[openrtm-commit:03126] r795 - in trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder: generator/param generator/param/idl manager template/cpp template/cpp/test
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2018年 1月 23日 (火) 22:50:28 JST
Author: ga
Date: 2018-01-23 22:50:28 +0900 (Tue, 23 Jan 2018)
New Revision: 795
Added:
trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/template/cpp/test/
trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/template/cpp/test/CXX_Test_Comp.cpp.vsl
trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/template/cpp/test/CXX_Test_RTC.cpp.vsl
trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/template/cpp/test/CXX_Test_RTC.h.vsl
trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/template/cpp/test/CXX_Test_SVC.cpp.vsl
trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/template/cpp/test/CXX_Test_SVC.h.vsl
Removed:
trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/template/cpp/CXX_STAND_ALONE.vsl
Modified:
trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/generator/param/RtcParam.java
trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/generator/param/idl/IdlFileParam.java
trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/manager/CXXGenerateManager.java
trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/manager/GenerateManager.java
Log:
Added function to output test RTC. #4433
Modified: trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/generator/param/RtcParam.java
===================================================================
--- trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/generator/param/RtcParam.java 2018-01-23 13:47:36 UTC (rev 794)
+++ trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/generator/param/RtcParam.java 2018-01-23 13:50:28 UTC (rev 795)
@@ -886,5 +886,4 @@
//
this.targetEnvs.resetUpdated();
}
-
}
Modified: trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/generator/param/idl/IdlFileParam.java
===================================================================
--- trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/generator/param/idl/IdlFileParam.java 2018-01-23 13:47:36 UTC (rev 794)
+++ trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/generator/param/idl/IdlFileParam.java 2018-01-23 13:50:28 UTC (rev 795)
@@ -5,7 +5,6 @@
import java.util.ArrayList;
import java.util.List;
-import jp.go.aist.rtm.rtcbuilder.IRtcBuilderConstants;
import jp.go.aist.rtm.rtcbuilder.generator.param.RtcParam;
/**
@@ -16,6 +15,7 @@
private String idlPath;
private List<ServiceClassParam> serviceClass = new ArrayList<ServiceClassParam>();
+ private List<ServiceClassParam> testServiceClass = new ArrayList<ServiceClassParam>();
private RtcParam parent;
private List<String> idlSearchPathes = new ArrayList<String>();
private List<String> includeIdlPathes = new ArrayList<String>();
@@ -50,6 +50,14 @@
this.serviceClass = serviceClassParamList;
}
+ public List<ServiceClassParam> getTestServiceClassParams() {
+ return testServiceClass;
+ }
+
+ public void addTestServiceClassParams( ServiceClassParam serviceClassParam) {
+ this.testServiceClass.add(serviceClassParam);
+ }
+
public String getIdlFile() {
File file = new File( idlPath);
return file.getName();
Modified: trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/manager/CXXGenerateManager.java
===================================================================
--- trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/manager/CXXGenerateManager.java 2018-01-23 13:47:36 UTC (rev 794)
+++ trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/manager/CXXGenerateManager.java 2018-01-23 13:50:28 UTC (rev 795)
@@ -8,11 +8,11 @@
import jp.go.aist.rtm.rtcbuilder.IRTCBMessageConstants;
import jp.go.aist.rtm.rtcbuilder.generator.GeneratedResult;
+import jp.go.aist.rtm.rtcbuilder.generator.param.DataPortParam;
import jp.go.aist.rtm.rtcbuilder.generator.param.RtcParam;
import jp.go.aist.rtm.rtcbuilder.generator.param.idl.IdlFileParam;
import jp.go.aist.rtm.rtcbuilder.template.TemplateHelper;
import jp.go.aist.rtm.rtcbuilder.template.TemplateUtil;
-
import static jp.go.aist.rtm.rtcbuilder.IRtcBuilderConstants.*;
import static jp.go.aist.rtm.rtcbuilder.util.RTCUtil.*;
@@ -85,6 +85,22 @@
gr = generateSVCSource(contextMap);
result.add(gr);
}
+ //
+ if(rtcParam.isChoreonoid()==false) {
+ gr = generateTestCompSource(contextMap);
+ result.add(gr);
+ gr = generateTestHeader(contextMap);
+ result.add(gr);
+ gr = generateTestSource(contextMap);
+ result.add(gr);
+ for (IdlFileParam idl : rtcParam.getConsumerIdlPathes()) {
+ contextMap.put("idlFileParam", idl);
+ gr = generateTestSVCHeader(contextMap);
+ result.add(gr);
+ gr = generateTestSVCSource(contextMap);
+ result.add(gr);
+ }
+ }
return result;
}
@@ -151,7 +167,51 @@
String infile = "cpp/travis.vsl";
return generate(infile, outfile, contextMap);
}
+ /////
+ public GeneratedResult generateTestCompSource(Map<String, Object> contextMap) {
+ RtcParam rtcParam = (RtcParam) contextMap.get("rtcParam");
+ String outfile = null;
+ outfile = "test/src/" + rtcParam.getName() + "TestComp.cpp";
+ String infile = "cpp/test/CXX_Test_Comp.cpp.vsl";
+ return generate(infile, outfile, contextMap);
+ }
+ public GeneratedResult generateTestHeader(Map<String, Object> contextMap) {
+ RtcParam rtcParam = (RtcParam) contextMap.get("rtcParam");
+ String outfile = null;
+ outfile = "test/include/" + rtcParam.getName() + "Test/" + rtcParam.getName() + "Test.h";
+ String infile = "cpp/test/CXX_Test_RTC.h.vsl";
+ return generate(infile, outfile, contextMap);
+ }
+
+ public GeneratedResult generateTestSource(Map<String, Object> contextMap) {
+ RtcParam rtcParam = (RtcParam) contextMap.get("rtcParam");
+ String outfile = null;
+ outfile = "test/src/" + rtcParam.getName() + "Test.cpp";
+ String infile = "cpp/test/CXX_Test_RTC.cpp.vsl";
+ return generate(infile, outfile, contextMap);
+ }
+
+ public GeneratedResult generateTestSVCHeader(Map<String, Object> contextMap) {
+ RtcParam rtcParam = (RtcParam) contextMap.get("rtcParam");
+ IdlFileParam idlParam = (IdlFileParam) contextMap.get("idlFileParam");
+ String outfile = null;
+ outfile = "test/include/" + rtcParam.getName() + "Test/"
+ + TemplateHelper.getBasename(idlParam.getIdlFileNoExt())
+ + TemplateHelper.getServiceImplSuffix() + ".h";
+ String infile = "cpp/test/CXX_Test_SVC.h.vsl";
+ return generate(infile, outfile, contextMap);
+ }
+
+ public GeneratedResult generateTestSVCSource(Map<String, Object> contextMap) {
+ IdlFileParam idlParam = (IdlFileParam) contextMap.get("idlFileParam");
+ String outfile = null;
+ outfile = "test/src/" + TemplateHelper.getBasename(idlParam.getIdlFileNoExt())
+ + TemplateHelper.getServiceImplSuffix() + ".cpp";
+ String infile = "cpp/test/CXX_Test_SVC.cpp.vsl";
+ return generate(infile, outfile, contextMap);
+ }
+ /////
public GeneratedResult generate(String infile, String outfile,
Map<String, Object> contextMap) {
try {
Modified: trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/manager/GenerateManager.java
===================================================================
--- trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/manager/GenerateManager.java 2018-01-23 13:47:36 UTC (rev 794)
+++ trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/manager/GenerateManager.java 2018-01-23 13:50:28 UTC (rev 795)
@@ -54,6 +54,15 @@
}
}
}
+ for (IdlFileParam idl : rtcParam.getConsumerIdlPathes()) {
+ for (ServiceClassParam svc : rtcParam.getServiceClassParams()) {
+ if (idl.getIdlPath().equals(svc.getIdlPath())) {
+ if (!idl.getTestServiceClassParams().contains(svc)) {
+ idl.addTestServiceClassParams(svc);
+ }
+ }
+ }
+ }
}
}
Deleted: trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/template/cpp/CXX_STAND_ALONE.vsl
===================================================================
--- trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/template/cpp/CXX_STAND_ALONE.vsl 2018-01-23 13:47:36 UTC (rev 794)
+++ trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/template/cpp/CXX_STAND_ALONE.vsl 2018-01-23 13:50:28 UTC (rev 795)
@@ -1,42 +0,0 @@
-// -*- C++ -*-
-/*!
- * @file standalone.cpp
- * @brief Standalone component
- * @date ${dol}Date${dol}
-#parse("${template}/cpp/_doc.vsl")
- * ${dol}Id${dol}
- */
-
-${sharp}include "${rtcParam.name}/rtc.h"
-
-${sharp}include <rtm/Manager.h>
-${sharp}include <iostream>
-${sharp}include <string>
-${sharp}include <stdlib.h>
-
-void ModuleInit(RTC::Manager* manager)
-{
- rtc_init(manager);
- RTC::RtcBase* comp;
- comp = manager->createComponent("${rtcParam.name}");
-
- if (comp == NULL)
- {
- std::cerr << "${rtcParam.name} component creation failed." << std::endl;
- abort();
- }
-}
-
-
-int main(int argc, char** argv)
-{
- RTC::Manager *manager;
- manager = RTC::Manager::init(argc, argv);
- manager->init(argc, argv);
- manager->setModuleInitProc(ModuleInit);
- manager->activateManager();
- manager->runManager();
-
- return 0;
-}
-
Added: trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/template/cpp/test/CXX_Test_Comp.cpp.vsl
===================================================================
--- trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/template/cpp/test/CXX_Test_Comp.cpp.vsl (rev 0)
+++ trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/template/cpp/test/CXX_Test_Comp.cpp.vsl 2018-01-23 13:50:28 UTC (rev 795)
@@ -0,0 +1,97 @@
+// -*- C++ -*-
+/*!
+ * @file ${rtcParam.name}TestComp.cpp
+ * @brief Standalone component
+ * @date ${dol}Date${dol}
+#parse("${template}/cpp/_doc.vsl")
+ * ${dol}Id${dol}
+ */
+
+${sharp}include <rtm/Manager.h>
+${sharp}include <iostream>
+${sharp}include <string>
+${sharp}include <stdlib.h>
+${sharp}include "${rtcParam.name}Test.h"
+
+
+void MyModuleInit(RTC::Manager* manager)
+{
+ ${rtcParam.name}TestInit(manager);
+ RTC::RtcBase* comp;
+
+ // Create a component
+ comp = manager->createComponent("${rtcParam.name}Test");
+
+ if (comp==NULL)
+ {
+ std::cerr << "Component create failed." << std::endl;
+ abort();
+ }
+
+ // Example
+ // The following procedure is examples how handle RT-Components.
+ // These should not be in this function.
+
+ // Get the component's object reference
+// RTC::RTObject_var rtobj;
+// rtobj = RTC::RTObject::_narrow(manager->getPOA()->servant_to_reference(comp));
+
+ // Get the port list of the component
+// PortServiceList* portlist;
+// portlist = rtobj->get_ports();
+
+ // getting port profiles
+// std::cout << "Number of Ports: ";
+// std::cout << portlist->length() << std::endl << std::endl;
+// for (CORBA::ULong i(0), n(portlist->length()); i < n; ++i)
+// {
+// PortService_ptr port;
+// port = (*portlist)[i];
+// std::cout << "Port" << i << " (name): ";
+// std::cout << port->get_port_profile()->name << std::endl;
+//
+// RTC::PortInterfaceProfileList iflist;
+// iflist = port->get_port_profile()->interfaces;
+// std::cout << "---interfaces---" << std::endl;
+// for (CORBA::ULong i(0), n(iflist.length()); i < n; ++i)
+// {
+// std::cout << "I/F name: ";
+// std::cout << iflist[i].instance_name << std::endl;
+// std::cout << "I/F type: ";
+// std::cout << iflist[i].type_name << std::endl;
+// const char* pol;
+// pol = iflist[i].polarity == 0 ? "PROVIDED" : "REQUIRED";
+// std::cout << "Polarity: " << pol << std::endl;
+// }
+// std::cout << "---properties---" << std::endl;
+// NVUtil::dump(port->get_port_profile()->properties);
+// std::cout << "----------------" << std::endl << std::endl;
+// }
+
+ return;
+}
+
+int main (int argc, char** argv)
+{
+ RTC::Manager* manager;
+ manager = RTC::Manager::init(argc, argv);
+
+ // Initialize manager
+ manager->init(argc, argv);
+
+ // Set module initialization proceduer
+ // This procedure will be invoked in activateManager() function.
+ manager->setModuleInitProc(MyModuleInit);
+
+ // Activate manager and register to naming service
+ manager->activateManager();
+
+ // run the manager in blocking mode
+ // runManager(false) is the default.
+ manager->runManager();
+
+ // If you want to run the manager in non-blocking mode, do like this
+ // manager->runManager(true);
+
+ return 0;
+}
Added: trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/template/cpp/test/CXX_Test_RTC.cpp.vsl
===================================================================
--- trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/template/cpp/test/CXX_Test_RTC.cpp.vsl (rev 0)
+++ trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/template/cpp/test/CXX_Test_RTC.cpp.vsl 2018-01-23 13:50:28 UTC (rev 795)
@@ -0,0 +1,341 @@
+// -*- C++ -*-
+/*!
+ * @file ${rtcParam.name}Test.cpp
+ * @brief ${rtcParam.description}
+ * @date ${dol}Date${dol}
+#parse("${template}/cpp/_doc.vsl")
+ * ${dol}Id${dol}
+ */
+
+${sharp}include "${rtcParam.name}Test.h"
+
+// Module specification
+// <rtc-template block="module_spec">
+static const char* ${rtcParam.name.toLowerCase()}_spec[] =
+ {
+ "implementation_id", "${rtcParam.name}Test",
+ "type_name", "${rtcParam.name}Test",
+ "description", "${rtcParam.description}",
+ "version", "${rtcParam.version}",
+ "vendor", "${rtcParam.vender}",
+ "category", "${rtcParam.category}",
+ "activity_type", "${rtcParam.activityType}",
+ "kind", "${rtcParam.componentKind}",
+ "max_instance", "${rtcParam.maxInstance}",
+ "language", "C++",
+ "lang_type", "compile",
+#if( ${rtcParam.configParams.size()} > 0 )
+ // Configuration variables
+#foreach($configParam in ${rtcParam.configParams})
+ "conf.default.${configParam.name}", "${configParam.defaultVal}",
+#end
+
+ // Widget
+#foreach($configParam in ${rtcParam.configParams})
+#if( ${configParam.widget.length()} > 0 )
+ "conf.__widget__.${configParam.name}", "${configParam.widget}#if( ${configParam.step.length()} > 0 ).${configParam.step}#end",
+#end
+#end
+ // Constraints
+#foreach($configParam in ${rtcParam.configParams})
+#if( ${configParam.constraint.length()} > 0 )
+ "conf.__constraints__.${configParam.name}", "${configParam.constraint}",
+#end
+#end
+
+#foreach($configParam in ${rtcParam.configParams})
+ "conf.__type__.${configParam.name}", "${configParam.type}",
+#end
+
+#end
+#if( ${rtcParam.configParameterParams.size()} > 0 )
+ // System Configuration
+#foreach($parameterParam in ${rtcParam.configParameterParams})
+#if( ${parameterParam.isNonPeriodic()} )
+ "${parameterParam.configName}", "${parameterParam.defaultVal}",
+#end
+#end
+#end
+ ""
+ };
+// </rtc-template>
+
+/*!
+ * @brief constructor
+ * @param manager Maneger Object
+ */
+${rtcParam.name}Test::${rtcParam.name}Test(RTC::Manager* manager)
+ // <rtc-template block="initializer">
+ : RTC::${rtcParam.componentKind}Base(manager)#foreach($port in ${rtcParam.inports})#if(${port.type}!=""),
+ ${rtcParam.commonPrefix}${rtcParam.dataPortPrefix}${port.tmplVarName}In${rtcParam.dataPortSuffix}${rtcParam.commonSuffix}("${port.name}", ${rtcParam.commonPrefix}${rtcParam.dataPortPrefix}${port.tmplVarName}${rtcParam.dataPortSuffix}${rtcParam.commonSuffix})#end#end#foreach($port in ${rtcParam.outports})#if(${port.type}!=""),
+ ${rtcParam.commonPrefix}${rtcParam.dataPortPrefix}${port.tmplVarName}Out${rtcParam.dataPortSuffix}${rtcParam.commonSuffix}("${port.name}", ${rtcParam.commonPrefix}${rtcParam.dataPortPrefix}${port.tmplVarName}${rtcParam.dataPortSuffix}${rtcParam.commonSuffix})#end#end
+#if(${rtcParam.servicePorts.size()}>0)
+#foreach($servicePort in ${rtcParam.servicePorts})
+#if(${servicePort.servicePortInterfaces.size()}>0)
+,
+ ${rtcParam.commonPrefix}${rtcParam.servicePortPrefix}${servicePort.name}Port${rtcParam.servicePortSuffix}${rtcParam.commonSuffix}("${servicePort.name}")#end#end#end
+
+
+ // </rtc-template>
+{
+}
+
+/*!
+ * @brief destructor
+ */
+${rtcParam.name}Test::~${rtcParam.name}Test()
+{
+}
+
+
+#if(${rtcParam.getDocActionOverView(0).length()}>0)/*!
+ * ${tmpltHelper.convertDoc(${rtcParam.getDocActionOverView(0)})}
+ */#end
+#if(${rtcParam.configParams.size()}==0 && ${rtcParam.IsNotImplemented(0)} && ${rtcParam.inports.size()}==0 && ${rtcParam.outports.size()}==0 && ${rtcParam.servicePorts.size()}==0)/*#end
+
+RTC::ReturnCode_t ${rtcParam.name}Test::onInitialize()
+{
+ // Registration: InPort/OutPort/Service
+ // <rtc-template block="registration">
+ // Set InPort buffers
+#foreach($port in ${rtcParam.outports})
+#if(${port.type}!="") addInPort("${port.name}", ${rtcParam.commonPrefix}${rtcParam.dataPortPrefix}${port.tmplVarName}In${rtcParam.dataPortSuffix}${rtcParam.commonSuffix});
+#end
+#end
+
+ // Set OutPort buffer
+#foreach($port in ${rtcParam.inports})
+#if(${port.type}!="") addOutPort("${port.name}", ${rtcParam.commonPrefix}${rtcParam.dataPortPrefix}${port.tmplVarName}Out${rtcParam.dataPortSuffix}${rtcParam.commonSuffix});
+#end
+#end
+
+ // Set service provider to Ports
+#if(${rtcParam.servicePorts.size()}>0)
+#foreach($servicePort in ${rtcParam.servicePorts})
+#if(${servicePort.servicePortInterfaces.size()}>0)
+#foreach($serviceInterface in ${servicePort.servicePortInterfaces})
+#if(${serviceInterface.index}==1)
+ ${rtcParam.commonPrefix}${rtcParam.servicePortPrefix}${servicePort.name}Port${rtcParam.servicePortSuffix}${rtcParam.commonSuffix}.registerProvider("${serviceInterface.name}", "${serviceInterface.interfaceType}", ${rtcParam.commonPrefix}${rtcParam.serviceIFPrefix}${serviceInterface.tmplVarName}${rtcParam.serviceIFSuffix}${rtcParam.commonSuffix});
+#end#end#end#end#end
+
+ // Set service consumers to Ports
+#if(${rtcParam.servicePorts.size()}>0)
+#foreach($servicePort in ${rtcParam.servicePorts})
+#if(${servicePort.servicePortInterfaces.size()}>0)
+#foreach($serviceInterface in ${servicePort.servicePortInterfaces})
+#if(${serviceInterface.index}==0)
+ ${rtcParam.commonPrefix}${rtcParam.servicePortPrefix}${servicePort.name}Port${rtcParam.servicePortSuffix}${rtcParam.commonSuffix}.registerConsumer("${serviceInterface.name}", "${serviceInterface.interfaceType}", ${rtcParam.commonPrefix}${rtcParam.serviceIFPrefix}${serviceInterface.tmplVarName}${rtcParam.serviceIFSuffix}${rtcParam.commonSuffix});
+#end#end#end#end#end
+
+ // Set CORBA Service Ports
+#if(${rtcParam.servicePorts.size()}>0)
+#foreach($servicePort in ${rtcParam.servicePorts})
+#if(${servicePort.servicePortInterfaces.size()}>0)
+ addPort(${rtcParam.commonPrefix}${rtcParam.servicePortPrefix}${servicePort.name}Port${rtcParam.servicePortSuffix}${rtcParam.commonSuffix});
+#end#end#end
+
+ // </rtc-template>
+
+ // <rtc-template block="bind_config">
+#if(${rtcParam.configParams.size()}>0)
+ // Bind variables and configuration variable
+#foreach($configParam in ${rtcParam.configParams})
+ bindParameter("${configParam.name}", ${rtcParam.commonPrefix}${rtcParam.configurationPrefix}${configParam.tmplVarName}${rtcParam.configurationSuffix}${rtcParam.commonSuffix}, "${configParam.defaultVal}");
+#end
+#end
+ // </rtc-template>
+#if(${tmpltHelper.checkDetailContent(0,${rtcParam})})${rtcParam.getDetailContent(0)}
+#end
+
+ return RTC::RTC_OK;
+}
+#if(${rtcParam.configParams.size()}==0 && ${rtcParam.IsNotImplemented(0)} && ${rtcParam.inports.size()}==0 && ${rtcParam.outports.size()}==0 && ${rtcParam.servicePorts.size()}==0)*/
+#end
+
+#if(${rtcParam.getDocActionOverView(1).length()}>0)/*!
+ * ${tmpltHelper.convertDoc(${rtcParam.getDocActionOverView(1)})}
+ */
+#end
+#if(${rtcParam.IsNotImplemented(1)})/*#end
+
+RTC::ReturnCode_t ${rtcParam.name}Test::onFinalize()
+{
+#if(${tmpltHelper.checkDetailContent(1,${rtcParam})})${rtcParam.getDetailContent(1)}
+#end
+ return RTC::RTC_OK;
+}
+#if(${rtcParam.IsNotImplemented(1)})*/
+#end
+
+#if(${rtcParam.getDocActionOverView(2).length()}>0)/*!
+ * ${tmpltHelper.convertDoc(${rtcParam.getDocActionOverView(2)})}
+ */
+#end
+#if(${rtcParam.IsNotImplemented(2)})/*#end
+
+RTC::ReturnCode_t ${rtcParam.name}Test::onStartup(RTC::UniqueId ec_id)
+{
+#if(${tmpltHelper.checkDetailContent(2,${rtcParam})})${rtcParam.getDetailContent(2)}
+#end
+ return RTC::RTC_OK;
+}
+#if(${rtcParam.IsNotImplemented(2)})*/
+#end
+
+#if(${rtcParam.getDocActionOverView(3).length()}>0)/*!
+ * ${tmpltHelper.convertDoc(${rtcParam.getDocActionOverView(3)})}
+ */
+#end
+#if(${rtcParam.IsNotImplemented(3)})/*#end
+
+RTC::ReturnCode_t ${rtcParam.name}Test::onShutdown(RTC::UniqueId ec_id)
+{
+#if(${tmpltHelper.checkDetailContent(3,${rtcParam})})${rtcParam.getDetailContent(3)}
+#end
+ return RTC::RTC_OK;
+}
+#if(${rtcParam.IsNotImplemented(3)})*/
+#end
+
+#if(${rtcParam.getDocActionOverView(4).length()}>0)/*!
+ * ${tmpltHelper.convertDoc(${rtcParam.getDocActionOverView(4)})}
+ */
+#end
+#if(${rtcParam.IsNotImplemented(4)})/*#end
+
+RTC::ReturnCode_t ${rtcParam.name}Test::onActivated(RTC::UniqueId ec_id)
+{
+#if(${tmpltHelper.checkDetailContent(4,${rtcParam})})${rtcParam.getDetailContent(4)}
+#end
+ return RTC::RTC_OK;
+}
+#if(${rtcParam.IsNotImplemented(4)})*/
+#end
+
+#if(${rtcParam.getDocActionOverView(5).length()}>0)/*!
+ * ${tmpltHelper.convertDoc(${rtcParam.getDocActionOverView(5)})}
+ */
+#end
+#if(${rtcParam.IsNotImplemented(5)})/*#end
+
+RTC::ReturnCode_t ${rtcParam.name}Test::onDeactivated(RTC::UniqueId ec_id)
+{
+#if(${tmpltHelper.checkDetailContent(5,${rtcParam})})${rtcParam.getDetailContent(5)}
+#end
+ return RTC::RTC_OK;
+}
+#if(${rtcParam.IsNotImplemented(5)})*/
+#end
+
+#if(${rtcParam.getDocActionOverView(9).length()}>0)/*!
+ * ${tmpltHelper.convertDoc(${rtcParam.getDocActionOverView(9)})}
+ */
+#end
+#if(${rtcParam.IsNotImplemented(9)})/*#end
+
+RTC::ReturnCode_t ${rtcParam.name}Test::onExecute(RTC::UniqueId ec_id)
+{
+#if(${tmpltHelper.checkDetailContent(9,${rtcParam})})${rtcParam.getDetailContent(9)}
+#end
+ return RTC::RTC_OK;
+}
+#if(${rtcParam.IsNotImplemented(9)})*/
+#end
+
+#if(${rtcParam.getDocActionOverView(6).length()}>0)/*!
+ * ${tmpltHelper.convertDoc(${rtcParam.getDocActionOverView(6)})}
+ */
+#end
+#if(${rtcParam.IsNotImplemented(6)})/*#end
+
+RTC::ReturnCode_t ${rtcParam.name}Test::onAborting(RTC::UniqueId ec_id)
+{
+#if(${tmpltHelper.checkDetailContent(6,${rtcParam})})${rtcParam.getDetailContent(6)}
+#end
+ return RTC::RTC_OK;
+}
+#if(${rtcParam.IsNotImplemented(6)})*/
+#end
+
+#if(${rtcParam.getDocActionOverView(7).length()}>0)/*!
+ * ${tmpltHelper.convertDoc(${rtcParam.getDocActionOverView(7)})}
+ */
+#end
+#if(${rtcParam.IsNotImplemented(7)})/*#end
+
+RTC::ReturnCode_t ${rtcParam.name}Test::onError(RTC::UniqueId ec_id)
+{
+#if(${tmpltHelper.checkDetailContent(7,${rtcParam})})${rtcParam.getDetailContent(7)}
+#end
+ return RTC::RTC_OK;
+}
+#if(${rtcParam.IsNotImplemented(7)})*/
+#end
+
+#if(${rtcParam.getDocActionOverView(8).length()}>0)/*!
+ * ${tmpltHelper.convertDoc(${rtcParam.getDocActionOverView(8)})}
+ */
+#end
+#if(${rtcParam.IsNotImplemented(8)})/*#end
+
+RTC::ReturnCode_t ${rtcParam.name}Test::onReset(RTC::UniqueId ec_id)
+{
+#if(${tmpltHelper.checkDetailContent(8,${rtcParam})})${rtcParam.getDetailContent(8)}
+#end
+ return RTC::RTC_OK;
+}
+#if(${rtcParam.IsNotImplemented(8)})*/
+#end
+
+#if(${rtcParam.getDocActionOverView(10).length()}>0)/*!
+ * ${tmpltHelper.convertDoc(${rtcParam.getDocActionOverView(10)})}
+ */
+#end
+#if(${rtcParam.IsNotImplemented(10)})/*#end
+
+RTC::ReturnCode_t ${rtcParam.name}Test::onStateUpdate(RTC::UniqueId ec_id)
+{
+#if(${tmpltHelper.checkDetailContent(10,${rtcParam})})${rtcParam.getDetailContent(10)}
+#end
+ return RTC::RTC_OK;
+}
+#if(${rtcParam.IsNotImplemented(10)})*/
+#end
+
+#if(${rtcParam.getDocActionOverView(11).length()}>0)/*!
+ * ${tmpltHelper.convertDoc(${rtcParam.getDocActionOverView(11)})}
+ */
+#end
+#if(${rtcParam.IsNotImplemented(11)})/*#end
+
+RTC::ReturnCode_t ${rtcParam.name}Test::onRateChanged(RTC::UniqueId ec_id)
+{
+#if(${tmpltHelper.checkDetailContent(11,${rtcParam})})${rtcParam.getDetailContent(11)}
+#end
+ return RTC::RTC_OK;
+}
+#if(${rtcParam.IsNotImplemented(11)})*/
+#end
+
+#if(${tmpltHelper.checkContents(${rtcParam.publicOpeSource})})${rtcParam.publicOpeSource}
+#end
+#if(${tmpltHelper.checkContents(${rtcParam.protectedOpeSource})})${rtcParam.protectedOpeSource}
+#end
+#if(${tmpltHelper.checkContents(${rtcParam.privateOpeSource})})${rtcParam.privateOpeSource}
+#end
+
+
+extern "C"
+{
+
+ void ${rtcParam.name}TestInit(RTC::Manager* manager)
+ {
+ coil::Properties profile(${rtcParam.name.toLowerCase()}_spec);
+ manager->registerFactory(profile,
+ RTC::Create<${rtcParam.name}Test>,
+ RTC::Delete<${rtcParam.name}Test>);
+ }
+
+};
+
+
Added: trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/template/cpp/test/CXX_Test_RTC.h.vsl
===================================================================
--- trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/template/cpp/test/CXX_Test_RTC.h.vsl (rev 0)
+++ trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/template/cpp/test/CXX_Test_RTC.h.vsl 2018-01-23 13:50:28 UTC (rev 795)
@@ -0,0 +1,503 @@
+// -*- C++ -*-
+/*!
+ * @file ${rtcParam.name}Test.h
+ * @brief ${rtcParam.description}
+ * @date ${dol}Date${dol}
+#parse("${template}/cpp/_doc.vsl")
+ * ${dol}Id${dol}
+ */
+
+${sharp}ifndef ${rtcParam.name.toUpperCase()}_TEST__H
+${sharp}define ${rtcParam.name.toUpperCase()}_TEST_H
+
+${sharp}include <rtm/idl/BasicDataTypeSkel.h>
+${sharp}include <rtm/idl/ExtendedDataTypesSkel.h>
+${sharp}include <rtm/idl/InterfaceDataTypesSkel.h>
+
+// Service implementation headers
+// <rtc-template block="service_impl_h">
+#foreach($consumerIdlFile in ${rtcParam.consumerIdlPathes})
+${sharp}include "${tmpltHelper.getFilenameNoExt(${consumerIdlFile.idlFile})}${tmpltHelper.serviceImplSuffix}.h"
+#end
+
+// </rtc-template>
+
+// Service Consumer stub headers
+// <rtc-template block="consumer_stub_h">
+#foreach($providerIdlFile in ${rtcParam.providerIdlPathes})
+${sharp}include "${tmpltHelper.getFilenameNoExt(${providerIdlFile.idlFile})}${tmpltHelper.serviceStubSuffix}.h"
+#end
+
+// </rtc-template>
+
+// Service Consumer stub headers
+// <rtc-template block="port_stub_h">
+#foreach($type in ${cXXConv.getPortModules(${rtcParam})})
+${cXXConv.getDataportUsingNamespace(${type})}
+#end
+// </rtc-template>
+
+${sharp}include <rtm/Manager.h>
+${sharp}include <rtm/${rtcParam.componentKind}Base.h>
+${sharp}include <rtm/CorbaPort.h>
+${sharp}include <rtm/DataInPort.h>
+${sharp}include <rtm/DataOutPort.h>
+
+using namespace RTC;
+
+/*!
+ * @class ${rtcParam.name}Test
+ * @brief ${rtcParam.description}
+#if( ${rtcParam.docDescription.length()} > 0 )
+ *
+ * ${tmpltHelper.convertDoc(${rtcParam.docDescription})}
+#end
+#if( ${rtcParam.docInOut.length()} > 0 )
+ *
+ * ${tmpltHelper.convertDoc(${rtcParam.docInOut})}
+#end
+#if( ${rtcParam.docAlgorithm.length()} > 0 )
+ *
+ * ${tmpltHelper.convertDoc(${rtcParam.docAlgorithm})}
+#end
+#if( ${rtcParam.docReference.length()} > 0 )
+ *
+ * ${tmpltHelper.convertDoc(${rtcParam.docReference})}
+#end
+ *
+ */
+class ${rtcParam.name}Test
+ : public RTC::${rtcParam.componentKind}Base
+{
+ public:
+ /*!
+ * @brief constructor
+ * @param manager Maneger Object
+ */
+ ${rtcParam.name}Test(RTC::Manager* manager);
+
+ /*!
+ * @brief destructor
+ */
+ ~${rtcParam.name}Test();
+
+ // <rtc-template block="public_attribute">
+#foreach($publicAttribute in ${rtcParam.publicAttributes})
+ ${publicAttribute}
+#end
+
+ // </rtc-template>
+
+ // <rtc-template block="public_operation">
+#foreach($publicOperation in ${rtcParam.publicOperations})
+ ${publicOperation}
+#end
+
+ // </rtc-template>
+
+ /***
+#if(${rtcParam.getDocActionOverView(0).length()}>0) * ${tmpltHelper.convertDescDoc(${rtcParam.getDocActionOverView(0)})}
+#end
+ *
+ * The initialize action (on CREATED->ALIVE transition)
+ * formaer rtc_init_entry()
+ *
+ * @return RTC::ReturnCode_t
+ *
+#if(${rtcParam.getDocActionPreCondition(0).length()}>0) * @pre ${tmpltHelper.convertPreDoc(${rtcParam.getDocActionPreCondition(0)})}
+#end
+#if(${rtcParam.getDocActionPostCondition(0).length()}>0) * @post ${tmpltHelper.convertPostDoc(${rtcParam.getDocActionPostCondition(0)})}
+#end
+ *
+ */
+ #if(${rtcParam.configParams.size()}==0 && ${rtcParam.IsNotImplemented(0)} && ${rtcParam.inports.size()}==0 && ${rtcParam.outports.size()}==0 && ${rtcParam.servicePorts.size()}==0)//#end virtual RTC::ReturnCode_t onInitialize();
+
+ /***
+#if(${rtcParam.getDocActionOverView(0).length()}>0) * ${tmpltHelper.convertDescDoc(${rtcParam.getDocActionOverView(1)})}
+#end
+ *
+ * The finalize action (on ALIVE->END transition)
+ * formaer rtc_exiting_entry()
+ *
+ * @return RTC::ReturnCode_t
+ *
+#if(${rtcParam.getDocActionPreCondition(1).length()}>0) * @pre ${tmpltHelper.convertPreDoc(${rtcParam.getDocActionPreCondition(1)})}
+#end
+#if(${rtcParam.getDocActionPostCondition(1).length()}>0) * @post ${tmpltHelper.convertPostDoc(${rtcParam.getDocActionPostCondition(1)})}
+#end
+ *
+ */
+ #if(${rtcParam.IsNotImplemented(1)})//#end virtual RTC::ReturnCode_t onFinalize();
+
+ /***
+#if(${rtcParam.getDocActionOverView(2).length()}>0) * ${tmpltHelper.convertDescDoc(${rtcParam.getDocActionOverView(2)})}
+#end
+ *
+ * The startup action when ExecutionContext startup
+ * former rtc_starting_entry()
+ *
+ * @param ec_id target ExecutionContext Id
+ *
+ * @return RTC::ReturnCode_t
+ *
+#if(${rtcParam.getDocActionPreCondition(2).length()}>0) * @pre ${tmpltHelper.convertPreDoc(${rtcParam.getDocActionPreCondition(2)})}
+#end
+#if(${rtcParam.getDocActionPostCondition(2).length()}>0) * @post ${tmpltHelper.convertPostDoc(${rtcParam.getDocActionPostCondition(2)})}
+#end
+ *
+ */
+ #if(${rtcParam.IsNotImplemented(2)})//#end virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);
+
+ /***
+#if(${rtcParam.getDocActionOverView(3).length()}>0) * ${tmpltHelper.convertDescDoc(${rtcParam.getDocActionOverView(3)})}
+#end
+ *
+ * The shutdown action when ExecutionContext stop
+ * former rtc_stopping_entry()
+ *
+ * @param ec_id target ExecutionContext Id
+ *
+ * @return RTC::ReturnCode_t
+ *
+#if(${rtcParam.getDocActionPreCondition(3).length()}>0) * @pre ${tmpltHelper.convertPreDoc(${rtcParam.getDocActionPreCondition(3)})}
+#end
+#if(${rtcParam.getDocActionPostCondition(3).length()}>0) * @post ${tmpltHelper.convertPostDoc(${rtcParam.getDocActionPostCondition(3)})}
+#end
+ *
+ */
+ #if(${rtcParam.IsNotImplemented(3)})//#end virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);
+
+ /***
+#if(${rtcParam.getDocActionOverView(4).length()}>0) * ${tmpltHelper.convertDescDoc(${rtcParam.getDocActionOverView(4)})}
+#end
+ *
+ * The activated action (Active state entry action)
+ * former rtc_active_entry()
+ *
+ * @param ec_id target ExecutionContext Id
+ *
+ * @return RTC::ReturnCode_t
+ *
+#if(${rtcParam.getDocActionPreCondition(4).length()}>0) * @pre ${tmpltHelper.convertPreDoc(${rtcParam.getDocActionPreCondition(4)})}
+#end
+#if(${rtcParam.getDocActionPostCondition(4).length()}>0) * @post ${tmpltHelper.convertPostDoc(${rtcParam.getDocActionPostCondition(4)})}
+#end
+ *
+ */
+ #if(${rtcParam.IsNotImplemented(4)})//#end virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);
+
+ /***
+#if(${rtcParam.getDocActionOverView(5).length()}>0) * ${tmpltHelper.convertDescDoc(${rtcParam.getDocActionOverView(5)})}
+#end
+ *
+ * The deactivated action (Active state exit action)
+ * former rtc_active_exit()
+ *
+ * @param ec_id target ExecutionContext Id
+ *
+ * @return RTC::ReturnCode_t
+ *
+#if(${rtcParam.getDocActionPreCondition(5).length()}>0) * @pre ${tmpltHelper.convertPreDoc(${rtcParam.getDocActionPreCondition(5)})}
+#end
+#if(${rtcParam.getDocActionPostCondition(5).length()}>0) * @post ${tmpltHelper.convertPostDoc(${rtcParam.getDocActionPostCondition(5)})}
+#end
+ *
+ */
+ #if(${rtcParam.IsNotImplemented(5)})//#end virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
+
+ /***
+#if(${rtcParam.getDocActionOverView(9).length()}>0) * ${tmpltHelper.convertDescDoc(${rtcParam.getDocActionOverView(9)})}
+#end
+ *
+ * The execution action that is invoked periodically
+ * former rtc_active_do()
+ *
+ * @param ec_id target ExecutionContext Id
+ *
+ * @return RTC::ReturnCode_t
+ *
+#if(${rtcParam.getDocActionPreCondition(9).length()}>0) * @pre ${tmpltHelper.convertPreDoc(${rtcParam.getDocActionPreCondition(9)})}
+#end
+#if(${rtcParam.getDocActionPostCondition(9).length()}>0) * @post ${tmpltHelper.convertPostDoc(${rtcParam.getDocActionPostCondition(9)})}
+#end
+ *
+ */
+ #if(${rtcParam.IsNotImplemented(9)})//#end virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);
+
+ /***
+#if(${rtcParam.getDocActionOverView(6).length()}>0) * ${tmpltHelper.convertDescDoc(${rtcParam.getDocActionOverView(6)})}
+#end
+ *
+ * The aborting action when main logic error occurred.
+ * former rtc_aborting_entry()
+ *
+ * @param ec_id target ExecutionContext Id
+ *
+ * @return RTC::ReturnCode_t
+ *
+#if(${rtcParam.getDocActionPreCondition(6).length()}>0) * @pre ${tmpltHelper.convertPreDoc(${rtcParam.getDocActionPreCondition(6)})}
+#end
+#if(${rtcParam.getDocActionPostCondition(6).length()}>0) * @post ${tmpltHelper.convertPostDoc(${rtcParam.getDocActionPostCondition(6)})}
+#end
+ *
+ */
+ #if(${rtcParam.IsNotImplemented(6)})//#end virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);
+
+ /***
+#if(${rtcParam.getDocActionOverView(7).length()}>0) * ${tmpltHelper.convertDescDoc(${rtcParam.getDocActionOverView(7)})}
+#end
+ *
+ * The error action in ERROR state
+ * former rtc_error_do()
+ *
+ * @param ec_id target ExecutionContext Id
+ *
+ * @return RTC::ReturnCode_t
+ *
+#if(${rtcParam.getDocActionPreCondition(7).length()}>0) * @pre ${tmpltHelper.convertPreDoc(${rtcParam.getDocActionPreCondition(7)})}
+#end
+#if(${rtcParam.getDocActionPostCondition(7).length()}>0) * @post ${tmpltHelper.convertPostDoc(${rtcParam.getDocActionPostCondition(7)})}
+#end
+ *
+ */
+ #if(${rtcParam.IsNotImplemented(7)})//#end virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);
+
+ /***
+#if(${rtcParam.getDocActionOverView(8).length()}>0) * ${tmpltHelper.convertDescDoc(${rtcParam.getDocActionOverView(8)})}
+#end
+ *
+ * The reset action that is invoked resetting
+ * This is same but different the former rtc_init_entry()
+ *
+ * @param ec_id target ExecutionContext Id
+ *
+ * @return RTC::ReturnCode_t
+ *
+#if(${rtcParam.getDocActionPreCondition(8).length()}>0) * @pre ${tmpltHelper.convertPreDoc(${rtcParam.getDocActionPreCondition(8)})}
+#end
+#if(${rtcParam.getDocActionPostCondition(8).length()}>0) * @post ${tmpltHelper.convertPostDoc(${rtcParam.getDocActionPostCondition(8)})}
+#end
+ *
+ */
+ #if(${rtcParam.IsNotImplemented(8)})//#end virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);
+
+ /***
+#if(${rtcParam.getDocActionOverView(10).length()}>0) * ${tmpltHelper.convertDescDoc(${rtcParam.getDocActionOverView(10)})}
+#end
+ *
+ * The state update action that is invoked after onExecute() action
+ * no corresponding operation exists in OpenRTm-aist-0.2.0
+ *
+ * @param ec_id target ExecutionContext Id
+ *
+ * @return RTC::ReturnCode_t
+ *
+#if(${rtcParam.getDocActionPreCondition(10).length()}>0) * @pre ${tmpltHelper.convertPreDoc(${rtcParam.getDocActionPreCondition(10)})}
+#end
+#if(${rtcParam.getDocActionPostCondition(10).length()}>0) * @post ${tmpltHelper.convertPostDoc(${rtcParam.getDocActionPostCondition(10)})}
+#end
+ *
+ */
+ #if(${rtcParam.IsNotImplemented(10)})//#end virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);
+
+ /***
+#if(${rtcParam.getDocActionOverView(11).length()}>0) * ${tmpltHelper.convertDescDoc(${rtcParam.getDocActionOverView(11)})}
+#end
+ *
+ * The action that is invoked when execution context's rate is changed
+ * no corresponding operation exists in OpenRTm-aist-0.2.0
+ *
+ * @param ec_id target ExecutionContext Id
+ *
+ * @return RTC::ReturnCode_t
+ *
+#if(${rtcParam.getDocActionPreCondition(11).length()}>0) * @pre ${tmpltHelper.convertPreDoc(${rtcParam.getDocActionPreCondition(11)})}
+#end
+#if(${rtcParam.getDocActionPostCondition(11).length()}>0) * @post ${tmpltHelper.convertPostDoc(${rtcParam.getDocActionPostCondition(11)})}
+#end
+ *
+ */
+ #if(${rtcParam.IsNotImplemented(11)})//#end virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);
+
+
+ protected:
+ // <rtc-template block="protected_attribute">
+#foreach($protectedAttribute in ${rtcParam.protectedAttributes})
+ ${protectedAttribute}
+#end
+
+ // </rtc-template>
+
+ // <rtc-template block="protected_operation">
+#foreach($protectedOperation in ${rtcParam.protectedOperations})
+ ${protectedOperation}
+#end
+
+ // </rtc-template>
+
+ // Configuration variable declaration
+ // <rtc-template block="config_declare">
+#if( ${rtcParam.configParams.size()} > 0 )
+#foreach($configParam in ${rtcParam.configParams})
+ /*!
+ * ${tmpltHelper.convertDescDoc(${configParam.docDescription})}
+ * - Name: ${configParam.docDataName} ${configParam.tmplVarName}
+ * - DefaultValue: ${configParam.defaultVal}
+#if(${configParam.docUnit.length()}>0) * - Unit: ${tmpltHelper.convertUnitDoc(${configParam.docUnit})}
+#end
+#if(${configParam.docRange.length()}>0) * - Range: ${tmpltHelper.convertRangeDoc(${configParam.docRange})}
+#end
+#if(${configParam.docConstraint.length()}>0) * - Constraint: ${tmpltHelper.convertConstraintDoc(${configParam.docConstraint})}
+#end
+ */
+ ${cXXConv.convConfigSetType(${configParam.type})} ${rtcParam.commonPrefix}${rtcParam.configurationPrefix}${configParam.tmplVarName}${rtcParam.configurationSuffix}${rtcParam.commonSuffix};
+#end
+#end
+
+ // </rtc-template>
+
+ // DataInPort declaration
+ // <rtc-template block="inport_declare">
+#foreach($port in ${rtcParam.outports})
+#if(${port.type}!="") ${port.type} ${rtcParam.commonPrefix}${rtcParam.dataPortPrefix}${port.tmplVarName}${rtcParam.dataPortSuffix}${rtcParam.commonSuffix};
+ /*!
+#if(${port.docDescription.length()}>0) * ${tmpltHelper.convertDescDoc(${port.docDescription})}
+#end
+#if(${port.docType.length()}>0) * - Type: ${tmpltHelper.convertTypeDoc(${port.docType})}
+#end
+#if(${port.docNum.length()}>0) * - Number: ${tmpltHelper.convertNumberDoc(${port.docNum})}
+#end
+#if(${port.docSemantics.length()}>0) * - Semantics: ${tmpltHelper.convertSemanticsDoc(${port.docSemantics})}
+#end
+#if(${port.docUnit.length()}>0) * - Unit: ${tmpltHelper.convertUnitDoc(${port.docUnit})}
+#end
+#if(${port.docOccurrence.length()}>0) * - Frequency: ${tmpltHelper.convertFrequencyDoc(${port.docOccurrence})}
+#end
+#if(${port.docOperation.length()}>0) * - Operation Cycle: ${tmpltHelper.convertCycleDoc(${port.docOperation})}
+#end
+ */
+ InPort<${port.type}> ${rtcParam.commonPrefix}${rtcParam.dataPortPrefix}${port.tmplVarName}In${rtcParam.dataPortSuffix}${rtcParam.commonSuffix};
+#end
+#end
+
+ // </rtc-template>
+
+
+ // DataOutPort declaration
+ // <rtc-template block="outport_declare">
+#foreach($port in ${rtcParam.inports})
+#if(${port.type}!="") ${port.type} ${rtcParam.commonPrefix}${rtcParam.dataPortPrefix}${port.tmplVarName}${rtcParam.dataPortSuffix}${rtcParam.commonSuffix};
+ /*!
+#if(${port.docDescription.length()}>0) * ${tmpltHelper.convertDescDoc(${port.docDescription})}
+#end
+#if(${port.docType.length()}>0) * - Type: ${tmpltHelper.convertTypeDoc(${port.docType})}
+#end
+#if(${port.docNum.length()}>0) * - Number: ${tmpltHelper.convertNumberDoc(${port.docNum})}
+#end
+#if(${port.docSemantics.length()}>0) * - Semantics: ${tmpltHelper.convertSemanticsDoc(${port.docSemantics})}
+#end
+#if(${port.docUnit.length()}>0) * - Unit: ${tmpltHelper.convertUnitDoc(${port.docUnit})}
+#end
+#if(${port.docOccurrence.length()}>0) * - Frequency: ${tmpltHelper.convertFrequencyDoc(${port.docOccurrence})}
+#end
+#if(${port.docOperation.length()}>0) * - Operation Cycle: ${tmpltHelper.convertCycleDoc(${port.docOperation})}
+#end
+ */
+ OutPort<${port.type}> ${rtcParam.commonPrefix}${rtcParam.dataPortPrefix}${port.tmplVarName}Out${rtcParam.dataPortSuffix}${rtcParam.commonSuffix};
+#end
+#end
+
+ // </rtc-template>
+
+ // CORBA Port declaration
+ // <rtc-template block="corbaport_declare">
+#if(${rtcParam.servicePorts.size()}>0)
+#foreach($servicePort in ${rtcParam.servicePorts})
+#if(${servicePort.servicePortInterfaces.size()}>0)
+ /*!
+#if(${servicePort.docDescription.length()}>0) * ${tmpltHelper.convertDescDoc(${servicePort.docDescription})}
+#end
+#if(${servicePort.docIfDescription.length()}>0) * Interface: ${tmpltHelper.convertInterfaceDoc(${servicePort.docIfDescription})}
+#end
+ */
+ RTC::CorbaPort ${rtcParam.commonPrefix}${rtcParam.servicePortPrefix}${servicePort.name}Port${rtcParam.servicePortSuffix}${rtcParam.commonSuffix};
+#end#end#end
+
+ // </rtc-template>
+
+ // Service declaration
+ // <rtc-template block="service_declare">
+#if(${rtcParam.servicePorts.size()}>0)
+#foreach($servicePort in ${rtcParam.servicePorts})
+#if(${servicePort.servicePortInterfaces.size()}>0)
+#foreach($serviceInterface in ${servicePort.servicePortInterfaces})
+#if(${serviceInterface.index}==1)
+ /*!
+#if(${serviceInterface.docDescription.length()}>0) * ${tmpltHelper.convertDescDoc(${serviceInterface.docDescription})}
+#end
+#if(${serviceInterface.docArgument.length()}>0) * - Argument: ${tmpltHelper.convertInterfaceDetailDoc(${serviceInterface.docArgument})}
+#end
+#if(${serviceInterface.docReturn.length()}>0) * - Return Value: ${tmpltHelper.convertInterfaceDetailDoc(${serviceInterface.docReturn})}
+#end
+#if(${serviceInterface.docException.length()}>0) * - Exception: ${tmpltHelper.convertInterfaceDetailDoc(${serviceInterface.docException})}
+#end
+#if(${serviceInterface.docPreCondition.length()}>0) * - PreCondition: ${tmpltHelper.convertInterfaceDetailDoc(${serviceInterface.docPreCondition})}
+#end
+#if(${serviceInterface.docPostCondition.length()}>0) * - PostCondition: ${tmpltHelper.convertInterfaceDetailDoc(${serviceInterface.docPostCondition})}
+#end
+ */
+ ${serviceInterface.interfaceRawType}${tmpltHelper.serviceImplSuffix} ${rtcParam.commonPrefix}${rtcParam.serviceIFPrefix}${serviceInterface.tmplVarName}${rtcParam.serviceIFSuffix}${rtcParam.commonSuffix};
+#end#end#end#end#end
+
+ // </rtc-template>
+
+ // Consumer declaration
+ // <rtc-template block="consumer_declare">
+#if(${rtcParam.servicePorts.size()}>0)
+#foreach($servicePort in ${rtcParam.servicePorts})
+#if(${servicePort.servicePortInterfaces.size()}>0)
+#foreach($serviceInterface in ${servicePort.servicePortInterfaces})
+#if(${serviceInterface.index}==0)
+ /*!
+#if(${serviceInterface.docDescription.length()}>0) * ${tmpltHelper.convertDescDoc(${serviceInterface.docDescription})}
+#end
+#if(${serviceInterface.docArgument.length()}>0) * - Argument: ${tmpltHelper.convertInterfaceDetailDoc(${serviceInterface.docArgument})}
+#end
+#if(${serviceInterface.docReturn.length()}>0) * - Return Value: ${tmpltHelper.convertInterfaceDetailDoc(${serviceInterface.docReturn})}
+#end
+#if(${serviceInterface.docException.length()}>0) * - Exception: ${tmpltHelper.convertInterfaceDetailDoc(${serviceInterface.docException})}
+#end
+#if(${serviceInterface.docPreCondition.length()}>0) * - PreCondition: ${tmpltHelper.convertInterfaceDetailDoc(${serviceInterface.docPreCondition})}
+#end
+#if(${serviceInterface.docPostCondition.length()}>0) * - PostCondition: ${tmpltHelper.convertInterfaceDetailDoc(${serviceInterface.docPostCondition})}
+#end
+ */
+ RTC::CorbaConsumer<${serviceInterface.interfaceType}> ${rtcParam.commonPrefix}${rtcParam.serviceIFPrefix}${serviceInterface.tmplVarName}${rtcParam.serviceIFSuffix}${rtcParam.commonSuffix};
+#end#end#end#end#end
+
+ // </rtc-template>
+
+ private:
+ // <rtc-template block="private_attribute">
+#foreach($privateAttribute in ${rtcParam.privateAttributes})
+ ${privateAttribute}
+#end
+
+ // </rtc-template>
+
+ // <rtc-template block="private_operation">
+#foreach($privateOperation in ${rtcParam.privateOperations})
+ ${privateOperation}
+#end
+
+ // </rtc-template>
+
+};
+
+
+extern "C"
+{
+ DLL_EXPORT void ${rtcParam.name}TestInit(RTC::Manager* manager);
+};
+
+#endif // ${rtcParam.name.toUpperCase()}_TEST_H
Added: trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/template/cpp/test/CXX_Test_SVC.cpp.vsl
===================================================================
--- trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/template/cpp/test/CXX_Test_SVC.cpp.vsl (rev 0)
+++ trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/template/cpp/test/CXX_Test_SVC.cpp.vsl 2018-01-23 13:50:28 UTC (rev 795)
@@ -0,0 +1,50 @@
+// -*-C++-*-
+/*!
+ * @file ${idlFileParam.idlFileNoExt}${tmpltHelper.serviceImplSuffix}.cpp
+ * @brief Service implementation code of ${idlFileParam.idlFile}
+#parse("${template}/cpp/_doc.vsl")
+ */
+
+${sharp}include "${idlFileParam.idlFileNoExt}${tmpltHelper.serviceImplSuffix}.h"
+
+#foreach($serviceClassParam in ${idlFileParam.testServiceClassParams})
+/*
+ * Example implementational code for IDL interface ${cXXConv.convertDelimiter(${serviceClassParam.name})}
+ */
+${tmpltHelper.getBasename2(${serviceClassParam.name})}${tmpltHelper.serviceImplSuffix}::${tmpltHelper.getBasename2(${serviceClassParam.name})}${tmpltHelper.serviceImplSuffix}()
+{
+ // Please add extra constructor code here.
+}
+
+
+${tmpltHelper.getBasename2(${serviceClassParam.name})}${tmpltHelper.serviceImplSuffix}::~${tmpltHelper.getBasename2(${serviceClassParam.name})}${tmpltHelper.serviceImplSuffix}()
+{
+ // Please add extra destructor code here.
+}
+
+
+/*
+ * Methods corresponding to IDL attributes and operations
+ */
+#foreach($serviceMethodParam in ${serviceClassParam.methods})
+${cXXConv.convCpp2CORBA(${serviceMethodParam})} ${tmpltHelper.getBasename2(${serviceClassParam.name})}${tmpltHelper.serviceImplSuffix}::${serviceMethodParam.name}(#foreach($serviceArgumentParam in ${serviceMethodParam.arguments})#if($velocityCount > 1), #end${cXXConv.convCpp2CORBAforArg(${serviceArgumentParam})} ${serviceArgumentParam.name}#end)
+{
+#if(${serviceMethodParam.isResult}) ${cXXConv.convCpp2CORBA(${serviceMethodParam})} result;
+#end
+ // Please insert your code here and remove the following warning pragma
+#ifndef WIN32
+ #warning "Code missing in function <${cXXConv.convCpp2CORBA(${serviceMethodParam})} ${tmpltHelper.getBasename2(${serviceClassParam.name})}${tmpltHelper.serviceImplSuffix}::${serviceMethodParam.name}(#foreach($serviceArgumentParam in ${serviceMethodParam.arguments})#if($velocityCount > 1), #end${cXXConv.convCpp2CORBAforArg(${serviceArgumentParam})} ${serviceArgumentParam.name}#end)>"
+#endif
+#if(${serviceMethodParam.isResult}) return result;
+#elseif(!${serviceMethodParam.isVoid}) return 0;
+#end
+}
+
+#end
+
+
+// End of example implementational code
+
+#end
+
+
Added: trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/template/cpp/test/CXX_Test_SVC.h.vsl
===================================================================
--- trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/template/cpp/test/CXX_Test_SVC.h.vsl (rev 0)
+++ trunk/rtmtools/jp.go.aist.rtm.rtcbuilder/src/jp/go/aist/rtm/rtcbuilder/template/cpp/test/CXX_Test_SVC.h.vsl 2018-01-23 13:50:28 UTC (rev 795)
@@ -0,0 +1,55 @@
+// -*-C++-*-
+/*!
+ * @file ${tmpltHelper.getBasename2(${idlFileParam.idlFileNoExt})}${tmpltHelper.serviceImplSuffix}.h
+ * @brief Service implementation header of ${idlFileParam.idlFile}
+#parse("${template}/cpp/_doc.vsl")
+ */
+
+#if (${idlFileParam.includeIdlParams.size()} > 0)
+#foreach ($idl in ${idlFileParam.includeIdlParams})
+${sharp}include "${idl.idlFileNoExt}${tmpltHelper.serviceSkelSuffix}.h"
+#end
+
+#end
+${sharp}include "${idlFileParam.idlFileNoExt}${tmpltHelper.serviceSkelSuffix}.h"
+
+#ifndef ${idlFileParam.idlFileNoExt.toUpperCase()}${tmpltHelper.serviceImplSuffix.toUpperCase()}_H
+${sharp}define ${idlFileParam.idlFileNoExt.toUpperCase()}${tmpltHelper.serviceImplSuffix.toUpperCase()}_H
+
+#foreach($serviceClassParam in ${idlFileParam.testServiceClassParams})
+/*!
+ * @class ${tmpltHelper.getBasename2(${serviceClassParam.name})}${tmpltHelper.serviceImplSuffix}
+ * Example class implementing IDL interface ${cXXConv.convertDelimiter(${serviceClassParam.name})}
+ */
+class ${tmpltHelper.getBasename2(${serviceClassParam.name})}${tmpltHelper.serviceImplSuffix}
+ : public virtual POA_${cXXConv.convertDelimiter(${serviceClassParam.name})},
+ public virtual PortableServer::RefCountServantBase
+{
+ private:
+ // Make sure all instances are built on the heap by making the
+ // destructor non-public
+ //virtual ~${tmpltHelper.getBasename2(${serviceClassParam.name})}${tmpltHelper.serviceImplSuffix}();
+
+ public:
+ /*!
+ * @brief standard constructor
+ */
+ ${tmpltHelper.getBasename2(${serviceClassParam.name})}${tmpltHelper.serviceImplSuffix}();
+ /*!
+ * @brief destructor
+ */
+ virtual ~${tmpltHelper.getBasename2(${serviceClassParam.name})}${tmpltHelper.serviceImplSuffix}();
+
+ // attributes and operations
+#foreach($serviceMethodParam in ${serviceClassParam.methods})
+ ${cXXConv.convCpp2CORBA(${serviceMethodParam})} ${serviceMethodParam.name}(#foreach($serviceArgumentParam in ${serviceMethodParam.arguments})#if($velocityCount > 1), #end${cXXConv.convCpp2CORBAforArg(${serviceArgumentParam})} ${serviceArgumentParam.name}#end);
+#end
+
+};
+
+#end
+
+
+#endif // ${idlFileParam.idlFileNoExt.toUpperCase()}${tmpltHelper.serviceImplSuffix.toUpperCase()}_H
+
+
More information about the openrtm-commit
mailing list