OpenRTM-aist » RTC Builder

// -*- Java -*-

/*!

 * @file ModuleNameComp.java

 * @brief Standalone component

 * @date $Date$

 *

 * $Id$

 */

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.Properties;

/**

 * ModuleNameComp

 * <p>

 * Standalone component Class

 *

 */

public class ModuleNameComp implements ModuleInitProc {

    public void myModuleInit(Manager mgr) {

      Properties prop = new Properties(ModuleName.component_conf);

      mgr.registerFactory(prop, new ModuleName(), new ModuleName());

      // Create a component

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

      if( comp==null ) {

          System.err.println("Component create failed.");

          System.exit(0);

      }

      // Example

      // The following procedure is examples how handle RT-Components.

      // These should not be in this function.

//      // Get the component's object reference

//      Manager manager = Manager.instance();

//      RTObject rtobj = null;

//      try {

//          rtobj = RTObjectHelper.narrow(manager.getPOA().servant_to_reference(comp));

//      } catch (ServantNotActive e) {

//          e.printStackTrace();

//      } catch (WrongPolicy e) {

//          e.printStackTrace();

//      }

//

//      // Get the port list of the component

//      PortListHolder portlist = new PortListHolder();

//      portlist.value = rtobj.get_ports();

//

//      // getting port profiles

//      System.out.println( "Number of Ports: " );

//      System.out.println( portlist.value.length );

//      for( int intIdx=0;intIdx<portlist.value.length;++intIdx ) {

//          Port port = portlist.value[intIdx];

//          System.out.println( "Port" + intIdx + " (name): ");

//          System.out.println( port.get_port_profile().name );

//        

//          PortInterfaceProfileListHolder iflist = new PortInterfaceProfileListHolder();

//          iflist.value = port.get_port_profile().interfaces;

//          System.out.println( "---interfaces---" );

//          for( int intIdx2=0;intIdx2<iflist.value.length;++intIdx2 ) {

//              System.out.println( "I/F name: " );

//              System.out.println( iflist.value[intIdx2].instance_name  );

//              System.out.println( "I/F type: " );

//              System.out.println( iflist.value[intIdx2].type_name );

//              if( iflist.value[intIdx2].polarity==PortInterfacePolarity.PROVIDED ) {

//                  System.out.println( "Polarity: PROVIDED" );

//              } else {

//                  System.out.println( "Polarity: REQUIRED" );

//              }

//          }

//          System.out.println( "---properties---" );

//          NVUtil.dump( new NVListHolder(port.get_port_profile().properties) );

//          System.out.println( "----------------" );

//      }

    }

    public static void main(String[] args) {

        // Initialize manager

        final Manager manager = Manager.init(args);

        // Set module initialization procedure

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

        ModuleNameComp init = new ModuleNameComp();

        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);

    }

}