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機能 #3773

(カ)動的FSMフレームワークの実装

Added by win-ei over 7 years ago. Updated over 7 years ago.

Status:
新規
Priority:
通常
Assignee:
-
Target version:
-
Start date:
01/04/2017
Due date:
% Done:

0%

Estimated time:

Description

OMG RTC仕様で定義されているFSMコンポーネントを実装すること。Fsmコンポーネント、FsmParticipantコンポーネントおよび、その状態遷移とイベントの関連付けなど、状態遷移型コンポーネントを実装するために必要な機構を実装すること。

eb079851.pdf (53.5 KB) eb079851.pdf win-ei, 01/12/2017 07:46 PM
jfsm-master.zip (96.1 KB) jfsm-master.zip win-ei, 01/12/2017 07:46 PM
b7e6678c.pdf (28.9 KB) b7e6678c.pdf win-ei, 01/13/2017 01:42 PM
e57fc126.pdf (133 KB) e57fc126.pdf win-ei, 01/13/2017 05:23 PM

Associated revisions

Revision 898 (diff)
Added by win-ei over 7 years ago

[FSM4RTC]Added ImplementedClass of FsmObject interface.(Work in progress) refs #3773

Revision 899 (diff)
Added by win-ei over 7 years ago

[FSM4RTC]Added ImplementedClass of FsmParticipant interface.(Work in progress) refs #3773

Revision 903 (diff)
Added by win-ei over 7 years ago

[FSM4RTC]Changed those for implementation of a FsmParticipant component.. refs #3773

Revision 904 (diff)
Added by win-ei over 7 years ago

[FSM4RTC]Fixed bugs. refs #3773

History

#1 Updated by win-ei over 7 years ago

作業メモ

EventDrivenExecutionContextについて

Stimulus Response Processing(FSM用)ExecutionContextクラス。

FsmBehaviorコンポーネントについて

  • DataFlowComponentActionOperationsのメソッドは以下。FSMでは不要。
    RTC.ReturnCode_t on_execute (int exec_handle);
    RTC.ReturnCode_t on_state_update (int exec_handle);
    RTC.ReturnCode_t on_rate_changed (int exec_handle);

RTObject_implの修正について

  • クラス図
    https://yuml.me/diagram/scruffy/class/draw
    [MyContainedA]-^[DataFlowComponentBase]
    [DataFlowComponentBase]-^[RTObject_impl]
    [MyStartComp]-^[FsmParticipantBase]
    [FsmParticipantBase]-^[RTObject_impl]
    [RTObject_impl]-.-^[RTC.DataFlowComponent]
    [RTObject_impl]-.-^[RTC.FsmParticipant]
    [DataFlowComponent_impl]-^[RTC.DataFlowComponentPOA]
    [FsmParticipant_impl]-^[RTC.FsmParticipantPOA]
    [RTObject_impl]-[DataFlowComponent_impl]
    [RTObject_impl]-[FsmParticipant_impl]
  • OpenRTM.idlの修正
    実装で、RTC::RTObject を使用している箇所があるので、OpenRTM::DataFlowComponent と同じように OpenRTM.idl にOpenRTM::FiniteStateMachineComponen の追加を検討する。(現状、コメントアウトされている。)
      interface FiniteStateMachineComponent
        : RTC::RTObject, RTC::FsmParticipant
      {
      };
    
    

#2 Updated by win-ei over 7 years ago

  • File cba6f5e2.pdf added

#3 Updated by win-ei over 7 years ago

  • File deleted (cba6f5e2.pdf)

#5 Updated by win-ei over 7 years ago

#6 Updated by win-ei over 7 years ago

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