OpenRTM-aist » RTC Builder

h3. ModuleName.java の変点

<pre><code class="diff">

@@ -13,26 +13,27 @@

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

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

-/*!

- * @class ModuleName

- * @brief ModuleDescription

+/**

+ * ModuleName

+ * <p> 

+ * ModuleDescription

  */

 public class ModuleName implements RtcNewFunc, RtcDeleteFunc, RegisterModuleFunc {

 //  Module specification

 //  <rtc-template block="module_spec">

     public static String component_conf[] = {

-    	    "implementation_id", "ModuleName",

-    	    "type_name",         "ModuleName",

-    	    "description",       "ModuleDescription",

-    	    "version",           "1.0.0",

-    	    "vendor",            "VenderName",

-    	    "category",          "Category",

-    	    "activity_type",     "STATIC",

-    	    "max_instance",      "1",

-    	    "language",          "Java",

-    	    "lang_type",         "compile",

-    	    ""

+            "implementation_id", "ModuleName",

+            "type_name",         "ModuleName",

+            "description",       "ModuleDescription",

+            "version",           "1.0.0",

+            "vendor",            "VenderName",

+            "category",          "Category",

+            "activity_type",     "STATIC",

+            "max_instance",      "1",

+            "language",          "Java",

+            "lang_type",         "compile",

+            ""

             };

 //  </rtc-template>

</code></pre>

h3. ModuleNameComp.java の変点

<pre><code class="diff">

@@ -12,9 +12,10 @@

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

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

-/*!

- * @class ModuleNameComp

- * @brief Standalone component Class

+/**

+ * ModuleNameComp

+ * <p>

+ * Standalone component Class

  *

  */

 public class ModuleNameComp implements ModuleInitProc {

@@ -26,8 +27,8 @@

       // Create a component

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

       if( comp==null ) {

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

-    	  System.exit(0);

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

+          System.exit(0);

       }

       // Example

@@ -81,7 +82,7 @@

         // Initialize manager

         final Manager manager = Manager.init(args);

-        // Set module initialization proceduer

+        // Set module initialization procedure

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

         ModuleNameComp init = new ModuleNameComp();

         manager.setModuleInitProc(init);

</code></pre>

h3. ModuleNameImpl.java の変点

<pre><code class="diff">

@@ -25,18 +25,19 @@

 import org.omg.PortableServer.POAPackage.WrongPolicy;

 import RTC.ReturnCode_t;

-/*!

- * @class ModuleNameImpl

- * @brief ModuleDescription

+/**

+ * ModuleNameImpl

+ * <p>

+ * ModuleDescription

  *

  */

 public class ModuleNameImpl extends DataFlowComponentBase {

-  /*!

-   * @brief constructor

-   * @param manager Maneger Object

+  /**

+   * constructor

+   * @param manager Manager Object

    */

-	public ModuleNameImpl(Manager manager) {  

+    public ModuleNameImpl(Manager manager) {  

         super(manager);

         // <rtc-template block="initializer">

         m_sen_val = new TimedString();

@@ -53,8 +54,8 @@

     /**

      *

-     * The initialize action (on CREATED->ALIVE transition)

-     * formaer rtc_init_entry() 

+     * The initialize action (on CREATED->ALIVE transition)

+     * former rtc_init_entry() 

      *

      * @return RTC::ReturnCode_t

      * 

@@ -72,7 +73,7 @@

         // Set service provider to Ports

         try {

-        	m_sv_namePort.registerProvider("if_name", "MyService", m_if_name);

+            m_sv_namePort.registerProvider("if_name", "MyService", m_if_name);

         } catch (ServantAlreadyActive e) {

             e.printStackTrace();

         } catch (WrongPolicy e) {

@@ -89,10 +90,10 @@

         return super.onInitialize();

     }

-    /***

+    /**

      *

-     * The finalize action (on ALIVE->END transition)

-     * formaer rtc_exiting_entry()

+     * The finalize action (on ALIVE->END transition)

+     * former rtc_exiting_entry()

      *

      * @return RTC::ReturnCode_t

      * 

@@ -103,7 +104,7 @@

 //        return super.onFinalize();

 //    }

-    /***

+    /**

      *

      * The startup action when ExecutionContext startup

      * former rtc_starting_entry()

@@ -119,7 +120,7 @@

 //        return super.onStartup(ec_id);

 //    }

-    /***

+    /**

      *

      * The shutdown action when ExecutionContext stop

      * former rtc_stopping_entry()

@@ -135,7 +136,7 @@

 //        return super.onShutdown(ec_id);

 //    }

-    /***

+    /**

      *

      * The activated action (Active state entry action)

      * former rtc_active_entry()

@@ -151,7 +152,7 @@

 //        return super.onActivated(ec_id);

 //    }

-    /***

+    /**

      *

      * The deactivated action (Active state exit action)

      * former rtc_active_exit()

@@ -167,7 +168,7 @@

 //        return super.onDeactivated(ec_id);

 //    }

-    /***

+    /**

      *

      * The execution action that is invoked periodically

      * former rtc_active_do()

@@ -183,7 +184,7 @@

 //        return super.onExecute(ec_id);

 //    }

-    /***

+    /**

      *

      * The aborting action when main logic error occurred.

      * former rtc_aborting_entry()

@@ -199,7 +200,7 @@

 //      return super.onAborting(ec_id);

 //  }

-    /***

+    /**

      *

      * The error action in ERROR state

      * former rtc_error_do()

@@ -215,7 +216,7 @@

 //        return super.onError(ec_id);

 //    }

-    /***

+    /**

      *

      * The reset action that is invoked resetting

      * This is same but different the former rtc_init_entry()

@@ -231,7 +232,7 @@

 //        return super.onReset(ec_id);

 //    }

-    /***

+    /**

      *

      * The state update action that is invoked after onExecute() action

      * no corresponding operation exists in OpenRTm-aist-0.2.0

@@ -247,7 +248,7 @@

 //        return super.onStateUpdate(ec_id);

 //    }

-    /***

+    /**

      *

      * The action that is invoked when execution context's rate is changed

      * no corresponding operation exists in OpenRTm-aist-0.2.0

@@ -262,7 +263,9 @@

 //    protected ReturnCode_t onRateChanged(int ec_id) {

 //        return super.onRateChanged(ec_id);

 //    }

-//

+

+    /**

+     */

     // DataInPort declaration

     // <rtc-template block="inport_declare">

     protected TimedString m_sen_val;

@@ -307,55 +310,55 @@

     // </rtc-template>

-	private void initializeParam(Object target) {

-		Class<?> targetClass = target.getClass();

-		ClassLoader loader = target.getClass().getClassLoader();

-		//

-		Field[] fields = targetClass.getFields();

-		for(Field field : fields) {

-			if(field.getType().isPrimitive()) continue;

-			

-			try {

-				if(field.getType().isArray()) {

-					Object arrayValue = null;

-					Class<?> clazz = null;

-					if(field.getType().getComponentType().isPrimitive()) {

-						clazz = field.getType().getComponentType();

-					} else {

-							clazz = loader.loadClass(field.getType().getComponentType().getName());

-					}

-					arrayValue = Array.newInstance(clazz, 0);

-					field.set(target, arrayValue);

-					

-				} else {

-					Constructor<?>[] constList = field.getType().getConstructors();

-					if(constList.length==0) {

-						Method[] methodList = field.getType().getMethods();

-						for(Method method : methodList) {

-							if(method.getName().equals("from_int")==false) continue;

-							Object objFld = method.invoke(target, new Object[]{ new Integer(0) });

-							field.set(target, objFld);

-							break;

-						}

-						

-					} else {

-			            Class<?> classFld = Class.forName(field.getType().getName(), true, loader);

-						Object objFld = classFld.newInstance();

-						initializeParam(objFld);

-						field.set(target, objFld);

-					}

-				}

-			} catch (ClassNotFoundException e) {

-				e.printStackTrace();

-			} catch (InstantiationException e) {

-				e.printStackTrace();

-			} catch (IllegalAccessException e) {

-				e.printStackTrace();

-			} catch (IllegalArgumentException e) {

-				e.printStackTrace();

-			} catch (InvocationTargetException e) {

-				e.printStackTrace();

-			}

-		}

-	}

+    private void initializeParam(Object target) {

+        Class<?> targetClass = target.getClass();

+        ClassLoader loader = target.getClass().getClassLoader();

+        //

+        Field[] fields = targetClass.getFields();

+        for(Field field : fields) {

+            if(field.getType().isPrimitive()) continue;

+            

+            try {

+                if(field.getType().isArray()) {

+                    Object arrayValue = null;

+                    Class<?> clazz = null;

+                    if(field.getType().getComponentType().isPrimitive()) {

+                        clazz = field.getType().getComponentType();

+                    } else {

+                            clazz = loader.loadClass(field.getType().getComponentType().getName());

+                    }

+                    arrayValue = Array.newInstance(clazz, 0);

+                    field.set(target, arrayValue);

+                    

+                } else {

+                    Constructor<?>[] constList = field.getType().getConstructors();

+                    if(constList.length==0) {

+                        Method[] methodList = field.getType().getMethods();

+                        for(Method method : methodList) {

+                            if(method.getName().equals("from_int")==false) continue;

+                            Object objFld = method.invoke(target, new Object[]{ new Integer(0) });

+                            field.set(target, objFld);

+                            break;

+                        }

+                        

+                    } else {

+                        Class<?> classFld = Class.forName(field.getType().getName(), true, loader);

+                        Object objFld = classFld.newInstance();

+                        initializeParam(objFld);

+                        field.set(target, objFld);

+                    }

+                }

+            } catch (ClassNotFoundException e) {

+                e.printStackTrace();

+            } catch (InstantiationException e) {

+                e.printStackTrace();

+            } catch (IllegalAccessException e) {

+                e.printStackTrace();

+            } catch (IllegalArgumentException e) {

+                e.printStackTrace();

+            } catch (InvocationTargetException e) {

+                e.printStackTrace();

+            }

+        }

+    }

 }

</code></pre>

h3. MyServiceSVC_impl の変点

<pre><code class="diff">

@@ -4,8 +4,9 @@

  * @brief Service implementation code of MyService.idl

  *

  */

-/*!

- * @class MyServiceSVC_impl

+/**

+ * MyServiceSVC_impl

+ * <p>

  * Example class implementing IDL interface MyService

  */

 public class MyServiceSVC_impl extends MyServicePOA{

</code></pre>