnCode_t ExtendedFsmServiceProvider::
-  set_fsm_structure(const ::RTC::FsmStructure& fsm_structure)
-  {
-    m_fsmStructure = fsm_structure; 
-    return RTC::RTC_OK;
-  }
-
-
-  /*!
-   * @if jp
-   * @brief FSM‚̍\‘¢‚ðŽæ“¾‚·‚é
-   * @else
-   * @brief Set FSM Structure
-   * @endif
-   */
-  ReturnCode_t ExtendedFsmServiceProvider::
-  get_fsm_structure(::RTC::FsmStructure_out fsm_structure)
-  {
-    fsm_structure = new FsmStructure(m_fsmStructure);
-    return RTC::RTC_OK;
-  }
-
-
-  //============================================================
-  // protected functions
-
-  /*!
-   * @if jp
-   * @brief RTObject‚ւ̃ŠƒXƒiÚ‘±ˆ—
-   * @else
-   * @brief Connectiong listeners to RTObject
-   * @endif
-   */
-  void ExtendedFsmServiceProvider::setListeners(coil::Properties& prop)
-  {
-  }
-
-  //============================================================
-  // RTC Heartbeat related functions
-
-  /*!
-   * @if jp
-   * @brief ƒn[ƒgƒr[ƒg‚ðƒIƒuƒU[ƒo‚É“`‚¦‚é
-   * @else
-   * @brief Sending a heartbeart signal to observer
-   * @endif
-   */
-  void ExtendedFsmServiceProvider::changeStatus(std::string state)
-  {
-    m_fsmState = state;
-  }
-
-  /*!
-   * @if jp
-   * @brief ƒn[ƒgƒr[ƒg‚ðƒIƒuƒU[ƒo‚É“`‚¦‚é
-   * @else
-   * @brief Sending a heartbeart signal to observer
-   * @endif
-   */
-  void ExtendedFsmServiceProvider::changeStructure(std::string fsm_structure)
-  {
-    m_fsmStructure.structure = fsm_structure.c_str();
-  }
-
-  //============================================================
-  // FSM status related functions
-  /*!
-   * @if jp
-   * @brief RTCó‘ԕω»ƒŠƒXƒi‚̐ݒ菈—
-   * @else
-   * @brief Setting RTC status listeners
-   * @endif
-   */
-  void ExtendedFsmServiceProvider::setFSMStatusListeners()
-  {
-    // TODO: here should be inmplemented after FSM API defined.
-  }
-  
-  /*!
-   * @if jp
-   * @brief RTCó‘ԕω»ƒŠƒXƒi‚Ì‰ðœˆ—
-   * @else
-   * @brief Unsetting RTC status listeners
-   * @endif
-   */
-  void ExtendedFsmServiceProvider::unsetFSMStatusListeners()
-  {
-    // TODO: here should be inmplemented after FSM API defined.
-  }
-
-  //============================================================
-  // FsmProfile related functions
-  /*!
-   * @if jp
-   * @brief FsmProfileó‘ԕω»ƒŠƒXƒi‚̐ݒè
-   * @else
-   * @brief Setting FsmProfile listener
-   * @endif
-   */
-  void ExtendedFsmServiceProvider::setFSMProfileListeners()
-  {
-  }
-
-  /*!
-   * @if jp
-   * @brief FsmProfileó‘ԕω»ƒŠƒXƒi‚̉ðœ
-   * @else
-   * @brief Unsetting FsmProfile listener
-   * @endif
-   */
-  void ExtendedFsmServiceProvider::unsetFSMProfileListeners()
-  {
-  }
-
-  //============================================================
-  // FsmStructure related functions
-  /*!
-   * @if jp
-   * @brief FsmStructureó‘ԕω»ƒŠƒXƒi‚̐ݒè
-   * @else
-   * @brief Setting FsmStructure listener
-   * @endif
-   */
-  void ExtendedFsmServiceProvider::setFSMStructureListeners()
-  {
-  }
-
-  /*!
-   * @if jp
-   * @brief FsmStructureó‘ԕω»ƒŠƒXƒi‚̉ðœ
-   * @else
-   * @brief Unsetting FsmStructure listener
-   * @endif
-   */
-  void ExtendedFsmServiceProvider::unsetFSMStructureListeners()
-  {
-  }
-
-}; // namespace RTC
-
-extern "C"
-{
-  void ExtendedFsmServiceProviderInit()
-  {
-    RTC::SdoServiceProviderFactory& factory
-      = RTC::SdoServiceProviderFactory::instance();
-#ifndef ORB_IS_RTORB
-    factory.addFactory(CORBA_Util::toRepositoryId<RTC::ExtendedFsmService>(),
-#else
-    factory.addFactory(CORBA_Util::
-                       toRepositoryIdOfObject<RTC::ExtendedFsmService>(),
-#endif
-                       ::coil::Creator< ::RTC::SdoServiceProviderBase,
-                       ::RTC::ExtendedFsmServiceProvider>,
-                       ::coil::Destructor< ::RTC::SdoServiceProviderBase,
-                       ::RTC::ExtendedFsmServiceProvider>);
-                       std::cout << "Init()" << std::endl;
-  }
-};
+// -*- C++ -*-
+/*!
+ * @file ExtendedFsmServiceProvider.h
+ * @brief Component observer SDO service consumer implementation
+ * @date $Date$
+ * @author Noriaki Ando <n-ando at aist.go.jp>
+ *
+ * Copyright (C) 2016
+ *     Noriaki Ando
+ *     Robot Innovation Research Center,
+ *     National Institute of
+ *         Advanced Industrial Science and Technology (AIST), Japan
+ *     All rights reserved.
+ *
+ * $Id$
+ *
+ */
+
+#include <coil/stringutil.h>
+#include <rtm/Typename.h>
+#include <rtm/idl/ExtendedFsmServiceStub.h>
+#include "ExtendedFsmServiceProvider.h"
+#include <iostream>
+
+namespace RTC
+{
+  /*!
+   * @if jp
+   * @brief ctor of ExtendedFsmServiceProvider
+   * @else
+   * @brief ctor of ExtendedFsmServiceProvider
+   * @endif
+   */
+  ExtendedFsmServiceProvider::ExtendedFsmServiceProvider()
+    : m_rtobj(NULL)
+  {
+    std::cout << "ExtendedFsmServiceProvider()" << std::endl;
+
+    // dummy code
+    m_fsmStructure.name = CORBA::string_dup("dummy_name");
+    m_fsmStructure.structure = CORBA::string_dup(
+    "<scxml xmlns=\"http://www.w3.org/2005/07/scxml\""
+    "           version=\"1.0\""
+    "           initial=\"airline-ticket\">"
+    "  <state id=\"state0\">"
+    "    <datamodel>"
+    "      <data id=\"data0\">"
+    "      </data>"
+    "    </datamodel>"
+    "    <transition event=\"toggle\" target=\"state1\" />"
+    "  </state>"
+    "  <state id=\"state1\">"
+    "    <datamodel>"
+    "      <data id=\"data1\">"
+    "      </data>"
+    "    </datamodel>"
+    "    <transition event=\"toggle\" target=\"state0\" />"
+    "  </state>"
+    " </scxml>"
+    );
+    m_fsmStructure.event_profiles.length(1);
+    FsmEventProfile event0;
+    event0.name = CORBA::string_dup("toggle");
+    event0.data_type = CORBA::string_dup("TimedShort");
+    m_fsmStructure.event_profiles[0] = event0;
+    NVUtil::appendStringValue(m_fsmStructure.properties,
+                              "fsm_structure.format",
+                              "scxml");
+    std::cout << m_fsmStructure.structure << std::endl;
+  }
+
+  /*!
+   * @if jp
+   * @brief dtor
+   * @else
+   * @brief dtor
+   * @endif
+   */
+  ExtendedFsmServiceProvider::~ExtendedFsmServiceProvider()
+  {
+  }
+
+  /*!
+   * @if jp
+   * @brief ½é´ü²½
+   * @else
+   * @brief Initialization
+   * @endif
+   */
+  bool
+  ExtendedFsmServiceProvider::init(RTObject_impl& rtobj,
+                                   const SDOPackage::ServiceProfile& profile)
+  {
+    m_rtobj = &rtobj;
+    m_profile = profile;
+    //    coil::Properties prop;
+    //    NVUtil::copyToProperties(prop, profile.properties);
+    return true;
+  }
+
+  /*!
+   * @if jp
+   * @brief ºÆ½é´ü²½
+   * @else
+   * @brief Re-initialization
+   * @endif
+   */
+  bool
+  ExtendedFsmServiceProvider::reinit(const SDOPackage::ServiceProfile& profile)
+  {
+    m_profile= profile;
+    //    coil::Properties prop;
+    //    NVUtil::copyToProperties(prop, profile.properties);
+    return true;
+  }
+
+  /*!
+   * @if jp
+   * @brief ServiceProfile ¤ò¼èÆÀ¤¹¤ë
+   * @else
+   * @brief getting ServiceProfile
+   * @endif
+   */
+  const SDOPackage::ServiceProfile&
+  ExtendedFsmServiceProvider::getProfile() const
+  {
+    return m_profile;
+  }
+
+  /*!
+   * @if jp
+   * @brief ½ªÎ»½èÍý
+   * @else
+   * @brief Finalization
+   * @endif
+   */
+  void ExtendedFsmServiceProvider::finalize()
+  {
+  }
+
+  //============================================================
+  // CORBA operations
+  //
+  // string get_current_state();
+  // ReturnCode_t set_fsm_structure(in FsmStructure fsm_structure);
+  // ReturnCode_t get_fsm_structure(out FsmStructure fsm_structure);
+  //============================================================
+
+  /*!
+   * @if jp
+   * @brief FSM¤Î¸½ºß¤Î¾õÂÖ¤ò¼èÆÀ
+   * @else
+   * @brief Get Current FSM State
+   * @endif
+   */
+  char* ExtendedFsmServiceProvider::get_current_state()
+  {
+    return CORBA::string_dup(m_fsmState.c_str());
+  }
+
+  /*!
+   * @if jp
+   * @brief FSM¤Î¹½Â¤¤òÀßÄꤹ¤ë
+   * @else
+   * @brief Set FSM Structure
+   * @endif
+   */
+  ReturnCode_t ExtendedFsmServiceProvider::
+  set_fsm_structure(const ::RTC::FsmStructure& fsm_structure)
+  {
+    m_fsmStructure = fsm_structure; 
+    return RTC::RTC_OK;
+  }
+
+
+  /*!
+   * @if jp
+   * @brief FSM¤Î¹½Â¤¤ò¼èÆÀ¤¹¤ë
+   * @else
+   * @brief Set FSM Structure
+   * @endif
+   */
+  ReturnCode_t ExtendedFsmServiceProvider::
+  get_fsm_structure(::RTC::FsmStructure_out fsm_structure)
+  {
+    fsm_structure = new FsmStructure(m_fsmStructure);
+    return RTC::RTC_OK;
+  }
+
+
+  //============================================================
+  // protected functions
+
+  /*!
+   * @if jp
+   * @brief RTObject¤Ø¤Î¥ê¥¹¥ÊÀܳ½èÍý
+   * @else
+   * @brief Connectiong listeners to RTObject
+   * @endif
+   */
+  void ExtendedFsmServiceProvider::setListeners(coil::Properties& prop)
+  {
+  }
+
+  //============================================================
+  // RTC Heartbeat related functions
+
+  /*!
+   * @if jp
+   * @brief ¥Ï¡¼¥È¥Ó¡¼¥È¤ò¥ª¥Ö¥¶¡¼¥Ð¤ËÅÁ¤¨¤ë
+   * @else
+   * @brief Sending a heartbeart signal to observer
+   * @endif
+   */
+  void ExtendedFsmServiceProvider::changeStatus(std::string state)
+  {
+    m_fsmState = state;
+  }
+
+  /*!
+   * @if jp
+   * @brief ¥Ï¡¼¥È¥Ó¡¼¥È¤ò¥ª¥Ö¥¶¡¼¥Ð¤ËÅÁ¤¨¤ë
+   * @else
+   * @brief Sending a heartbeart signal to observer
+   * @endif
+   */
+  void ExtendedFsmServiceProvider::changeStructure(std::string fsm_structure)
+  {
+    m_fsmStructure.structure = fsm_structure.c_str();
+  }
+
+  //============================================================
+  // FSM status related functions
+  /*!
+   * @if jp
+   * @brief RTC¾õÂÖÊѲ½¥ê¥¹¥Ê¤ÎÀßÄê½èÍý
+   * @else
+   * @brief Setting RTC status listeners
+   * @endif
+   */
+  void ExtendedFsmServiceProvider::setFSMStatusListeners()
+  {
+    // TODO: here should be inmplemented after FSM API defined.
+  }
+  
+  /*!
+   * @if jp
+   * @brief RTC¾õÂÖÊѲ½¥ê¥¹¥Ê¤Î²ò½ü½èÍý
+   * @else
+   * @brief Unsetting RTC status listeners
+   * @endif
+   */
+  void ExtendedFsmServiceProvider::unsetFSMStatusListeners()
+  {
+    // TODO: here should be inmplemented after FSM API defined.
+  }
+
+  //============================================================
+  // FsmProfile related functions
+  /*!
+   * @if jp
+   * @brief FsmProfile¾õÂÖÊѲ½¥ê¥¹¥Ê¤ÎÀßÄê
+   * @else
+   * @brief Setting FsmProfile listener
+   * @endif
+   */
+  void ExtendedFsmServiceProvider::setFSMProfileListeners()
+  {
+  }
+
+  /*!
+   * @if jp
+   * @brief FsmProfile¾õÂÖÊѲ½¥ê¥¹¥Ê¤Î²ò½ü
+   * @else
+   * @brief Unsetting FsmProfile listener
+   * @endif
+   */
+  void ExtendedFsmServiceProvider::unsetFSMProfileListeners()
+  {
+  }
+
+  //============================================================
+  // FsmStructure related functions
+  /*!
+   * @if jp
+   * @brief FsmStructure¾õÂÖÊѲ½¥ê¥¹¥Ê¤ÎÀßÄê
+   * @else
+   * @brief Setting FsmStructure listener
+   * @endif
+   */
+  void ExtendedFsmServiceProvider::setFSMStructureListeners()
+  {
+  }
+
+  /*!
+   * @if jp
+   * @brief FsmStructure¾õÂÖÊѲ½¥ê¥¹¥Ê¤Î²ò½ü
+   * @else
+   * @brief Unsetting FsmStructure listener
+   * @endif
+   */
+  void ExtendedFsmServiceProvider::unsetFSMStructureListeners()
+  {
+  }
+
+}; // namespace RTC
+
+extern "C"
+{
+  void ExtendedFsmServiceProviderInit()
+  {
+    RTC::SdoServiceProviderFactory& factory
+      = RTC::SdoServiceProviderFactory::instance();
+#ifndef ORB_IS_RTORB
+    factory.addFactory(CORBA_Util::toRepositoryId<RTC::ExtendedFsmService>(),
+#else
+    factory.addFactory(CORBA_Util::
+                       toRepositoryIdOfObject<RTC::ExtendedFsmService>(),
+#endif
+                       ::coil::Creator< ::RTC::SdoServiceProviderBase,
+                       ::RTC::ExtendedFsmServiceProvider>,
+                       ::coil::Destructor< ::RTC::SdoServiceProviderBase,
+                       ::RTC::ExtendedFsmServiceProvider>);
+                       std::cout << "Init()" << std::endl;
+  }
+};

Modified: trunk/OpenRTM-aist/src/ext/sdo/extended_fsm/ExtendedFsmServiceProvider.h
===================================================================
--- trunk/OpenRTM-aist/src/ext/sdo/extended_fsm/ExtendedFsmServiceProvider.h	2017-12-13 00:24:11 UTC (rev 3140)
+++ trunk/OpenRTM-aist/src/ext/sdo/extended_fsm/ExtendedFsmServiceProvider.h	2017-12-13 06:34:49 UTC (rev 3141)
@@ -1,310 +1,310 @@
-// -*- C++ -*-
-/*!
- * @file ExtendedFsmServiceProvider.h
- * @brief Component observer SDO service consumer implementation
- * @date $Date$
- * @author Noriaki Ando <n-ando at aist.go.jp>
- *
- * Copyright (C) 2016
- *     Noriaki Ando
- *     Intelligent Systems Research Institute,
- *     National Institute of
- *         Advanced Industrial Science and Technology (AIST), Japan
- *     All rights reserved.
- *
- * $Id$
- *
- */
-
-
-#ifndef RTC_EXTENDEDFSMSERVICEPROVIDER_H
-#define RTC_EXTENDEDFSMSERVICEPROVIDER_H
-
-#include <coil/Mutex.h>
-#include <coil/Factory.h>
-#include <coil/stringutil.h>
-#include <rtm/SdoServiceProviderBase.h>
-#include <rtm/ComponentActionListener.h>
-#include <rtm/idl/SDOPackageStub.h>
-#include <rtm/idl/ExtendedFsmServiceSkel.h>
-
-namespace RTC
-{
-
-  /*!
-   * @if jp
-   * @else
-   * @endif
-   */
-  class ExtendedFsmServiceProvider
-    : public virtual POA_RTC::ExtendedFsmService,
-      public SdoServiceProviderBase
-  {
-  public:
-    /*!
-     * @if jp
-     * @brief ctor of ExtendedFsmServiceProvider
-     * @else
-     * @brief ctor of ExtendedFsmServiceProvider
-     * @endif
-     */
-    ExtendedFsmServiceProvider();
-
-    /*!
-     * @if jp
-     * @brief dtor
-     * @else
-     * @brief dtor
-     * @endif
-     */
-    virtual ~ExtendedFsmServiceProvider();
-
-    /*!
-     * @if jp
-     * @brief ‰Šú‰»
-     * @else
-     * @brief Initialization
-     * @endif
-     */
-    virtual bool init(RTObject_impl& rtobj,
-                      const SDOPackage::ServiceProfile& profile);
-
-    /*!
-     * @if jp
-     * @brief Ä‰Šú‰»
-     * @else
-     * @brief Re-initialization
-     * @endif
-     */
-    virtual bool reinit(const SDOPackage::ServiceProfile& profile);
-
-    /*!
-     * @if jp
-     * @brief ServiceProfile ‚ðŽæ“¾‚·‚é
-     * @else
-     * @brief getting ServiceProfile
-     * @endif
-     */
-    virtual const SDOPackage::ServiceProfile& getProfile() const;
-    
-    /*!
-     * @if jp
-     * @brief I—¹ˆ—
-     * @else
-     * @brief Finalization
-     * @endif
-     */
-    virtual void finalize();
-
-    //============================================================
-    // CORBA operations
-    //
-    // string get_current_state();
-    // ReturnCode_t set_fsm_structure(in FsmStructure fsm_structure);
-    // ReturnCode_t get_fsm_structure(out FsmStructure fsm_structure);
-    //============================================================
-
-    /*!
-     * @if jp
-     * @brief FSM‚ÌŒ»Ý‚̏ó‘Ô‚ðŽæ“¾
-     *
-     * ‚±‚̃IƒyƒŒ[ƒVƒ‡ƒ“‚ÍFSMƒRƒ“ƒ|[ƒlƒ“ƒg‚ÌFSM‚ÌŒ»Ý‚̏ó‘Ô‚ð•Ô‚·B
-     * (FSM4RTC spec. p.20)
-     *
-     * @return Œ»Ý‚̏ó‘Ô‚ð•\‚·•¶Žš—ñ
-     *
-     * @else
-     * @brief Get Current FSM State
-     *
-     * This operation returns the current state of an FSM in the
-     * target FSM component. (FSM4RTC spec. p.20)
-     *
-     * @return A string which represent the current status
-     *
-     * @endif
-     */
-    virtual char* get_current_state();
-    /*!
-     * @if jp
-     * @brief FSM‚̍\‘¢‚ðÝ’è‚·‚é
-     *
-     * ‚±‚̃IƒyƒŒ[ƒVƒ‡ƒ“‚͑Ώۂ̃Rƒ“ƒ|[ƒlƒ“ƒg‚ɑ΂µ‚āAFSM‚̍\‘¢‚ð•Û
-     * Ž‚·‚é FsmStruccture ‚ðÝ’è‚·‚éB‘ΏۃRƒ“ƒ|[ƒlƒ“ƒg‚Í
-     * fsm_structure ‚É—^‚¦‚ç‚ꂽ’l‚ðŠî‚ɏó‘Ô‘JˆÚƒ‹[ƒ‹“™‚ÌFSM\‘¢‚ðÄ
-     * Ý’è‚·‚éB‚±‚̃IƒyƒŒ[ƒVƒ‡ƒ“‚ª–¢ŽÀ‘•‚̏ꍇ‚́AUNSUPPORTED ‚ð•Ô‚·B
-     *
-     * @param fsm_structure FSM‚̍\‘¢‚ð•\‚·FsmStructure\‘¢‘́B
-     * @return RTC_OK ³íI—¹
-     *         RTC_ERROR ‚»‚Ì‘¼‚̃Gƒ‰[
-     *         BAD_PARAMETER •s³‚ȃpƒ‰ƒ[ƒ^
-     *         UNSUPPORTED –¢ƒTƒ|[ƒg
-     *
-     * @else
-     * @brief Set FSM Structure
-     *
-     * This operation sets an FsmStructure to the target
-     * component. Then the target component reconfigures its FSM
-     * structure such as transition rules according to the values of
-     * the given fsm_structure. RTCs may return UNSUPPORTED if this
-     * operation is not implemented.
-     *
-     * @param fsm_structure FsmStructure structure which represents
-     *        FSM structure
-     * @return RTC_OK normal return
-     *         RTC_ERROR other error
-     *         BAD_PARAMETER invalid parameter
-     *         UNSUPPORTED unsupported or not implemented
-     *
-     * @endif
-     */
-    virtual ReturnCode_t
-    set_fsm_structure(const ::RTC::FsmStructure& fsm_structure);
-    /*!
-     * @if jp
-     * @brief FSM‚̍\‘¢‚ðŽæ“¾‚·‚é
-     *
-     * ‚±‚̃IƒyƒŒ[ƒVƒ‡ƒ“‚͑Ώۂ̃Rƒ“ƒ|[ƒlƒ“ƒg‚ɑ΂µ‚āAŒ»Ý•ÛŽ‚µ‚Ä‚¢
-     * ‚éFSM‚̍\‘¢‚ðŽæ“¾‚·‚éBExtendedFsmService \‘¢‘̂̓tƒB[ƒ‹ƒh
-     * name (FSM‚Ì–¼Ì), structure (FSM‚̍\‘¢) AEventProfile ‚È‚Ç‚ð•Ô
-     * ‚·Bstructure ‚̃tƒH[ƒ}ƒbƒg‚́AƒtƒB[ƒ‹ƒh properties “à‚ÉŠi”[‚³
-     * ‚ꂽƒL[ "fsm_structure.format" ‚ÉŽw’肳‚ê‚éB‚±‚̃IƒyƒŒ[ƒVƒ‡ƒ“
-     * ‚ª–¢ŽÀ‘•‚̏ꍇ‚́AUNSUPPORTED ‚ð•Ô‚·B
-     *
-     * ref: SCXML https://www.w3.org/TR/scxml/
-     *
-     * @param fsm_structure FSM‚̍\‘¢‚ð•\‚·FsmStructure\‘¢‘́B
-     * @return RTC_OK ³íI—¹
-     *         RTC_ERROR ‚»‚Ì‘¼‚̃Gƒ‰[
-     *         BAD_PARAMETER •s³‚ȃpƒ‰ƒ[ƒ^
-     *         UNSUPPORTED –¢ƒTƒ|[ƒg
-     *
-     * @else
-     * @brief Set FSM Structure
-     *
-     * This operation returns the structure of an FSM in the target
-     * FSM component. ExtendedFsmService returns the name, structure
-     * with format specified by fsm_structure.format and
-     * EventProfiles. RTCs may return UNSUPPORTED if this operation is
-     * not implemented.
-     *
-     * @param fsm_structure FsmStructure structure which represents
-     *        FSM structure
-     * @return RTC_OK normal return
-     *         RTC_ERROR other error
-     *         BAD_PARAMETER invalid parameter
-     *         UNSUPPORTED unsupported or not implemented
-     *
-     * @endif
-     */
-    virtual ReturnCode_t
-    get_fsm_structure(::RTC::FsmStructure_out fsm_structure);
-
-    
-
-  protected:
-    /*!
-     * @if jp
-     * @brief RTObject‚ւ̃ŠƒXƒiÚ‘±ˆ—
-     * @else
-     * @brief Connectiong listeners to RTObject
-     * @endif
-     */
-    void setListeners(coil::Properties& prop);
-
-    /*!
-     * @if jp
-     * @brief FSMó‘Ô‘JˆÚ
-     * @else
-     * @brief FSM status change
-     * @endif
-     */
-    void changeStatus(std::string state);
-
-    /*!
-     * @if jp
-     * @brief ƒn[ƒgƒr[ƒg‚ð‰ðœ‚·‚é
-     * @else
-     * @brief Unsetting heartbeat
-     * @endif
-     */
-    void changeStructure(std::string fsm_structure);
-
-    //============================================================
-    // FSM status related functions
-    /*!
-     * @if jp
-     * @brief FSMó‘ԕω»ƒŠƒXƒi‚̐ݒ菈—
-     * @else
-     * @brief Setting FSM status listeners
-     * @endif
-     */
-    void setFSMStatusListeners();
-
-    /*!
-     * @if jp
-     * @brief FSMó‘ԕω»ƒŠƒXƒi‚Ì‰ðœˆ—
-     * @else
-     * @brief Unsetting FSM status listeners
-     * @endif
-     */
-    void unsetFSMStatusListeners();
-
-    //============================================================
-    // FsmProfile related functions
-    /*!
-     * @if jp
-     * @brief FsmProfileó‘ԕω»ƒŠƒXƒi‚̐ݒè
-     * @else
-     * @brief Setting FsmProfile listener
-     * @endif
-     */
-    void setFSMProfileListeners();
-
-    /*!
-     * @if jp
-     * @brief FsmProfileó‘ԕω»ƒŠƒXƒi‚̉ðœ
-     * @else
-     * @brief Unsetting FsmProfile listener
-     * @endif
-     */
-    void unsetFSMProfileListeners();
-
-    //============================================================
-    // FsmStructure related functions
-    /*!
-     * @if jp
-     * @brief FsmStructureó‘ԕω»ƒŠƒXƒi‚̐ݒè
-     * @else
-     * @brief Setting FsmStructure listener
-     * @endif
-     */
-    void setFSMStructureListeners();
-
-    /*!
-     * @if jp
-     * @brief FsmStructureó‘ԕω»ƒŠƒXƒi‚̉ðœ
-     * @else
-     * @brief Unsetting FsmStructure listener
-     * @endif
-     */
-    void unsetFSMStructureListeners();
-
-  private:
-    RTC::RTObject_impl* m_rtobj;
-    SDOPackage::ServiceProfile m_profile;
-    coil::Properties m_properties;
-    FsmStructure m_fsmStructure;
-    std::string m_fsmState;
-
-  };
-
-}; // namespace RTC
-
-extern "C"
-{
-  DLL_EXPORT void ExtendedFsmServiceProviderInit();
-};
-
-#endif // RTC_EXTENDEDFSMSERVICEPROVIDER_H
-
-
+// -*- C++ -*-
+/*!
+ * @file ExtendedFsmServiceProvider.h
+ * @brief Component observer SDO service consumer implementation
+ * @date $Date$
+ * @author Noriaki Ando <n-ando at aist.go.jp>
+ *
+ * Copyright (C) 2016
+ *     Noriaki Ando
+ *     Intelligent Systems Research Institute,
+ *     National Institute of
+ *         Advanced Industrial Science and Technology (AIST), Japan
+ *     All rights reserved.
+ *
+ * $Id$
+ *
+ */
+
+
+#ifndef RTC_EXTENDEDFSMSERVICEPROVIDER_H
+#define RTC_EXTENDEDFSMSERVICEPROVIDER_H
+
+#include <coil/Mutex.h>
+#include <coil/Factory.h>
+#include <coil/stringutil.h>
+#include <rtm/SdoServiceProviderBase.h>
+#include <rtm/ComponentActionListener.h>
+#include <rtm/idl/SDOPackageStub.h>
+#include <rtm/idl/ExtendedFsmServiceSkel.h>
+
+namespace RTC
+{
+
+  /*!
+   * @if jp
+   * @else
+   * @endif
+   */
+  class ExtendedFsmServiceProvider
+    : public virtual POA_RTC::ExtendedFsmService,
+      public SdoServiceProviderBase
+  {
+  public:
+    /*!
+     * @if jp
+     * @brief ctor of ExtendedFsmServiceProvider
+     * @else
+     * @brief ctor of ExtendedFsmServiceProvider
+     * @endif
+     */
+    ExtendedFsmServiceProvider();
+
+    /*!
+     * @if jp
+     * @brief dtor
+     * @else
+     * @brief dtor
+     * @endif
+     */
+    virtual ~ExtendedFsmServiceProvider();
+
+    /*!
+     * @if jp
+     * @brief ½é´ü²½
+     * @else
+     * @brief Initialization
+     * @endif
+     */
+    virtual bool init(RTObject_impl& rtobj,
+                      const SDOPackage::ServiceProfile& profile);
+
+    /*!
+     * @if jp
+     * @brief ºÆ½é´ü²½
+     * @else
+     * @brief Re-initialization
+     * @endif
+     */
+    virtual bool reinit(const SDOPackage::ServiceProfile& profile);
+
+    /*!
+     * @if jp
+     * @brief ServiceProfile ¤ò¼èÆÀ¤¹¤ë
+     * @else
+     * @brief getting ServiceProfile
+     * @endif
+     */
+    virtual const SDOPackage::ServiceProfile& getProfile() const;
+    
+    /*!
+     * @if jp
+     * @brief ½ªÎ»½èÍý
+     * @else
+     * @brief Finalization
+     * @endif
+     */
+    virtual void finalize();
+
+    //============================================================
+    // CORBA operations
+    //
+    // string get_current_state();
+    // ReturnCode_t set_fsm_structure(in FsmStructure fsm_structure);
+    // ReturnCode_t get_fsm_structure(out FsmStructure fsm_structure);
+    //============================================================
+
+    /*!
+     * @if jp
+     * @brief FSM¤Î¸½ºß¤Î¾õÂÖ¤ò¼èÆÀ
+     *
+     * ¤³¤Î¥ª¥Ú¥ì¡¼¥·¥ç¥ó¤ÏFSM¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ÎFSM¤Î¸½ºß¤Î¾õÂÖ¤òÊÖ¤¹¡£
+     * (FSM4RTC spec. p.20)
+     *
+     * @return ¸½ºß¤Î¾õÂÖ¤òɽ¤¹Ê¸»úÎó
+     *
+     * @else
+     * @brief Get Current FSM State
+     *
+     * This operation returns the current state of an FSM in the
+     * target FSM component. (FSM4RTC spec. p.20)
+     *
+     * @return A string which represent the current status
+     *
+     * @endif
+     */
+    virtual char* get_current_state();
+    /*!
+     * @if jp
+     * @brief FSM¤Î¹½Â¤¤òÀßÄꤹ¤ë
+     *
+     * ¤³¤Î¥ª¥Ú¥ì¡¼¥·¥ç¥ó¤ÏÂоݤΥ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢FSM¤Î¹½Â¤¤òÊÝ
+     * »ý¤¹¤ë FsmStruccture ¤òÀßÄꤹ¤ë¡£Âоݥ³¥ó¥Ý¡¼¥Í¥ó¥È¤Ï
+     * fsm_structure ¤ËÍ¿¤¨¤é¤ì¤¿Ãͤò´ð¤Ë¾õÂÖÁ«°Ü¥ë¡¼¥ëÅù¤ÎFSM¹½Â¤¤òºÆ
+     * ÀßÄꤹ¤ë¡£¤³¤Î¥ª¥Ú¥ì¡¼¥·¥ç¥ó¤¬Ì¤¼ÂÁõ¤Î¾ì¹ç¤Ï¡¢UNSUPPORTED ¤òÊÖ¤¹¡£
+     *
+     * @param fsm_structure FSM¤Î¹½Â¤¤òɽ¤¹FsmStructure¹½Â¤ÂΡ£
+     * @return RTC_OK Àµ¾ï½ªÎ»
+     *         RTC_ERROR ¤½¤Î¾¤Î¥¨¥é¡¼
+     *         BAD_PARAMETER ÉÔÀµ¤Ê¥Ñ¥é¥á¡¼¥¿
+     *         UNSUPPORTED ̤¥µ¥Ý¡¼¥È
+     *
+     * @else
+     * @brief Set FSM Structure
+     *
+     * This operation sets an FsmStructure to the target
+     * component. Then the target component reconfigures its FSM
+     * structure such as transition rules according to the values of
+     * the given fsm_structure. RTCs may return UNSUPPORTED if this
+     * operation is not implemented.
+     *
+     * @param fsm_structure FsmStructure structure which represents
+     *        FSM structure
+     * @return RTC_OK normal return
+     *         RTC_ERROR other error
+     *         BAD_PARAMETER invalid parameter
+     *         UNSUPPORTED unsupported or not implemented
+     *
+     * @endif
+     */
+    virtual ReturnCode_t
+    set_fsm_structure(const ::RTC::FsmStructure& fsm_structure);
+    /*!
+     * @if jp
+     * @brief FSM¤Î¹½Â¤¤ò¼èÆÀ¤¹¤ë
+     *
+     * ¤³¤Î¥ª¥Ú¥ì¡¼¥·¥ç¥ó¤ÏÂоݤΥ³¥ó¥Ý¡¼¥Í¥ó¥È¤ËÂФ·¤Æ¡¢¸½ºßÊÝ»ý¤·¤Æ¤¤
+     * ¤ëFSM¤Î¹½Â¤¤ò¼èÆÀ¤¹¤ë¡£ExtendedFsmService ¹½Â¤ÂΤϥե£¡¼¥ë¥É
+     * name (FSM¤Î̾¾Î), structure (FSM¤Î¹½Â¤) ¡¢EventProfile ¤Ê¤É¤òÊÖ
+     * ¤¹¡£structure ¤Î¥Õ¥©¡¼¥Þ¥Ã¥È¤Ï¡¢¥Õ¥£¡¼¥ë¥É properties Æâ¤Ë³ÊǼ¤µ
+     * ¤ì¤¿¥­¡¼ "fsm_structure.format" ¤Ë»ØÄꤵ¤ì¤ë¡£¤³¤Î¥ª¥Ú¥ì¡¼¥·¥ç¥ó
+     * ¤¬Ì¤¼ÂÁõ¤Î¾ì¹ç¤Ï¡¢UNSUPPORTED ¤òÊÖ¤¹¡£
+     *
+     * ref: SCXML https://www.w3.org/TR/scxml/
+     *
+     * @param fsm_structure FSM¤Î¹½Â¤¤òɽ¤¹FsmStructure¹½Â¤ÂΡ£
+     * @return RTC_OK Àµ¾ï½ªÎ»
+     *         RTC_ERROR ¤½¤Î¾¤Î¥¨¥é¡¼
+     *         BAD_PARAMETER ÉÔÀµ¤Ê¥Ñ¥é¥á¡¼¥¿
+     *         UNSUPPORTED ̤¥µ¥Ý¡¼¥È
+     *
+     * @else
+     * @brief Set FSM Structure
+     *
+     * This operation returns the structure of an FSM in the target
+     * FSM component. ExtendedFsmService returns the name, structure
+     * with format specified by fsm_structure.format and
+     * EventProfiles. RTCs may return UNSUPPORTED if this operation is
+     * not implemented.
+     *
+     * @param fsm_structure FsmStructure structure which represents
+     *        FSM structure
+     * @return RTC_OK normal return
+     *         RTC_ERROR other error
+     *         BAD_PARAMETER invalid parameter
+     *         UNSUPPORTED unsupported or not implemented
+     *
+     * @endif
+     */
+    virtual ReturnCode_t
+    get_fsm_structure(::RTC::FsmStructure_out fsm_structure);
+
+    
+
+  protected:
+    /*!
+     * @if jp
+     * @brief RTObject¤Ø¤Î¥ê¥¹¥ÊÀܳ½èÍý
+     * @else
+     * @brief Connectiong listeners to RTObject
+     * @endif
+     */
+    void setListeners(coil::Properties& prop);
+
+    /*!
+     * @if jp
+     * @brief FSM¾õÂÖÁ«°Ü
+     * @else
+     * @brief FSM status change
+     * @endif
+     */
+    void changeStatus(std::string state);
+
+    /*!
+     * @if jp
+     * @brief ¥Ï¡¼¥È¥Ó¡¼¥È¤ò²ò½ü¤¹¤ë
+     * @else
+     * @brief Unsetting heartbeat
+     * @endif
+     */
+    void changeStructure(std::string fsm_structure);
+
+    //============================================================
+    // FSM status related functions
+    /*!
+     * @if jp
+     * @brief FSM¾õÂÖÊѲ½¥ê¥¹¥Ê¤ÎÀßÄê½èÍý
+     * @else
+     * @brief Setting FSM status listeners
+     * @endif
+     */
+    void setFSMStatusListeners();
+
+    /*!
+     * @if jp
+     * @brief FSM¾õÂÖÊѲ½¥ê¥¹¥Ê¤Î²ò½ü½èÍý
+     * @else
+     * @brief Unsetting FSM status listeners
+     * @endif
+     */
+    void unsetFSMStatusListeners();
+
+    //============================================================
+    // FsmProfile related functions
+    /*!
+     * @if jp
+     * @brief FsmProfile¾õÂÖÊѲ½¥ê¥¹¥Ê¤ÎÀßÄê
+     * @else
+     * @brief Setting FsmProfile listener
+     * @endif
+     */
+    void setFSMProfileListeners();
+
+    /*!
+     * @if jp
+     * @brief FsmProfile¾õÂÖÊѲ½¥ê¥¹¥Ê¤Î²ò½ü
+     * @else
+     * @brief Unsetting FsmProfile listener
+     * @endif
+     */
+    void unsetFSMProfileListeners();
+
+    //============================================================
+    // FsmStructure related functions
+    /*!
+     * @if jp
+     * @brief FsmStructure¾õÂÖÊѲ½¥ê¥¹¥Ê¤ÎÀßÄê
+     * @else
+     * @brief Setting FsmStructure listener
+     * @endif
+     */
+    void setFSMStructureListeners();
+
+    /*!
+     * @if jp
+     * @brief FsmStructure¾õÂÖÊѲ½¥ê¥¹¥Ê¤Î²ò½ü
+     * @else
+     * @brief Unsetting FsmStructure listener
+     * @endif
+     */
+    void unsetFSMStructureListeners();
+
+  private:
+    RTC::RTObject_impl* m_rtobj;
+    SDOPackage::ServiceProfile m_profile;
+    coil::Properties m_properties;
+    FsmStructure m_fsmStructure;
+    std::string m_fsmState;
+
+  };
+
+}; // namespace RTC
+
+extern "C"
+{
+  DLL_EXPORT void ExtendedFsmServiceProviderInit();
+};
+
+#endif // RTC_EXTENDEDFSMSERVICEPROVIDER_H
+
+

Modified: trunk/OpenRTM-aist/src/ext/sdo/logger/LoggerConsumer.h
===================================================================
--- trunk/OpenRTM-aist/src/ext/sdo/logger/LoggerConsumer.h	2017-12-13 00:24:11 UTC (rev 3140)
+++ trunk/OpenRTM-aist/src/ext/sdo/logger/LoggerConsumer.h	2017-12-13 06:34:49 UTC (rev 3141)
@@ -1,115 +1,115 @@
-// -*- C++ -*-
-/*!
- * @file LoggerConsumer.h
- * @brief Component observer SDO service consumer implementation
- * @date $Date$
- * @author Noriaki Ando <n-ando at aist.go.jp>
- *
- * Copyright (C) 2011
- *     Noriaki Ando
- *     Intelligent Systems Research Institute,
- *     National Institute of
- *         Advanced Industrial Science and Technology (AIST), Japan
- *     All rights reserved.
- *
- * $Id: SdoConfiguration.cpp 1971 2010-06-03 08:46:40Z n-ando $
- *
- */
-
-
-#ifndef RTC_LOGGERCONSUMER_H
-#define RTC_LOGGERCONSUMER_H
-
-#include <coil/Mutex.h>
-#include <coil/Factory.h>
-#include <coil/stringutil.h>
-#include <rtm/SdoServiceConsumerBase.h>
-#include <rtm/CorbaConsumer.h>
-#include <rtm/idl/SDOPackageStub.h>
-
-#include "LoggerStub.h"
-
-namespace RTC
-{
-
-  /*!
-   * @if jp
-   * @else
-   * @endif
-   */
-  class LoggerConsumer
-    : public SdoServiceConsumerBase
-  {
-  public:
-    /*!
-     * @if jp
-     * @brief ctor of LoggerConsumer
-     * @else
-     * @brief ctor of LoggerConsumer
-     * @endif
-     */
-    LoggerConsumer();
-
-    /*!
-     * @if jp
-     * @brief dtor
-     * @else
-     * @brief dtor
-     * @endif
-     */
-    virtual ~LoggerConsumer();
-
-    /*!
-     * @if jp
-     * @brief ‰Šú‰»
-     * @else
-     * @brief Initialization
-     * @endif
-     */
-    virtual bool init(RTObject_impl& rtobj,
-                      const SDOPackage::ServiceProfile& profile);
-
-    /*!
-     * @if jp
-     * @brief Ä‰Šú‰»
-     * @else
-     * @brief Re-initialization
-     * @endif
-     */
-    virtual bool reinit(const SDOPackage::ServiceProfile& profile);
-
-    /*!
-     * @if jp
-     * @brief ServiceProfile ‚ðŽæ“¾‚·‚é
-     * @else
-     * @brief getting ServiceProfile
-     * @endif
-     */
-    virtual const SDOPackage::ServiceProfile& getProfile() const;
-    
-    /*!
-     * @if jp
-     * @brief I—¹ˆ—
-     * @else
-     * @brief Finalization
-     * @endif
-     */
-    virtual void finalize();
-
-  protected:
-
-    RTC::RTObject_impl* m_rtobj;
-    SDOPackage::ServiceProfile m_profile;
-    CorbaConsumer<OpenRTM::Logger> m_logger;
-  };
-
-}; // namespace RTC
-
-extern "C"
-{
-  DLL_EXPORT void LoggerConsumerInit();
-};
-
-#endif // RTC_LOGGERCONSUMER_H
-
-
+// -*- C++ -*-
+/*!
+ * @file LoggerConsumer.h
+ * @brief Component observer SDO service consumer implementation
+ * @date $Date$
+ * @author Noriaki Ando <n-ando at aist.go.jp>
+ *
+ * Copyright (C) 2011
+ *     Noriaki Ando
+ *     Intelligent Systems Research Institute,
+ *     National Institute of
+ *         Advanced Industrial Science and Technology (AIST), Japan
+ *     All rights reserved.
+ *
+ * $Id: SdoConfiguration.cpp 1971 2010-06-03 08:46:40Z n-ando $
+ *
+ */
+
+
+#ifndef RTC_LOGGERCONSUMER_H
+#define RTC_LOGGERCONSUMER_H
+
+#include <coil/Mutex.h>
+#include <coil/Factory.h>
+#include <coil/stringutil.h>
+#include <rtm/SdoServiceConsumerBase.h>
+#include <rtm/CorbaConsumer.h>
+#include <rtm/idl/SDOPackageStub.h>
+
+#include "LoggerStub.h"
+
+namespace RTC
+{
+
+  /*!
+   * @if jp
+   * @else
+   * @endif
+   */
+  class LoggerConsumer
+    : public SdoServiceConsumerBase
+  {
+  public:
+    /*!
+     * @if jp
+     * @brief ctor of LoggerConsumer
+     * @else
+     * @brief ctor of LoggerConsumer
+     * @endif
+     */
+    LoggerConsumer();
+
+    /*!
+     * @if jp
+     * @brief dtor
+     * @else
+     * @brief dtor
+     * @endif
+     */
+    virtual ~LoggerConsumer();
+
+    /*!
+     * @if jp
+     * @brief ½é´ü²½
+     * @else
+     * @brief Initialization
+     * @endif
+     */
+    virtual bool init(RTObject_impl& rtobj,
+                      const SDOPackage::ServiceProfile& profile);
+
+    /*!
+     * @if jp
+     * @brief ºÆ½é´ü²½
+     * @else
+     * @brief Re-initialization
+     * @endif
+     */
+    virtual bool reinit(const SDOPackage::ServiceProfile& profile);
+
+    /*!
+     * @if jp
+     * @brief ServiceProfile ¤ò¼èÆÀ¤¹¤ë
+     * @else
+     * @brief getting ServiceProfile
+     * @endif
+     */
+    virtual const SDOPackage::ServiceProfile& getProfile() const;
+    
+    /*!
+     * @if jp
+     * @brief ½ªÎ»½èÍý
+     * @else
+     * @brief Finalization
+     * @endif
+     */
+    virtual void finalize();
+
+  protected:
+
+    RTC::RTObject_impl* m_rtobj;
+    SDOPackage::ServiceProfile m_profile;
+    CorbaConsumer<OpenRTM::Logger> m_logger;
+  };
+
+}; // namespace RTC
+
+extern "C"
+{
+  DLL_EXPORT void LoggerConsumerInit();
+};
+
+#endif // RTC_LOGGERCONSUMER_H
+
+

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