sample
JoystickControl
JoystickComponent-project
src
jp
go
aist
hrp
joystick
rtc
JoystickComp.java
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// -*- Java -*-
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package
jp.go.aist.hrp.joystick.rtc;
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import
jp
.
go
.
aist
.rtm.RTC.Manager;
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import
jp
.
go
.
aist
.rtm.RTC.ModuleInitProc;
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import
jp
.
go
.
aist
.rtm.RTC.RTObject_impl;
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import
jp
.
go
.
aist
.rtm.RTC.util.Properties;
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public
class
JoystickComp
implements
ModuleInitProc {
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public
void
myModuleInit
(Manager mgr) {
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Properties prop =
new
Properties(
Joystick
.
component_conf
);
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mgr.registerFactory(prop,
new
Joystick
(),
new
Joystick
());
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// Create a component
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RTObject_impl comp = mgr.createComponent(
"Joystick"
);
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if
( comp==
null
) {
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System.err.println(
"Component create failed."
);
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System.exit(0);
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}
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// Example
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// The following procedure is examples how handle RT-Components.
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// These should not be in this function.
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// // Get the component's object reference
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// Manager manager = Manager.instance();
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// RTObject rtobj = null;
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// try {
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// rtobj = RTObjectHelper.narrow(manager.getPOA().servant_to_reference(comp));
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// } catch (ServantNotActive e) {
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// e.printStackTrace();
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// } catch (WrongPolicy e) {
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// e.printStackTrace();
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// }
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//
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// // Get the port list of the component
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// PortListHolder portlist = new PortListHolder();
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// portlist.value = rtobj.get_ports();
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//
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// // getting port profiles
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// System.out.println( "Number of Ports: " );
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// System.out.println( portlist.value.length );
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// for( int intIdx=0;intIdx<portlist.value.length;++intIdx ) {
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// Port port = portlist.value[intIdx];
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// System.out.println( "Port" + intIdx + " (name): ");
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// System.out.println( port.get_port_profile().name );
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//
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// PortInterfaceProfileListHolder iflist = new PortInterfaceProfileListHolder();
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// iflist.value = port.get_port_profile().interfaces;
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// System.out.println( "---interfaces---" );
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// for( int intIdx2=0;intIdx2<iflist.value.length;++intIdx2 ) {
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// System.out.println( "I/F name: " );
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// System.out.println( iflist.value[intIdx2].instance_name );
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// System.out.println( "I/F type: " );
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// System.out.println( iflist.value[intIdx2].type_name );
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// if( iflist.value[intIdx2].polarity==PortInterfacePolarity.PROVIDED ) {
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// System.out.println( "Polarity: PROVIDED" );
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// } else {
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// System.out.println( "Polarity: REQUIRED" );
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// }
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// }
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// System.out.println( "---properties---" );
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// NVUtil.dump( new NVListHolder(port.get_port_profile().properties) );
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// System.out.println( "----------------" );
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// }
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}
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/*
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public static void execMain() {
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// Initialize manager
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final Manager manager = Manager.instance();
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// Set module initialization proceduer
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// This procedure will be invoked in activateManager() function.
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// TkJoystickComp init = new TkJoystickComp();
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// manager.setModuleInitProc(init);
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manager.createComponent("TkJoyStick");
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// Activate manager and register to naming service
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manager.activateManager();
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// run the manager in blocking mode
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// runManager(false) is the default.
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//manager.runManager();
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// If you want to run the manager in non-blocking mode, do like this
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manager.runManager(true);
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}
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*/
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}
jp.go.aist.hrp.joystick.rtc.Joystick
Sample component for MobileRobotCanvas component.
Definition:
Joystick.java:22
jp.go
jp
jp.go.aist
jp.go.aist.hrp.joystick.rtc.JoystickComp.myModuleInit
void myModuleInit(Manager mgr)
Definition:
JoystickComp.java:24
jp.go.aist.hrp.joystick.rtc.Joystick.component_conf
static String component_conf[]
Definition:
Joystick.java:26
jp.go.aist.hrp.joystick.rtc.JoystickComp
Standalone component Class.
Definition:
JoystickComp.java:22
openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Wed Sep 7 2022 02:51:03