PathConsumerComp.java

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// -*- Java -*-
package jp.go.aist.hrp.simulator;

import com.generalrobotix.ui.item.GrxPathPlanningAlgorithmItem;

import jp.go.aist.hrp.simulator.PathPlanner;
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;

public class PathConsumerComp implements ModuleInitProc {

        PathConsumerImpl impl=null;
        public PathPlanner getImpl(){
                return impl.m_PathBase._ptr();
        }
        
        public String getInstanceName(){
                return impl.getInstanceName();
        }

        public void setConnectedCallback(GrxPathPlanningAlgorithmItem item){
                impl.setConnectedCallback(item);
        }
        
    public void myModuleInit(Manager mgr) {
      Properties prop = new Properties(PathConsumer.component_conf);
      mgr.registerFactory(prop, new PathConsumer(), new PathConsumer());

      // Create a component
      RTObject_impl comp = mgr.createComponent("PathConsumer");
      if( comp==null ) {
          System.err.println("Component create failed.");
          System.exit(0);
      }

      impl = (PathConsumerImpl) comp;

      // 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 proceduer
        // This procedure will be invoked in activateManager() function.
        PathConsumerComp init = new PathConsumerComp();
        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);
    }
*/

        
}