OpenRTM-aist » OpenRTM-aist (Java)

package RTMExamples.SimpleSdoService;

import jp.go.aist.rtm.RTC.Manager;

import jp.go.aist.rtm.RTC.ModuleInitProc;

import jp.go.aist.rtm.RTC.RTObject_impl;

import jp.go.aist.rtm.RTC.util.NVUtil;

import jp.go.aist.rtm.RTC.util.Properties;

import RTC.ComponentProfile;

import RTC.PortService;

import RTC.PortInterfacePolarity;

import RTC.PortInterfaceProfileListHolder;

import RTC.PortServiceListHolder;

import _SDOPackage.NVListHolder;

public class SdoServiceConsumerComp implements ModuleInitProc {

  public void myModuleInit(Manager mgr) {

    Properties prop = new Properties(SdoServiceConsumer.component_conf);

    mgr.registerFactory(prop, 

                        new SdoServiceConsumer(), 

                        new SdoServiceConsumer());

    // Create a component

    System.out.println("Creating a component: \"SdoServiceConsumer\"....");

    RTObject_impl comp = mgr.createComponent("SdoServiceConsumer");

    System.out.println("succeed.");

  }

  public static void main(String[] args) {

    // Initialize manager

    final Manager manager = Manager.init(args);

    // Set module initialization proceduer

    // This procedure will be invoked in activateManager() function.

    SdoServiceConsumerComp init = new SdoServiceConsumerComp();

    manager.setModuleInitProc(init);

    // 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);

  }

}