OpenRTM-aist » OpenRTM-aist (Java)

テスト用のプログラムを変更して再度確認¶

    public void myModuleInit(Manager mgr) {
      Properties prop = new Properties(Sensor.component_conf);
      mgr.registerFactory(prop, new Sensor(), new Sensor());

      System.out.println("1");
      // Create a component
      RTObject_impl scomp = mgr.createComponent("Sensor");
      if( scomp==null ) {
          System.err.println("Component create failed.");
          System.exit(0);
      }
      System.out.println("2");
      RTC.RTObject srtc = scomp.getObjRef();

      System.out.println("3");
      // Create a component
      RTObject_impl ccomp = mgr.createComponent("Controller");
      if( ccomp==null ) {
          System.err.println("Component create failed.");
          System.exit(0);
      }
      System.out.println("4");
      RTC.RTObject crtc = ccomp.getObjRef();

      System.out.println("5");
      // Create a component
      RTObject_impl mcomp = mgr.createComponent("Motor");
      if( mcomp==null ) {
          System.err.println("Component create failed.");
          System.exit(0);
      }
      System.out.println("6");
      RTC.RTObject mrtc = mcomp.getObjRef();

      System.out.println("7");
      ExecutionContextListHolder eclist = new ExecutionContextListHolder();
      eclist.value =  srtc.get_owned_contexts();

      System.out.println("8");
      eclist.value[0].add_component(crtc);
      System.out.println("9");
      eclist.value[0].add_component(mrtc);
      System.out.println("10");

      eclist.value[0].activate_component(mrtc);
      System.out.println("11");
      eclist.value[0].activate_component(crtc);
      System.out.println("12");
      eclist.value[0].activate_component(srtc);
      System.out.println("13");

      try{
          Thread.sleep(3000);
      }catch(InterruptedException e){}

      System.out.println("14");
      LifeCycleState state;
      state = eclist.value[0].get_component_state(crtc);
      if (state == LifeCycleState.ACTIVE_STATE) {
          System.out.println("Controller is ACTIVE_STATE");
      }
      System.out.println("15");
      state = eclist.value[0].get_component_state(mrtc);
      if (state == LifeCycleState.ACTIVE_STATE) {
          System.out.println("Motor is ACTIVE_STATE");
      }
      System.out.println("16");
    }

1
2
3
4
5
6
7
8
9
10
11
12
13
Sensor Activated ec_id=0
Controller Activated ec_id=1000
Motor Activated ec_id=1000
14
Controller is ACTIVE_STATE
15
Motor is ACTIVE_STATE
16

openrtp(RTSE)では、実行コンテキストビューで実行コンテキストをparticipatingに切り替えて、ACTIVEであることを確認した。