[openrtm-commit:02412] r939 - trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm

[openrtm ＠ openrtm.org]

Author: win-ei
Date: 2017-02-09 17:21:16 +0900 (Thu, 09 Feb 2017)
New Revision: 939

Modified:
   trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Idle.java
   trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/MicrowaveImpl.java
   trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/MicrowaveProtocol.java
   trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Programmed.java
   trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Top.java
Log:
[FSM4RTC,bugfix] Fixed bugs. refs #3775

Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Idle.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Idle.java	2017-02-09 07:19:17 UTC (rev 938)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Idle.java	2017-02-09 08:21:16 UTC (rev 939)
@@ -18,10 +18,12 @@
     }
 
     @Override
-    public void minute() {
+    public void minute(TimedLong time) {
         System.out.println("[Microwave] >>> Timer incremented <<<");
         setState(new State(Programmed.class));
-        dispatch(new Event("minute"));
+        Class<?>[] args = new Class<?>[1];
+        args[0] = time.getClass();
+        dispatch(new Event("minute",args,time));
     }
 
 

Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/MicrowaveImpl.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/MicrowaveImpl.java	2017-02-09 07:19:17 UTC (rev 938)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/MicrowaveImpl.java	2017-02-09 08:21:16 UTC (rev 939)
@@ -25,6 +25,8 @@
 import jp.go.aist.rtm.RTC.port.OutPort;
 import jp.go.aist.rtm.RTC.port.ConnectorDataListenerT;
 import jp.go.aist.rtm.RTC.port.ConnectorDataListenerType;
+import jp.go.aist.rtm.RTC.port.ConnectorListener;
+import jp.go.aist.rtm.RTC.port.ConnectorListenerType;
 import jp.go.aist.rtm.RTC.util.DataRef;
 
 import RTC.TimedLong;
@@ -72,7 +74,7 @@
 
       m_eventIn.bindEvent("eventopen",   "open");
       m_eventIn.bindEvent("eventclose",  "close");
-      m_eventIn.bindEvent("eventminute", "minute");
+      m_eventIn.bindEvent("eventminute", "minute", new TimedLong(new RTC.Time(0,0),0));
       m_eventIn.bindEvent("eventstart",  "start");
       m_eventIn.bindEvent("eventstop",   "stop");
       m_eventIn.bindEvent("eventtick",   "tick");
@@ -81,6 +83,9 @@
       // Set OutPort buffer
       // </rtc-template>
       
+      m_eventIn.addConnectorListener(
+                            ConnectorListenerType.ON_CONNECT,
+                            new Listener("ON_CONNECT"));
       
 
       return super.onInitialize();
@@ -375,4 +380,25 @@
       private String m_name;
       private Queue<Event> m_que;
   }
+    class Listener extends ConnectorListener{
+        public Listener(final String name){
+            m_name = name;
+        }
+
+        public ReturnCode operator(ConnectorBase.ConnectorInfo arg){
+            System.out.println("------------------------------");
+            System.out.println("Listener:          "+m_name);
+            System.out.println("Profile::name:     "+arg.name);
+            String str = new String();
+            System.out.println("Profile::properties:");
+            System.out.print("["+arg.properties.getProperty("interface_type"));
+            System.out.print("]["+arg.properties.getProperty("dataflow_type"));
+            System.out.print("]["+arg.properties.getProperty("subscription_type"));
+            System.out.print("]["+arg.properties.getProperty("publisher.push_policy"));
+            System.out.println("]["+arg.properties.getProperty("timestamp_policy")+"]");
+            System.out.println("------------------------------");
+            return ReturnCode.NO_CHANGE;
+        }
+        public String m_name;
+    }
 }

Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/MicrowaveProtocol.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/MicrowaveProtocol.java	2017-02-09 07:19:17 UTC (rev 938)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/MicrowaveProtocol.java	2017-02-09 08:21:16 UTC (rev 939)
@@ -11,7 +11,7 @@
 
     void close();
 
-    void minute();
+    void minute(TimedLong time);
 
     void start();
 

Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Programmed.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Programmed.java	2017-02-09 07:19:17 UTC (rev 938)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Programmed.java	2017-02-09 08:21:16 UTC (rev 939)
@@ -11,10 +11,12 @@
 public class Programmed extends Operational {
 
     @Override
-    public void minute() {
+    public void minute(TimedLong time) {
         System.out.println("[Microwave] >>> Timer incremented <<<");
         Top.Data data = data(Top.class);
-        data.incrementTimer();
+        for(int ic=0;ic<time.data;++ic){
+            data.incrementTimer();
+        }
         data.printTimer();
     }
 

Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Top.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Top.java	2017-02-09 07:19:17 UTC (rev 938)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/RTMExamples/StaticFsm/Top.java	2017-02-09 08:21:16 UTC (rev 939)
@@ -70,7 +70,7 @@
     }
 
     @Override
-    public void minute() {
+    public void minute(TimedLong time) {
         // do nothing
     }