[openrtm-commit:02347] r2898 - branches/FSM4RTC/OpenRTM-aist/examples/SimpleIO

[openrtm ＠ openrtm.org]

Author: n-ando
Date: 2017-01-28 23:36:25 +0900 (Sat, 28 Jan 2017)
New Revision: 2898

Modified:
   branches/FSM4RTC/OpenRTM-aist/examples/SimpleIO/ConsoleOut.h
Log:
[FSM4RTC] Some sample components listener have been modified to follow ConnectorListener changes. refs #3871

Modified: branches/FSM4RTC/OpenRTM-aist/examples/SimpleIO/ConsoleOut.h
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/examples/SimpleIO/ConsoleOut.h	2017-01-28 14:33:53 UTC (rev 2897)
+++ branches/FSM4RTC/OpenRTM-aist/examples/SimpleIO/ConsoleOut.h	2017-01-28 14:36:25 UTC (rev 2898)
@@ -1,4 +1,4 @@
-// -*- C++ -*-
+/// -*- C++ -*-
 /*!
  * @file  ConsoleOut.h
  * @brief Console output component
@@ -17,6 +17,8 @@
 #include <rtm/DataInPort.h>
 #include <rtm/DataOutPort.h>
 #include <rtm/ConnectorListener.h>
+#include <rtm/Macho.h>
+#pragma GCC diagnostic ignored "-Wunused-but-set-variable"
 
 #include <iostream>
 // Service implementation headers
@@ -30,8 +32,80 @@
 // </rtc-template>
 
 using namespace RTC;
+using namespace std;
+class ConsoleOut;
 
+namespace Example {
 
+	////////////////////////////////////////////////////////
+	// State declarations
+
+	// Machine's top state
+	TOPSTATE(Top) {
+		// Top state variables (visible to all substates)
+		struct Box {
+			Box() : data(0) {}
+			long data;
+		};
+
+		STATE(Top)
+
+		// Machine's event protocol
+		virtual void event1(int i) {}
+		virtual void event2(long l) {}
+
+	private:
+		// special actions
+		void entry();
+		void exit();
+		void init();
+		void init(int);
+	};
+
+	// A superstate
+	SUBSTATE(Super, Top) {
+		STATE(Super)
+
+		// This state has history
+		HISTORY()
+
+	private:
+		// Entry and exit actions of state
+		void entry();
+		void exit();
+	};
+
+	// A substate
+	SUBSTATE(StateA, Super) {
+		// State variables
+		struct Box {
+			Box() : data(0) {}
+			int data;
+		};
+
+		STATE(StateA)
+
+		// Event handler
+		void event1(int i);
+
+	private:
+		void entry();
+		void init(int);
+		void exit();
+	};
+
+	// A substate
+	SUBSTATE(StateB, Super) {
+		STATE(StateB)
+
+		void event2(long l);
+
+	private:
+		void entry();
+		void exit();
+	};
+};
+
 class DataListener
   : public ConnectorDataListenerT<RTC::TimedLong>
 {
@@ -44,7 +118,7 @@
   }
 
   virtual ReturnCode operator()(ConnectorInfo& info,
-                                TimedLong& data)
+                          TimedLong& data)
   {
     std::cout << "------------------------------"   << std::endl;
     std::cout << "Data Listener: " << m_name       << std::endl;
@@ -143,7 +217,7 @@
   // no corresponding operation exists in OpenRTm-aist-0.2.0
   // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);
 
-
+  CORBA::Long getInPortValue() { return m_in.data; }
  protected:
   // DataInPort declaration
   // <rtc-template block="inport_declare">
@@ -173,11 +247,144 @@
   
   // </rtc-template>
 
+  Macho::Machine<Example::Top> m_machine;
+
  private:
 
 };
 
 
+
+//namespace Example {
+//
+//  ////////////////////////////////////////////////////////
+//  // State declarations
+//  
+//  // Machine's top state
+//  TOPSTATE(Top) {
+//    // Top state variables (visible to all substates)
+//    struct Box {
+//      Box() : comp(0), data(0) {}
+//      ConsoleOut* comp;
+//      long data;
+//    };
+//    
+//    STATE(Top)
+//      
+//    // Machine's event protocol
+//    virtual void event1(int i, ConsoleOut* c) {}
+//    virtual void event2(long l, ConsoleOut* c) {}
+//    
+//  private:
+//    // special actions
+//    void entry();
+//    void exit();
+//    void init();
+//    void init(int i);
+//  };
+//  
+//  // A superstate
+//  SUBSTATE(Super, Top) {
+//    STATE(Super)
+//    
+//    // This state has history
+//    HISTORY()
+//    
+//  private:
+//    // Entry and exit actions of state
+//    void entry();
+//    void exit();
+//  };
+//
+//  // A substate
+//  SUBSTATE(StateA, Super) {
+//    // State variables
+//    struct Box {
+//      Box() : data(0) {}
+//      int data;
+//    };
+//    
+//    STATE(StateA)
+//
+//    // Event handler
+//    virtual void event1(int i, ConsoleOut* c);
+//
+//  private:
+//    void entry();
+//    void init(int i, ConsoleOut* c);
+//    void exit();
+//  };
+//  
+//  // A substate
+//  SUBSTATE(StateB, Super) {
+//    STATE(StateB)
+//      
+//    virtual void event2(long l, ConsoleOut* c);
+//    
+//  private:
+//    void entry();
+//    void exit();
+//  };
+//  
+//  ////////////////////////////////////////////////////////
+//  // Event handler implementations
+//  
+//  // Top state
+//  void Top::entry() { std::cout << "Top::entry" <<std::endl; }
+//  void Top::exit() { std::cout << "Top::exit" <<std::endl; }
+//  void Top::init() {
+//    // Initialize state with box
+//    setState<StateA>(44);
+//  }
+//  void Top::init(int i) {
+//    box().data = i;
+//    //    box().comp = c;
+//    init();
+//  }
+//  
+//  // Super state
+//  void Super::entry() { std::cout << "Super::entry" << std::endl; }
+//  void Super::exit() { std::cout << "Super::exit" << std::endl; }
+//  
+//  // StateA state
+//  void StateA::entry() { std::cout << "StateA::entry" << std::endl; }
+//  void StateA::init(int i, ConsoleOut* c)
+//  {
+//    std::cout << "StateA::init " << i << std::endl;
+//  }
+//  void StateA::exit()
+//  {
+//    std::cout << "In StateA" << std::endl;
+//    std::cout << "box().data:  " << TOP::box().data << std::endl;
+//    std::cout << "comp's data: " << TOP::box().comp->getInPortValue() << std::endl;
+//    std::cout << "StateA::exit" <<std::endl;
+//  }
+//  void StateA::event1(int i, ConsoleOut* c)
+//  {
+//    box().data = i;
+//    std::cout << "StateA::box().data: " << TOP::box().data << std::endl;
+//    setState<StateB>(i, c);
+//  }
+//  
+//  // StateB state
+//  void StateB::entry() { std::cout << "StateB::entry" << std::endl; }
+//  void StateB::exit()
+//  {
+//    std::cout << "In StateB" << std::endl;
+//    std::cout << "box().data:  " << TOP::box().data << std::endl;
+//    std::cout << "comp's data: " << TOP::box().comp->getInPortValue() << std::endl;
+//    std::cout << "StateB::exit" << std::endl;
+//  }
+//
+//  void StateB::event2(long l, ConsoleOut* c) {
+//    Top::box().data = l;
+//    std::cout << "Top::box().data: " << TOP::box().data << std::endl;
+//    setState<StateA>(l, c);
+//  }
+//  
+//} // namespace Example
+
+
 extern "C"
 {
   DLL_EXPORT void ConsoleOutInit(RTC::Manager* manager);