[openrtm-commit:00559] r2268 - trunk/OpenRTM-aist/src/lib/rtm
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2012年 1月 9日 (月) 14:22:21 JST
Author: n-ando
Date: 2012-01-09 14:22:21 +0900 (Mon, 09 Jan 2012)
New Revision: 2268
Added:
trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextBase.cpp
trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextProfile.cpp
trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextProfile.h
Modified:
trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextBase.h
trunk/OpenRTM-aist/src/lib/rtm/ExtTrigExecutionContext.cpp
trunk/OpenRTM-aist/src/lib/rtm/Makefile.am
trunk/OpenRTM-aist/src/lib/rtm/Manager.cpp
trunk/OpenRTM-aist/src/lib/rtm/OpenHRPExecutionContext.cpp
trunk/OpenRTM-aist/src/lib/rtm/PeriodicExecutionContext.cpp
trunk/OpenRTM-aist/src/lib/rtm/PeriodicExecutionContext.h
trunk/OpenRTM-aist/src/lib/rtm/RTObject.cpp
Log:
[incompatible] ExecutionContextBase's super classes have been moved to PeriodicExecutionContext class. Delegation to ExecutionContextProfile has been added.
ExecutionContextBase.cpp, ExecutionContextProfile.h/cpp have been added.
[incmpatible] ExecutionContextFactory is now coil's global factory. Manager's EC factory is obsolete.
Added: trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextBase.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextBase.cpp (rev 0)
+++ trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextBase.cpp 2012-01-09 05:22:21 UTC (rev 2268)
@@ -0,0 +1,69 @@
+// -*- C++ -*-
+/*!
+ * @file ExecutionContextBase.cpp
+ * @brief ExecutionContext base class
+ * @date $Date$
+ * @author Noriaki Ando <n-ando at aist.go.jp>
+ *
+ * Copyright (C) 2011
+ * Task-intelligence Research Group,
+ * Intelligent Systems Research Institute,
+ * National Institute of
+ * Advanced Industrial Science and Technology (AIST), Japan
+ * All rights reserved.
+ *
+ * $Id$
+ *
+ */
+
+#include <rtm/ExecutionContextBase.h>
+
+namespace RTC
+{
+ /*!
+ * @if jp
+ * @brief 仮想デストラクタ
+ * @else
+ * @brief Virtual Destructor
+ * @endif
+ */
+ ExecutionContextBase::~ExecutionContextBase(void)
+ {
+ }
+
+ /*!
+ * @if jp
+ * @brief ExecutionContextの処理を進める
+ * @else
+ * @brief Proceed with tick of ExecutionContext
+ * @endif
+ */
+ void ExecutionContextBase::init(coil::Properties& props)
+ {
+ }
+
+
+ /*!
+ * @if jp
+ * @brief コンポーネントをバインドする。
+ * @else
+ * @brief Bind the component.
+ * @endif
+ */
+ // TC::ReturnCode_t bindComponent(RTObject_impl* rtc) = 0;
+
+ /*!
+ * @if jp
+ * @brief オブジェクトのリファレンスを取得する。
+ *
+ * オブジェクトのリファレンスを取得する。
+ *
+ * @else
+ * @brief Get the reference of the object.
+ *
+ * Get the reference of the object.
+ *
+ * @endif
+ */
+ // virtual RTC::ExecutionContextService_ptr getObjRef() = 0;
+}; // namespace RTC
Modified: trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextBase.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextBase.h 2012-01-06 07:14:38 UTC (rev 2267)
+++ trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextBase.h 2012-01-09 05:22:21 UTC (rev 2268)
@@ -19,14 +19,22 @@
#ifndef RTC_EXECUTIONCONTEXTBASE_H
#define RTC_EXECUTIONCONTEXTBASE_H
+#include <coil/Factory.h>
+
#include <rtm/idl/RTCSkel.h>
#include <rtm/idl/OpenRTMSkel.h>
#include <rtm/Factory.h>
+#include <rtm/ExecutionContextProfile.h>
#ifdef WIN32
#pragma warning( disable : 4290 )
#endif
+namespace coil
+{
+ class Properties;
+}
+
namespace RTC
{
/*!
@@ -49,8 +57,6 @@
* @endif
*/
class ExecutionContextBase
- : public virtual POA_OpenRTM::ExtTrigExecutionContextService,
- public virtual PortableServer::RefCountServantBase
{
public:
/*!
@@ -66,8 +72,8 @@
*
* @endif
*/
- virtual ~ExecutionContextBase(void){};
-
+ virtual ~ExecutionContextBase(void);
+
/*!
* @if jp
* @brief ExecutionContextの処理を進める
@@ -81,9 +87,7 @@
*
* @endif
*/
- virtual void tick()
- throw (CORBA::SystemException)
- {};
+ virtual void init(coil::Properties& props);
/*!
* @if jp
@@ -114,7 +118,440 @@
* @endif
*/
virtual RTC::ExecutionContextService_ptr getObjRef() = 0;
+
+ //============================================================
+ // Delegated functions to ExecutionContextProfile
+ //============================================================
+ /*!
+ * @if jp
+ * @brief CORBA オブジェクト参照の取得
+ *
+ * 本オブジェクトの ExecutioncontextService としての CORBA オブジェ
+ * クト参照を取得する。
+ *
+ * @return CORBA オブジェクト参照
+ *
+ * @else
+ * @brief Get the reference to the CORBA object
+ *
+ * Get the reference to the CORBA object as
+ * ExecutioncontextService of this object.
+ *
+ * @return The reference to CORBA object
+ *
+ * @endif
+ */
+ void setObjRef(RTC::ExecutionContextService_ptr ec_ptr)
+ {
+ m_profile.setObjRef(ec_ptr);
+ }
+
+ /*!
+ * @if jp
+ * @brief CORBA オブジェクト参照の取得
+ *
+ * 本オブジェクトの ExecutioncontextService としての CORBA オブジェ
+ * クト参照を取得する。
+ *
+ * @return CORBA オブジェクト参照
+ *
+ * @else
+ * @brief Get the reference to the CORBA object
+ *
+ * Get the reference to the CORBA object as
+ * ExecutioncontextService of this object.
+ *
+ * @return The reference to CORBA object
+ *
+ * @endif
+ */
+ // RTC::ExecutionContextService_ptr getObjRef(void) const;
+
+ /*!
+ * @if jp
+ * @brief ExecutionContext の実行周期(Hz)を設定する
+ *
+ * Active 状態にてRTコンポーネントが実行される周期(単位:Hz)を設定す
+ * る。実行周期の変更は、DataFlowComponentAction の
+ * on_rate_changed によって各RTコンポーネントに伝達される。
+ *
+ * @param rate 処理周期(単位:Hz)
+ *
+ * @return ReturnCode_t 型のリターンコード
+ * RTC_OK: 正常終了
+ * BAD_PARAMETER: 設定値が負の値
+ *
+ * @else
+ *
+ * @brief Set execution rate(Hz) of ExecutionContext
+ *
+ * This operation shall set the rate (in hertz) at which this
+ * context’s Active participating RTCs are being called. If the
+ * execution kind of the context is PERIODIC, a rate change shall
+ * result in the invocation of on_rate_changed on any RTCs
+ * realizing DataFlowComponentAction that are registered with any
+ * RTCs participating in the context.
+ *
+ * @param rate Execution cycle(Unit:Hz)
+ *
+ * @return The return code of ReturnCode_t type
+ * RTC_OK: Succeed
+ * BAD_PARAMETER: Invalid value. The value might be negative.
+ *
+ * @endif
+ */
+ RTC::ReturnCode_t setRate(double rate)
+ {
+ return m_profile.setRate(rate);;
+ }
+
+ /*!
+ * @if jp
+ * @brief ExecutionContext の実行周期(Hz)を取得する
+ *
+ * Active 状態にてRTコンポーネントが実行される周期(単位:Hz)を取得す
+ * る。
+ *
+ * @return 処理周期(単位:Hz)
+ *
+ * @else
+ *
+ * @brief Get execution rate(Hz) of ExecutionContext
+ *
+ * This operation shall return the rate (in hertz) at which its
+ * Active participating RTCs are being invoked.
+ *
+ * @return Execution cycle(Unit:Hz)
+ *
+ * @endif
+ */
+ double getRate(void) const
+ {
+ return m_profile.getRate();
+ }
+
+ /*!
+ * @if jp
+ * @brief ExecutionKind を文字列化する
+ *
+ * RTC::ExecutionKind で定義されている PERIODIC, EVENT_DRIVEN,
+ * OTHER を文字列化する。
+ *
+ * @param kind ExecutionKind
+ * @return 文字列化されたExecutionKind
+ *
+ * @else
+ *
+ * @brief Converting ExecutionKind enum to string
+ *
+ * This function converts enumeration (PERIODIC, EVENT_DRIVEN,
+ * OTHER) defined in RTC::ExecutionKind to string.
+ *
+ * @param kind ExecutionKind
+ * @return String of ExecutionKind
+ *
+ * @endif
+ */
+ const char* getKindString(RTC::ExecutionKind kind) const
+ {
+ return m_profile.getKindString(kind);
+ }
+
+ /*!
+ * @if jp
+ * @brief ExecutionKind を設定する
+ *
+ * この ExecutionContext の ExecutionKind を設定する
+ *
+ * @param kind ExecutionKind
+ *
+ * @else
+ *
+ * @brief Set the ExecutionKind
+ *
+ * This operation sets the kind of the execution context.
+ *
+ * @param kind ExecutionKind
+ *
+ * @endif
+ */
+ RTC::ReturnCode_t setKind(RTC::ExecutionKind kind)
+ {
+ return m_profile.setKind(kind);
+ }
+
+ /*!
+ * @if jp
+ * @brief ExecutionKind を取得する
+ *
+ * 本 ExecutionContext の ExecutionKind を取得する
+ *
+ * @return ExecutionKind
+ *
+ * @else
+ *
+ * @brief Get the ExecutionKind
+ *
+ * This operation shall report the execution kind of the execution
+ * context.
+ *
+ * @return ExecutionKind
+ *
+ * @endif
+ */
+ RTC::ExecutionKind getKind(void) const
+ {
+ return m_profile.getKind();
+ }
+
+ /*!
+ * @if jp
+ * @brief Ownerコンポーネントをセットする。
+ *
+ * このECのOwnerとなるRTCをセットする。
+ *
+ * @param comp OwnerとなるRTコンポーネント
+ * @return ReturnCode_t 型のリターンコード
+ * @else
+ * @brief Setting owner component of the execution context
+ *
+ * This function sets an RT-Component to be owner of the execution context.
+ *
+ * @param comp an owner RT-Component of this execution context
+ * @return The return code of ReturnCode_t type
+ * @endif
+ */
+ RTC::ReturnCode_t setOwner(RTC::LightweightRTObject_ptr comp)
+ {
+ return m_profile.setOwner(comp);
+ }
+
+ /*!
+ * @if jp
+ * @brief Ownerコンポーネントの参照を取得する
+ *
+ * このECのOwnerであるRTCの参照を取得する。
+ *
+ * @return OwnerRTコンポーネントの参照
+ * @else
+ * @brief Getting a reference of the owner component
+ *
+ * This function returns a reference of the owner RT-Component of
+ * this execution context
+ *
+ * @return a reference of the owner RT-Component
+ * @endif
+ */
+ const RTC::RTObject_ptr getOwner() const
+ {
+ return m_profile.getOwner();
+ }
+
+ /*!
+ * @if jp
+ * @brief RTコンポーネントを追加する
+ *
+ * 指定したRTコンポーネントを参加者リストに追加する。追加されたRTコ
+ * ンポーネントは attach_context が呼ばれ、Inactive 状態に遷移する。
+ * 指定されたRTコンポーネントがnullの場合は、BAD_PARAMETER が返され
+ * る。指定されたRTコンポーネントが DataFlowComponent 以外の場合は、
+ * BAD_PARAMETER が返される。
+ *
+ * @param comp 追加対象RTコンポーネント
+ *
+ * @return ReturnCode_t 型のリターンコード
+ *
+ * @else
+ *
+ * @brief Add an RT-component
+ *
+ * The operation causes the given RTC to begin participating in
+ * the execution context. The newly added RTC will receive a call
+ * to LightweightRTComponent::attach_context and then enter the
+ * Inactive state. BAD_PARAMETER will be invoked, if the given
+ * RT-Component is null or if the given RT-Component is other than
+ * DataFlowComponent.
+ *
+ * @param comp The target RT-Component for add
+ *
+ * @return The return code of ReturnCode_t type
+ *
+ * @endif
+ */
+ RTC::ReturnCode_t addComponent(RTC::LightweightRTObject_ptr comp)
+ {
+ return m_profile.addComponent(comp);
+ }
+
+ /*!
+ * @if jp
+ * @brief RTコンポーネントを参加者リストから削除する
+ *
+ * 指定したRTコンポーネントを参加者リストから削除する。削除された
+ * RTコンポーネントは detach_context が呼ばれる。指定されたRTコンポー
+ * ネントが参加者リストに登録されていない場合は、BAD_PARAMETER が返
+ * される。
+ *
+ * @param comp 削除対象RTコンポーネント
+ *
+ * @return ReturnCode_t 型のリターンコード
+ *
+ * @else
+ *
+ * @brief Remove the RT-Component from participant list
+ *
+ * This operation causes a participant RTC to stop participating in the
+ * execution context.
+ * The removed RTC will receive a call to
+ * LightweightRTComponent::detach_context.
+ * BAD_PARAMETER will be returned, if the given RT-Component is not
+ * participating in the participant list.
+ *
+ * @param comp The target RT-Component for delete
+ *
+ * @return The return code of ReturnCode_t type
+ *
+ * @endif
+ */
+ RTC::ReturnCode_t removeComponent(RTC::LightweightRTObject_ptr comp)
+ {
+ return m_profile.removeComponent(comp);
+ }
+
+ /*!
+ * @if jp
+ * @brief RTコンポーネントの参加者リストを取得する
+ *
+ * 現在登録されている参加者RTCのリストを取得する。
+ *
+ * @return 参加者RTCのリスト
+ *
+ * @else
+ *
+ * @brief Getting participant RTC list
+ *
+ * This function returns a list of participant RTC of the execution context.
+ *
+ * @return Participants RTC list
+ *
+ * @endif
+ */
+ const RTC::RTCList& getComponentList() const
+ {
+ return m_profile.getComponentList();
+ }
+
+ /*!
+ * @if jp
+ * @brief Propertiesをセットする
+ *
+ * ExecutionContextProfile::properties をセットする。
+ *
+ * @param props ExecutionContextProfile::properties にセットするプ
+ * ロパティー
+ *
+ * @else
+ * @brief Setting Properties
+ *
+ * This function sets ExecutionContextProfile::properties by
+ * coil::Properties.
+ *
+ * @param props Properties to be set to
+ * ExecutionContextProfile::properties.
+ *
+ * @endif
+ */
+ void setProperties(coil::Properties& props)
+ {
+ m_profile.setProperties(props);
+ }
+
+ /*!
+ * @if jp
+ * @brief Propertiesを取得する
+ *
+ * ExecutionContextProfile::properties を取得する。
+ *
+ * @return coil::Propertiesに変換された
+ * ExecutionContextProfile::properties
+ *
+ * @else
+ * @brief Setting Properties
+ *
+ * This function sets ExecutionContextProfile::properties by
+ * coil::Properties.
+ *
+ * @param props Properties to be set to ExecutionContextProfile::properties.
+ *
+ * @endif
+ */
+ const coil::Properties getProperties() const
+ {
+ return m_profile.getProperties();
+ }
+
+ /*!
+ * @if jp
+ * @brief Profileを取得する
+ *
+ * RTC::ExecutionContextProfile を取得する。取得した
+ * ExecutionContextProfile の所有権は呼び出し側にある。取得されたオ
+ * ブジェクトが不要になった場合、呼び出し側が開放する責任を負う。
+ *
+ * @return RTC::ExecutionContextProfile
+ *
+ * @else
+ * @brief Getting Profile
+ *
+ * This function gets RTC::ExecutionContextProfile. The ownership
+ * of the obtained ExecutionContextProfile is given to caller. The
+ * caller should release obtained object when it is unneccessary
+ * anymore.
+ *
+ * @return RTC::ExecutionContextProfile
+ *
+ * @endif
+ */
+ RTC::ExecutionContextProfile* getProfile(void)
+ {
+ return m_profile.getProfile();
+ }
+
+ /*!
+ * @if jp
+ * @brief Profileを取得する
+ *
+ * RTC::ExecutionContextProfile を取得する。
+ *
+ * @return RTC::ExecutionContextProfile
+ *
+ * @else
+ * @brief Getting Profile
+ *
+ * This function gets RTC::ExecutionContextProfile.
+ *
+ * @return RTC::ExecutionContextProfile
+ *
+ * @endif
+ */
+ const RTC::ExecutionContextProfile& getProfile(void) const
+ {
+ return m_profile.getProfile();
+ }
+ // end of delegated functions to ExecutionContextProfile
+ //============================================================
+
+
+
+ protected:
+ RTC_impl::ExecutionContextProfile m_profile;
}; // class ExecutionContextBase
+
+ typedef coil::GlobalFactory<ExecutionContextBase> ExecutionContextFactory;
+
+#if defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__)
+ EXTERN template class DLL_PLUGIN coil::GlobalFactory<ExecutionContextBase>;
+#endif
}; // namespace RTC
#ifdef WIN32
Added: trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextProfile.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextProfile.cpp (rev 0)
+++ trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextProfile.cpp 2012-01-09 05:22:21 UTC (rev 2268)
@@ -0,0 +1,384 @@
+// -*- C++ -*-
+/*!
+ * @file ExecutionContextProfile.cpp
+ * @brief ExecutionContextProfile class
+ * @date $Date$
+ * @author Noriaki Ando <n-ando at aist.go.jp>
+ *
+ * Copyright (C) 2011
+ * Noriaki Ando
+ * Intelligent Systems Research Institute,
+ * National Institute of
+ * Advanced Industrial Science and Technology (AIST), Japan
+ * All rights reserved.
+ *
+ * $Id$
+ *
+ */
+
+#include <rtm/ExecutionContextProfile.h>
+#include <rtm/CORBA_SeqUtil.h>
+#include <rtm/NVUtil.h>
+
+#define DEEFAULT_PERIOD 0.000001
+
+namespace RTC_impl
+{
+
+ /*!
+ * @if jp
+ * @brief デフォルトコンストラクタ
+ * @else
+ * @brief Default constructor
+ * @endif
+ */
+ ExecutionContextProfile::
+ ExecutionContextProfile(RTC::ExecutionKind kind)
+ : rtclog("periodic_ecprofile"),
+ m_period((double)DEEFAULT_PERIOD),
+ m_ref(RTC::ExecutionContextService::_nil())
+ {
+ RTC_TRACE(("ExecutionContextProfile()"));
+ RTC_DEBUG(("Actual rate: %d [sec], %d [usec]",
+ m_period.sec(), m_period.usec()));
+ // profile initialization
+ m_profile.kind = RTC::PERIODIC;
+ m_profile.rate = 1.0 / m_period;
+ m_profile.owner = RTC::RTObject::_nil();
+ m_profile.participants.length(0);
+ m_profile.properties.length(0);
+ }
+
+ /*!
+ * @if jp
+ * @brief デストラクタ
+ * @else
+ * @brief Destructor
+ * @endif
+ */
+ ExecutionContextProfile::~ExecutionContextProfile()
+ {
+ RTC_TRACE(("~ExecutionContextProfile()"));
+
+ // cleanup EC's profile
+ m_profile.owner = RTC::RTObject::_nil();
+ m_profile.participants.length(0);
+ m_profile.properties.length(0);
+ m_ref = RTC::ExecutionContextService::_nil();
+ }
+
+ /*!
+ * @if jp
+ * @brief CORBA オブジェクト参照の取得
+ * @else
+ * @brief Get the reference to the CORBA object
+ * @endif
+ */
+ void ExecutionContextProfile::
+ setObjRef(RTC::ExecutionContextService_ptr ec_ptr)
+ {
+ m_ref = RTC::ExecutionContextService::_duplicate(ec_ptr);
+ }
+
+ /*!
+ * @if jp
+ * @brief CORBA オブジェクト参照の取得
+ * @else
+ * @brief Get the reference to the CORBA object
+ * @endif
+ */
+ RTC::ExecutionContextService_ptr
+ ExecutionContextProfile::getObjRef(void) const
+ {
+ return RTC::ExecutionContextService::_duplicate(m_ref);
+ }
+
+ /*!
+ * @if jp
+ * @brief ExecutionContext の実行周期(Hz)を設定する
+ * @else
+ * @brief Set execution rate(Hz) of ExecutionContext
+ * @endif
+ */
+ RTC::ReturnCode_t ExecutionContextProfile::setRate(double rate)
+ {
+ RTC_TRACE(("set_rate(%f)", rate));
+ if (rate < 0.0) { return RTC::BAD_PARAMETER; }
+
+ Guard guard(m_profileMutex);
+ m_profile.rate = rate;
+ m_period = coil::TimeValue(1.0/rate);
+ return RTC::RTC_OK;
+ }
+
+ /*!
+ * @if jp
+ * @brief ExecutionContext の実行周期(Hz)を取得する
+ * @else
+ * @brief Get execution rate(Hz) of ExecutionContext
+ * @endif
+ */
+ CORBA::Double ExecutionContextProfile::getRate() const
+ {
+ RTC_TRACE(("get_rate()"));
+ Guard guard(m_profileMutex);
+ return m_profile.rate;
+ }
+
+ /*!
+ * @if jp
+ * @brief ExecutionKind を文字列化する
+ * @else
+ * @brief Converting ExecutionKind enum to string
+ * @endif
+ */
+ const char*
+ ExecutionContextProfile::getKindString(RTC::ExecutionKind kind) const
+ {
+ const char* kinds[] = {"PERIODIC", "EVENT_DRIVEN", "OTHER"};
+ if (kind < RTC::PERIODIC || kind > RTC::OTHER)
+ {
+ return "";
+ }
+ return kinds[kind];
+ }
+
+ /*!
+ * @if jp
+ * @brief ExecutionKind を取得する
+ * @else
+ * @brief Get the ExecutionKind
+ * @endif
+ */
+ RTC::ReturnCode_t ExecutionContextProfile::setKind(RTC::ExecutionKind kind)
+ {
+ if (kind < RTC::PERIODIC || kind > RTC::OTHER)
+ {
+ RTC_ERROR(("Invalid kind is given. %d", kind));
+ return RTC::BAD_PARAMETER;
+ }
+ RTC_TRACE(("setKind(%s)", getKindString(kind)));
+ Guard guard(m_profileMutex);
+ m_profile.kind = kind;
+ return RTC::RTC_OK;
+ }
+
+ /*!
+ * @if jp
+ * @brief ExecutionKind を取得する
+ * @else
+ * @brief Get the ExecutionKind
+ * @endif
+ */
+ RTC::ExecutionKind ExecutionContextProfile::getKind(void) const
+ {
+ RTC_TRACE(("%s = getKind()", getKindString(m_profile.kind)));
+ return m_profile.kind;
+ }
+
+ /*!
+ * @if jp
+ * @brief Ownerコンポーネントをセットする。
+ * @else
+ * @brief Setting owner component of the execution context
+ * @endif
+ */
+ RTC::ReturnCode_t ExecutionContextProfile::
+ setOwner(RTC::LightweightRTObject_ptr comp)
+ {
+ RTC_TRACE(("setOwner()"));
+ if (CORBA::is_nil(comp))
+ {
+ RTC_ERROR(("nil reference is given."));
+ return RTC::BAD_PARAMETER;
+ }
+ RTC::RTObject_var rtobj;
+ rtobj = RTC::RTObject::_narrow(comp);
+ if (CORBA::is_nil(rtobj))
+ {
+ RTC_ERROR(("Narrowing failed."));
+ return RTC::RTC_ERROR;
+ }
+ m_profile.owner = RTC::RTObject::_duplicate(m_profile.owner);
+ return RTC::RTC_OK;
+ }
+
+ /*!
+ * @if jp
+ * @brief Ownerコンポーネントの参照を取得する
+ * @else
+ * @brief Getting a reference of the owner component
+ * @endif
+ */
+ const RTC::RTObject_ptr ExecutionContextProfile::getOwner() const
+ {
+ RTC_TRACE(("getOwner()"));
+ return RTC::RTObject::_duplicate(m_profile.owner);
+ }
+
+ /*!
+ * @if jp
+ * @brief RTコンポーネントを追加する
+ * @else
+ * @brief Add an RT-component
+ * @endif
+ */
+ RTC::ReturnCode_t
+ ExecutionContextProfile::addComponent(RTC::LightweightRTObject_ptr comp)
+ {
+ RTC_TRACE(("addComponent()"));
+ if (CORBA::is_nil(comp))
+ {
+ RTC_ERROR(("A nil reference was given."));
+ return RTC::BAD_PARAMETER;
+ }
+ RTC::RTObject_var rtobj = RTC::RTObject::_narrow(comp);
+ if (CORBA::is_nil(rtobj))
+ {
+ RTC_ERROR(("Narrowing was failed."));
+ return RTC::RTC_ERROR;
+ }
+ CORBA_SeqUtil::push_back(m_profile.participants, rtobj._retn());
+ return RTC::RTC_OK;
+ }
+
+ /*!
+ * @if jp
+ * @brief RTコンポーネントを参加者リストから削除する
+ * @else
+ * @brief Remove the RT-Component from participant list
+ * @endif
+ */
+ RTC::ReturnCode_t
+ ExecutionContextProfile::removeComponent(RTC::LightweightRTObject_ptr comp)
+ {
+ RTC_TRACE(("removeComponent()"));
+ if (CORBA::is_nil(comp))
+ {
+ RTC_ERROR(("A nil reference was given."));
+ return RTC::BAD_PARAMETER;
+ }
+ RTC::RTObject_var rtobj = RTC::RTObject::_narrow(comp);
+ if (CORBA::is_nil(rtobj))
+ {
+ RTC_ERROR(("Narrowing was failed."));
+ return RTC::RTC_ERROR;
+ }
+ {
+ Guard guard(m_profileMutex);
+ CORBA::Long index;
+ index = CORBA_SeqUtil::find(m_profile.participants,
+ find_participant(rtobj));
+ if (index < 0)
+ {
+ RTC_ERROR(("The given RTObject does not exist in the EC."));
+ return RTC::BAD_PARAMETER;
+ }
+ CORBA_SeqUtil::erase(m_profile.participants, index);
+ }
+ return RTC::RTC_OK;
+ }
+
+ /*!
+ * @if jp
+ * @brief ExecutionKind を取得する
+ * @else
+ * @brief Get the ExecutionKind
+ * @endif
+ */
+ const RTC::RTCList& ExecutionContextProfile::getComponentList() const
+ {
+ RTC_TRACE(("getComponentList(%d)", m_profile.participants.length()));
+ return m_profile.participants;
+ }
+
+ /*!
+ * @if jp
+ * @brief Propertiesをセットする
+ * @else
+ * @brief Setting Properties
+ * @endif
+ */
+ void ExecutionContextProfile::setProperties(coil::Properties& props)
+ {
+ RTC_TRACE(("setProperties()"));
+ RTC_DEBUG_STR((props));
+ Guard guard(m_profileMutex);
+ NVUtil::copyFromProperties(m_profile.properties, props);
+ }
+
+ /*!
+ * @if jp
+ * @brief Propertiesを取得する
+ * @else
+ * @brief Setting Properties
+ * @endif
+ */
+ const coil::Properties ExecutionContextProfile::getProperties() const
+ {
+ RTC_TRACE(("getProperties()"));
+ Guard guard(m_profileMutex);
+ coil::Properties props;
+ NVUtil::copyToProperties(props, m_profile.properties);
+ RTC_DEBUG_STR((props));
+ return props;
+ }
+
+ /*!
+ * @if jp
+ * @brief ExecutionContextProfile を取得する
+ * @else
+ * @brief Get the ExecutionContextProfile
+ * @endif
+ */
+ RTC::ExecutionContextProfile* ExecutionContextProfile::getProfile()
+ {
+ RTC_TRACE(("getProfile()"));
+ RTC::ExecutionContextProfile_var p;
+ {
+ Guard guard(m_profileMutex);
+ p = new RTC::ExecutionContextProfile(m_profile);
+ }
+ return p._retn();
+ }
+
+ /*!
+ * @if jp
+ * @brief ExecutionContextProfile を取得する
+ * @else
+ * @brief Get the ExecutionContextProfile
+ * @endif
+ */
+ const RTC::ExecutionContextProfile&
+ ExecutionContextProfile::getProfile() const
+ {
+ RTC_TRACE(("getProfile()"));
+ Guard guard(m_profileMutex);
+ return m_profile;
+ }
+
+ /*!
+ * @if jp
+ * @brief ExecutionContextProfileをロックする
+ * @else
+ * @brief Getting a lock of RTC::ExecutionContextProfile
+ * @endif
+ */
+ void ExecutionContextProfile::lock() const
+ {
+ m_profileMutex.lock();
+ }
+
+ /*!
+ * @if jp
+ * @brief ExecutionContextProfileをアンロックする
+ * @else
+ * @brief Release a lock of the RTC::ExecutionContextProfile
+ * @endif
+ */
+ void ExecutionContextProfile::unlock() const
+ {
+ m_profileMutex.unlock();
+ }
+
+}; // namespace RTC
Property changes on: trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextProfile.cpp
___________________________________________________________________
Added: svn:executable
+ *
Added: trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextProfile.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextProfile.h (rev 0)
+++ trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextProfile.h 2012-01-09 05:22:21 UTC (rev 2268)
@@ -0,0 +1,565 @@
+// -*- C++ -*-
+/*!
+ * @file ExecutionContextProfile.h
+ * @brief ExecutionContextProfile class
+ * @date $Date$
+ * @author Noriaki Ando <n-ando at aist.go.jp>
+ *
+ * Copyright (C) 2011
+ * Noriaki Ando
+ * Intelligent Systems Research Institute,
+ * National Institute of
+ * Advanced Industrial Science and Technology (AIST), Japan
+ * All rights reserved.
+ *
+ * $Id$
+ *
+ */
+
+#ifndef RTC_EXECUTIONCONTEXTPROFILE_H
+#define RTC_EXECUTIONCONTEXTPROFILE_H
+
+#include <coil/Mutex.h>
+#include <coil/Guard.h>
+#include <coil/Properties.h>
+#include <coil/TimeValue.h>
+
+#include <rtm/idl/RTCStub.h>
+#include <rtm/SystemLogger.h>
+
+#ifdef WIN32
+#pragma warning( disable : 4290 )
+#endif
+
+namespace RTC_impl
+{
+ /*!
+ * @if jp
+ * @class ExecutionContextProfile
+ * @brief ExecutionContextProfile クラス
+ *
+ * Periodic Sampled Data Processing(周期実行用)ExecutionContextクラス。
+ *
+ * @since 0.4.0
+ *
+ * @else
+ * @class ExecutionContextProfile
+ * @brief ExecutionContextProfile class
+ *
+ * Periodic Sampled Data Processing (for the execution cycles)
+ * ExecutionContext class
+ *
+ * @since 0.4.0
+ *
+ * @endif
+ */
+ class ExecutionContextProfile
+ {
+ typedef coil::Guard<coil::Mutex> Guard;
+ public:
+ /*!
+ * @if jp
+ * @brief デフォルトコンストラクタ
+ *
+ * デフォルトコンストラクタ
+ * プロファイルに以下の項目を設定する。
+ * - kind : PERIODIC
+ * - rate : 0.0
+ *
+ * @else
+ * @brief Default Constructor
+ *
+ * Default Constructor
+ * Set the following items to profile.
+ * - kind : PERIODIC
+ * - rate : 0.0
+ *
+ * @endif
+ */
+ ExecutionContextProfile(RTC::ExecutionKind kind = RTC::PERIODIC);
+
+ /*!
+ * @if jp
+ * @brief デストラクタ
+ *
+ * デストラクタ
+ *
+ * @else
+ * @brief Destructor
+ *
+ * Destructor
+ *
+ * @endif
+ */
+ virtual ~ExecutionContextProfile(void);
+
+ /*!
+ * @if jp
+ * @brief CORBA オブジェクト参照の取得
+ *
+ * 本オブジェクトの ExecutioncontextService としての CORBA オブジェ
+ * クト参照を取得する。
+ *
+ * @return CORBA オブジェクト参照
+ *
+ * @else
+ * @brief Get the reference to the CORBA object
+ *
+ * Get the reference to the CORBA object as
+ * ExecutioncontextService of this object.
+ *
+ * @return The reference to CORBA object
+ *
+ * @endif
+ */
+ void setObjRef(RTC::ExecutionContextService_ptr ec_ptr);
+
+ /*!
+ * @if jp
+ * @brief CORBA オブジェクト参照の取得
+ *
+ * 本オブジェクトの ExecutioncontextService としての CORBA オブジェ
+ * クト参照を取得する。
+ *
+ * @return CORBA オブジェクト参照
+ *
+ * @else
+ * @brief Get the reference to the CORBA object
+ *
+ * Get the reference to the CORBA object as
+ * ExecutioncontextService of this object.
+ *
+ * @return The reference to CORBA object
+ *
+ * @endif
+ */
+ RTC::ExecutionContextService_ptr getObjRef(void) const;
+
+ /*!
+ * @if jp
+ * @brief ExecutionContext の実行周期(Hz)を設定する
+ *
+ * Active 状態にてRTコンポーネントが実行される周期(単位:Hz)を設定す
+ * る。実行周期の変更は、DataFlowComponentAction の
+ * on_rate_changed によって各RTコンポーネントに伝達される。
+ *
+ * @param rate 処理周期(単位:Hz)
+ *
+ * @return ReturnCode_t 型のリターンコード
+ * RTC_OK: 正常終了
+ * BAD_PARAMETER: 設定値が負の値
+ *
+ * @else
+ *
+ * @brief Set execution rate(Hz) of ExecutionContext
+ *
+ * This operation shall set the rate (in hertz) at which this
+ * context’s Active participating RTCs are being called. If the
+ * execution kind of the context is PERIODIC, a rate change shall
+ * result in the invocation of on_rate_changed on any RTCs
+ * realizing DataFlowComponentAction that are registered with any
+ * RTCs participating in the context.
+ *
+ * @param rate Execution cycle(Unit:Hz)
+ *
+ * @return The return code of ReturnCode_t type
+ * RTC_OK: Succeed
+ * BAD_PARAMETER: Invalid value. The value might be negative.
+ *
+ * @endif
+ */
+ RTC::ReturnCode_t setRate(double rate);
+
+ /*!
+ * @if jp
+ * @brief ExecutionContext の実行周期(Hz)を取得する
+ *
+ * Active 状態にてRTコンポーネントが実行される周期(単位:Hz)を取得す
+ * る。
+ *
+ * @return 処理周期(単位:Hz)
+ *
+ * @else
+ *
+ * @brief Get execution rate(Hz) of ExecutionContext
+ *
+ * This operation shall return the rate (in hertz) at which its
+ * Active participating RTCs are being invoked.
+ *
+ * @return Execution cycle(Unit:Hz)
+ *
+ * @endif
+ */
+ double getRate(void) const;
+
+ /*!
+ * @if jp
+ * @brief ExecutionKind を文字列化する
+ *
+ * RTC::ExecutionKind で定義されている PERIODIC, EVENT_DRIVEN,
+ * OTHER を文字列化する。
+ *
+ * @param kind ExecutionKind
+ * @return 文字列化されたExecutionKind
+ *
+ * @else
+ *
+ * @brief Converting ExecutionKind enum to string
+ *
+ * This function converts enumeration (PERIODIC, EVENT_DRIVEN,
+ * OTHER) defined in RTC::ExecutionKind to string.
+ *
+ * @param kind ExecutionKind
+ * @return String of ExecutionKind
+ *
+ * @endif
+ */
+ const char* getKindString(RTC::ExecutionKind kind) const;
+
+ /*!
+ * @if jp
+ * @brief ExecutionKind を設定する
+ *
+ * この ExecutionContext の ExecutionKind を設定する
+ *
+ * @param kind ExecutionKind
+ *
+ * @else
+ *
+ * @brief Set the ExecutionKind
+ *
+ * This operation sets the kind of the execution context.
+ *
+ * @param kind ExecutionKind
+ *
+ * @endif
+ */
+ RTC::ReturnCode_t setKind(RTC::ExecutionKind kind);
+
+ /*!
+ * @if jp
+ * @brief ExecutionKind を取得する
+ *
+ * 本 ExecutionContext の ExecutionKind を取得する
+ *
+ * @return ExecutionKind
+ *
+ * @else
+ *
+ * @brief Get the ExecutionKind
+ *
+ * This operation shall report the execution kind of the execution
+ * context.
+ *
+ * @return ExecutionKind
+ *
+ * @endif
+ */
+ RTC::ExecutionKind getKind(void) const;
+
+ /*!
+ * @if jp
+ * @brief Ownerコンポーネントをセットする。
+ *
+ * このECのOwnerとなるRTCをセットする。
+ *
+ * @param comp OwnerとなるRTコンポーネント
+ * @return ReturnCode_t 型のリターンコード
+ * @else
+ * @brief Setting owner component of the execution context
+ *
+ * This function sets an RT-Component to be owner of the execution context.
+ *
+ * @param comp an owner RT-Component of this execution context
+ * @return The return code of ReturnCode_t type
+ * @endif
+ */
+ RTC::ReturnCode_t setOwner(RTC::LightweightRTObject_ptr comp);
+
+ /*!
+ * @if jp
+ * @brief Ownerコンポーネントの参照を取得する
+ *
+ * このECのOwnerであるRTCの参照を取得する。
+ *
+ * @return OwnerRTコンポーネントの参照
+ * @else
+ * @brief Getting a reference of the owner component
+ *
+ * This function returns a reference of the owner RT-Component of
+ * this execution context
+ *
+ * @return a reference of the owner RT-Component
+ * @endif
+ */
+ const RTC::RTObject_ptr getOwner() const;
+
+ /*!
+ * @if jp
+ * @brief RTコンポーネントを追加する
+ *
+ * 指定したRTコンポーネントを参加者リストに追加する。追加されたRTコ
+ * ンポーネントは attach_context が呼ばれ、Inactive 状態に遷移する。
+ * 指定されたRTコンポーネントがnullの場合は、BAD_PARAMETER が返され
+ * る。指定されたRTコンポーネントが DataFlowComponent 以外の場合は、
+ * BAD_PARAMETER が返される。
+ *
+ * @param comp 追加対象RTコンポーネント
+ *
+ * @return ReturnCode_t 型のリターンコード
+ *
+ * @else
+ *
+ * @brief Add an RT-component
+ *
+ * The operation causes the given RTC to begin participating in
+ * the execution context. The newly added RTC will receive a call
+ * to LightweightRTComponent::attach_context and then enter the
+ * Inactive state. BAD_PARAMETER will be invoked, if the given
+ * RT-Component is null or if the given RT-Component is other than
+ * DataFlowComponent.
+ *
+ * @param comp The target RT-Component for add
+ *
+ * @return The return code of ReturnCode_t type
+ *
+ * @endif
+ */
+ RTC::ReturnCode_t addComponent(RTC::LightweightRTObject_ptr comp);
+
+ /*!
+ * @if jp
+ * @brief RTコンポーネントを参加者リストから削除する
+ *
+ * 指定したRTコンポーネントを参加者リストから削除する。削除された
+ * RTコンポーネントは detach_context が呼ばれる。指定されたRTコンポー
+ * ネントが参加者リストに登録されていない場合は、BAD_PARAMETER が返
+ * される。
+ *
+ * @param comp 削除対象RTコンポーネント
+ *
+ * @return ReturnCode_t 型のリターンコード
+ *
+ * @else
+ *
+ * @brief Remove the RT-Component from participant list
+ *
+ * This operation causes a participant RTC to stop participating in the
+ * execution context.
+ * The removed RTC will receive a call to
+ * LightweightRTComponent::detach_context.
+ * BAD_PARAMETER will be returned, if the given RT-Component is not
+ * participating in the participant list.
+ *
+ * @param comp The target RT-Component for delete
+ *
+ * @return The return code of ReturnCode_t type
+ *
+ * @endif
+ */
+ RTC::ReturnCode_t removeComponent(RTC::LightweightRTObject_ptr comp);
+
+ /*!
+ * @if jp
+ * @brief RTコンポーネントの参加者リストを取得する
+ *
+ * 現在登録されている参加者RTCのリストを取得する。
+ *
+ * @return 参加者RTCのリスト
+ *
+ * @else
+ *
+ * @brief Getting participant RTC list
+ *
+ * This function returns a list of participant RTC of the execution context.
+ *
+ * @return Participants RTC list
+ *
+ * @endif
+ */
+ const RTC::RTCList& getComponentList() const;
+
+ /*!
+ * @if jp
+ * @brief Propertiesをセットする
+ *
+ * ExecutionContextProfile::properties をセットする。
+ *
+ * @param props ExecutionContextProfile::properties にセットするプ
+ * ロパティー
+ *
+ * @else
+ * @brief Setting Properties
+ *
+ * This function sets ExecutionContextProfile::properties by
+ * coil::Properties.
+ *
+ * @param props Properties to be set to
+ * ExecutionContextProfile::properties.
+ *
+ * @endif
+ */
+ void setProperties(coil::Properties& props);
+
+ /*!
+ * @if jp
+ * @brief Propertiesを取得する
+ *
+ * ExecutionContextProfile::properties を取得する。
+ *
+ * @return coil::Propertiesに変換された
+ * ExecutionContextProfile::properties
+ *
+ * @else
+ * @brief Setting Properties
+ *
+ * This function sets ExecutionContextProfile::properties by
+ * coil::Properties.
+ *
+ * @param props Properties to be set to ExecutionContextProfile::properties.
+ *
+ * @endif
+ */
+ const coil::Properties getProperties() const;
+
+ /*!
+ * @if jp
+ * @brief Profileを取得する
+ *
+ * RTC::ExecutionContextProfile を取得する。取得した
+ * ExecutionContextProfile の所有権は呼び出し側にある。取得されたオ
+ * ブジェクトが不要になった場合、呼び出し側が開放する責任を負う。
+ *
+ * @return RTC::ExecutionContextProfile
+ *
+ * @else
+ * @brief Getting Profile
+ *
+ * This function gets RTC::ExecutionContextProfile. The ownership
+ * of the obtained ExecutionContextProfile is given to caller. The
+ * caller should release obtained object when it is unneccessary
+ * anymore.
+ *
+ * @return RTC::ExecutionContextProfile
+ *
+ * @endif
+ */
+ RTC::ExecutionContextProfile* getProfile(void);
+
+ /*!
+ * @if jp
+ * @brief Profileを取得する
+ *
+ * RTC::ExecutionContextProfile を取得する。
+ *
+ * @return RTC::ExecutionContextProfile
+ *
+ * @else
+ * @brief Getting Profile
+ *
+ * This function gets RTC::ExecutionContextProfile.
+ *
+ * @return RTC::ExecutionContextProfile
+ *
+ * @endif
+ */
+ const RTC::ExecutionContextProfile& getProfile(void) const;
+
+ /*!
+ * @if jp
+ * @brief ExecutionContextProfileをロックする
+ *
+ * このオブジェクトが管理する RTC::ExecutionContextProfile をロックする。
+ * ロックが不要になった際にはunlock()でロックを解除しなければならない。
+ *
+ * @else
+ * @brief Getting a lock of RTC::ExecutionContextProfile
+ *
+ * This function locks RTC::ExecutionContextProfile in the object.
+ * The lock should be released when the lock is unneccessary.
+ *
+ * @endif
+ */
+ void lock() const;
+
+ /*!
+ * @if jp
+ * @brief ExecutionContextProfileをアンロックする
+ *
+ * このオブジェクトが管理する RTC::ExecutionContextProfile をアンロッ
+ * クする。
+ *
+ * @else
+ * @brief Release a lock of the RTC::ExecutionContextProfile
+ *
+ * This function release the lock of RTC::ExecutionContextProfile
+ * in the object.
+ *
+ * @endif
+ */
+ void unlock() const;
+
+ private:
+ /*!
+ * @if jp
+ * @brief Logger
+ * @else
+ * @brief Logger
+ * @endif
+ */
+ mutable RTC::Logger rtclog;
+ /*!
+ * @if jp
+ * @brief ECProfile
+ * @else
+ * @brief ECProfile
+ * @endif
+ */
+ RTC::ExecutionContextProfile m_profile;
+
+ /*!
+ * @if jp
+ * @brief mutex of ExecutionContextProfile
+ * @else
+ * @brief mutex ExecutionContextProfile
+ * @endif
+ */
+ mutable coil::Mutex m_profileMutex;
+
+ /*!
+ * @if jp
+ * @brief ExecutionContext の実行周期
+ * @else
+ * @brief Execution cycle of ExecutionContext
+ * @endif
+ */
+ coil::TimeValue m_period;
+
+ /*!
+ * @if jp
+ * @brief ExecutionContextService オブジェクトへの参照
+ * @else
+ * @brief Reference to ExecutionContextService object
+ * @endif
+ */
+ RTC::ExecutionContextService_var m_ref;
+
+ class find_participant
+ {
+ RTC::RTObject_var m_comp;
+ public:
+ find_participant(RTC::RTObject_ptr comp)
+ : m_comp(RTC::RTObject::_duplicate(comp)) {}
+ bool operator()(RTC::RTObject_ptr comp)
+ {
+ return m_comp->_is_equivalent(comp);
+ }
+ };
+ }; // class ExecutionContextProfile
+}; // namespace RTC
+
+#ifdef WIN32
+#pragma warning( default : 4290 )
+#endif
+
+#endif // RTC_EXECUTIONCONTEXTPROFILE_H
Modified: trunk/OpenRTM-aist/src/lib/rtm/ExtTrigExecutionContext.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/ExtTrigExecutionContext.cpp 2012-01-06 07:14:38 UTC (rev 2267)
+++ trunk/OpenRTM-aist/src/lib/rtm/ExtTrigExecutionContext.cpp 2012-01-09 05:22:21 UTC (rev 2268)
@@ -106,8 +106,11 @@
*/
void ExtTrigExecutionContextInit(RTC::Manager* manager)
{
- manager->registerECFactory("ExtTrigExecutionContext",
- RTC::ECCreate<RTC::ExtTrigExecutionContext>,
- RTC::ECDelete<RTC::ExtTrigExecutionContext>);
+ RTC::ExecutionContextFactory::
+ instance().addFactory("ExtTrigExecutionContext",
+ ::coil::Creator< ::RTC::ExecutionContextBase,
+ ::RTC::ExtTrigExecutionContext>,
+ ::coil::Destructor< ::RTC::ExecutionContextBase,
+ ::RTC::ExtTrigExecutionContext>);
}
};
Modified: trunk/OpenRTM-aist/src/lib/rtm/Makefile.am
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/Makefile.am 2012-01-06 07:14:38 UTC (rev 2267)
+++ trunk/OpenRTM-aist/src/lib/rtm/Makefile.am 2012-01-09 05:22:21 UTC (rev 2268)
@@ -64,6 +64,8 @@
COMP_SRC = \
DataFlowComponentBase.cpp \
+ ExecutionContextBase.cpp \
+ ExecutionContextProfile.cpp \
PeriodicExecutionContext.cpp \
ExtTrigExecutionContext.cpp \
OpenHRPExecutionContext.cpp \
Modified: trunk/OpenRTM-aist/src/lib/rtm/Manager.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/Manager.cpp 2012-01-06 07:14:38 UTC (rev 2267)
+++ trunk/OpenRTM-aist/src/lib/rtm/Manager.cpp 2012-01-09 05:22:21 UTC (rev 2268)
@@ -1656,7 +1656,14 @@
for (CORBA::ULong i(0), len(m_ecs.size()); i < len; ++i)
{
try{
- PortableServer::ObjectId_var oid = m_pPOA->servant_to_id(m_ecs[i]);
+ PortableServer::RefCountServantBase* servant;
+ servant = dynamic_cast<PortableServer::RefCountServantBase*>(m_ecs[i]);
+ if (servant == NULL)
+ {
+ RTC_ERROR(("Invalid dynamic cast. EC->RefCountServantBase failed."));
+ return;
+ }
+ PortableServer::ObjectId_var oid = m_pPOA->servant_to_id(servant);
m_pPOA->deactivate_object(oid);
}
catch (...)
@@ -1664,6 +1671,7 @@
;
}
}
+ return;
}
/*!
Modified: trunk/OpenRTM-aist/src/lib/rtm/OpenHRPExecutionContext.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/OpenHRPExecutionContext.cpp 2012-01-06 07:14:38 UTC (rev 2267)
+++ trunk/OpenRTM-aist/src/lib/rtm/OpenHRPExecutionContext.cpp 2012-01-09 05:22:21 UTC (rev 2268)
@@ -67,9 +67,11 @@
*/
void OpenHRPExecutionContextInit(RTC::Manager* manager)
{
- manager->registerECFactory("SynchExtTriggerEC",
- RTC::ECCreate<RTC::OpenHRPExecutionContext>,
- RTC::ECDelete<RTC::OpenHRPExecutionContext>);
-
+ RTC::ExecutionContextFactory::
+ instance().addFactory("SynchExtTriggerEC",
+ ::coil::Creator< ::RTC::ExecutionContextBase,
+ ::RTC::OpenHRPExecutionContext>,
+ ::coil::Destructor< ::RTC::ExecutionContextBase,
+ ::RTC::OpenHRPExecutionContext>);
}
};
Modified: trunk/OpenRTM-aist/src/lib/rtm/PeriodicExecutionContext.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/PeriodicExecutionContext.cpp 2012-01-06 07:14:38 UTC (rev 2267)
+++ trunk/OpenRTM-aist/src/lib/rtm/PeriodicExecutionContext.cpp 2012-01-09 05:22:21 UTC (rev 2268)
@@ -256,8 +256,10 @@
throw (CORBA::SystemException)
{
RTC_TRACE(("stop()"));
- if (!m_running) return RTC::PRECONDITION_NOT_MET;
-
+ if (!m_running)
+ {
+ return RTC::PRECONDITION_NOT_MET;
+ }
// stop thread
m_running = false;
{
@@ -267,10 +269,10 @@
}
// invoke on_shutdown for each comps.
std::for_each(m_comps.begin(), m_comps.end(), invoke_on_shutdown());
-
+
return RTC::RTC_OK;
}
-
+
/*!
* @if jp
* @brief ExecutionContext の実行周期(Hz)を取得する
@@ -285,7 +287,7 @@
Guard guard(m_profileMutex);
return m_profile.rate;
}
-
+
/*!
* @if jp
* @brief ExecutionContext の実行周期(Hz)を設定する
@@ -303,23 +305,23 @@
Guard guard(m_profileMutex);
m_profile.rate = rate;
}
- m_period = coil::TimeValue(1.0/rate);
- if (m_period == 0.0) { m_nowait = true; }
- std::for_each(m_comps.begin(), m_comps.end(), invoke_on_rate_changed());
+ m_period = coil::TimeValue(1.0/rate);
+ if (m_period == 0.0) { m_nowait = true; }
+ std::for_each(m_comps.begin(), m_comps.end(), invoke_on_rate_changed());
RTC_DEBUG(("Actual rate: %d [sec], %d [usec]",
m_period.sec(), m_period.usec()));
- return RTC::RTC_OK;
+ return RTC::RTC_OK;
}
return RTC::BAD_PARAMETER;
}
-
+
/*!
* @if jp
* @brief RTコンポーネントをアクティブ化する
* @else
* @brief Activate an RT-Component
* @endif
- */
+ */
ReturnCode_t
PeriodicExecutionContext::activate_component(LightweightRTObject_ptr comp)
throw (CORBA::SystemException)
@@ -329,7 +331,7 @@
#ifndef ORB_IS_RTORB
CompItr it;
it = std::find_if(m_comps.begin(), m_comps.end(),
- find_comp(comp));
+ find_comp(comp));
if (it == m_comps.end())
return RTC::BAD_PARAMETER;
@@ -356,14 +358,14 @@
return RTC::BAD_PARAMETER;
#endif // ORB_IS_RTORB
}
-
+
/*!
* @if jp
* @brief RTコンポーネントを非アクティブ化する
* @else
* @brief Deactivate an RT-Component
* @endif
- */
+ */
ReturnCode_t
PeriodicExecutionContext::deactivate_component(LightweightRTObject_ptr comp)
throw (CORBA::SystemException)
@@ -373,13 +375,13 @@
#ifndef ORB_IS_RTORB
CompItr it;
it = std::find_if(m_comps.begin(), m_comps.end(),
- find_comp(comp));
+ find_comp(comp));
if (it == m_comps.end()) { return RTC::BAD_PARAMETER; }
if (!(it->_sm.m_sm.isIn(ACTIVE_STATE)))
{
return RTC::PRECONDITION_NOT_MET;
}
-
+
it->_sm.m_sm.goTo(INACTIVE_STATE);
int count(0);
const double usec_per_sec(1.0e6);
@@ -387,7 +389,8 @@
RTC_PARANOID(("Sleep time is %f [us]", sleeptime));
while (it->_sm.m_sm.isIn(ACTIVE_STATE))
{
- RTC_TRACE(("Waiting to be the INACTIVE state %d %f", count, (double)coil::gettimeofday()));
+ RTC_TRACE(("Waiting to be the INACTIVE state %d %f",
+ count, (double)coil::gettimeofday()));
coil::usleep(sleeptime);
if (count > 1000)
{
@@ -421,7 +424,6 @@
{
RTC_TRACE(("Waiting to be the INACTIVE state"));
coil::usleep(sleeptime);
-
if (count > 1000)
{
RTC_ERROR(("The component is not responding."));
@@ -441,14 +443,14 @@
return RTC::BAD_PARAMETER;
#endif // ORB_IS_RTORB
}
-
+
/*!
* @if jp
* @brief RTコンポーネントをリセットする
* @else
* @brief Reset the RT-Component
* @endif
- */
+ */
ReturnCode_t
PeriodicExecutionContext::reset_component(LightweightRTObject_ptr comp)
throw (CORBA::SystemException)
@@ -456,17 +458,19 @@
RTC_TRACE(("reset_component()"));
CompItr it;
it = std::find_if(m_comps.begin(), m_comps.end(),
- find_comp(comp));
+ find_comp(comp));
if (it == m_comps.end())
- return RTC::BAD_PARAMETER;
-
+ {
+ return RTC::BAD_PARAMETER;
+ }
if (!(it->_sm.m_sm.isIn(ERROR_STATE)))
- return RTC::PRECONDITION_NOT_MET;
-
+ {
+ return RTC::PRECONDITION_NOT_MET;
+ }
it->_sm.m_sm.goTo(INACTIVE_STATE);
return RTC::RTC_OK;
}
-
+
/*!
* @if jp
* @brief RTコンポーネントの状態を取得する
@@ -485,9 +489,9 @@
if (it == m_comps.end())
{
- return RTC::CREATED_STATE;
+ return RTC::CREATED_STATE;
}
-
+
return it->_sm.m_sm.getState();
#else // ORB_IS_RTORB
for (int i(0); i < (int)m_comps.size(); ++i)
@@ -497,10 +501,10 @@
return m_comps.at(i)._sm.m_sm.getState();
}
}
- return RTC::CREATED_STATE;
+ return RTC::CREATED_STATE;
#endif // ORB_IS_RTORB
}
-
+
/*!
* @if jp
* @brief ExecutionKind を取得する
@@ -514,7 +518,7 @@
RTC_TRACE(("get_kind()"));
return m_profile.kind;
}
-
+
/*!
* @if jp
* @brief RTコンポーネントを追加する
@@ -528,28 +532,28 @@
{
RTC_TRACE(("add_component()"));
if (CORBA::is_nil(comp)) return RTC::BAD_PARAMETER;
-
+
try
{
- OpenRTM::DataFlowComponent_var dfp;
- dfp = OpenRTM::DataFlowComponent::_narrow(comp);
+ OpenRTM::DataFlowComponent_var dfp;
+ dfp = OpenRTM::DataFlowComponent::_narrow(comp);
RTC::RTObject_var rtc;
rtc = RTC::RTObject::_narrow(comp);
//Check the pointer.
if(CORBA::is_nil(dfp) || CORBA::is_nil(rtc))
{
- return RTC::BAD_PARAMETER;
+ return RTC::BAD_PARAMETER;
}
- ExecutionContextHandle_t id;
- id = dfp->attach_context(m_ref);
- m_comps.push_back(Comp(comp, dfp, id));
+ ExecutionContextHandle_t id;
+ id = dfp->attach_context(m_ref);
+ m_comps.push_back(Comp(comp, dfp, id));
CORBA_SeqUtil::push_back(m_profile.participants, rtc._retn());
- return RTC::RTC_OK;
+ return RTC::RTC_OK;
}
catch (CORBA::Exception& e)
{
- (void)(e);
- return RTC::BAD_PARAMETER;
+ (void)(e);
+ return RTC::BAD_PARAMETER;
}
return RTC::RTC_OK;
}
@@ -578,14 +582,14 @@
return RTC::RTC_OK;
}
-
+
/*!
* @if jp
* @brief コンポーネントをコンポーネントリストから削除する
* @else
* @brief Remove the RT-Component from participant list
* @endif
- */
+ */
ReturnCode_t
PeriodicExecutionContext::remove_component(LightweightRTObject_ptr comp)
throw (CORBA::SystemException)
@@ -593,7 +597,7 @@
RTC_TRACE(("remove_component()"));
CompItr it;
it = std::find_if(m_comps.begin(), m_comps.end(),
- find_comp(comp));
+ find_comp(comp));
if (it == m_comps.end())
{
RTC_TRACE(("remove_component(): no RTC found in this context."));
@@ -606,7 +610,6 @@
m_comps.erase(it);
RTC_TRACE(("remove_component(): an RTC removed from this context."));
- //RTObject_var rtcomp = RTObject::_narrow(LightweightRTObject::_duplicate(comp));
RTObject_var rtcomp = RTObject::_narrow(comp);
if (CORBA::is_nil(rtcomp))
{
@@ -655,9 +658,12 @@
*/
void PeriodicExecutionContextInit(RTC::Manager* manager)
{
- manager->registerECFactory("PeriodicExecutionContext",
- RTC::ECCreate<RTC::PeriodicExecutionContext>,
- RTC::ECDelete<RTC::PeriodicExecutionContext>);
+ RTC::ExecutionContextFactory::
+ instance().addFactory("PeriodicExecutionContext",
+ ::coil::Creator< ::RTC::ExecutionContextBase,
+ ::RTC::PeriodicExecutionContext>,
+ ::coil::Destructor< ::RTC::ExecutionContextBase,
+ ::RTC::PeriodicExecutionContext>);
}
};
Modified: trunk/OpenRTM-aist/src/lib/rtm/PeriodicExecutionContext.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/PeriodicExecutionContext.h 2012-01-06 07:14:38 UTC (rev 2267)
+++ trunk/OpenRTM-aist/src/lib/rtm/PeriodicExecutionContext.h 2012-01-09 05:22:21 UTC (rev 2268)
@@ -62,11 +62,16 @@
* @endif
*/
class PeriodicExecutionContext
- : public virtual ExecutionContextBase,
+ : public virtual POA_OpenRTM::ExtTrigExecutionContextService,
+ public virtual PortableServer::RefCountServantBase,
+ public virtual ExecutionContextBase,
public coil::Task
{
typedef coil::Guard<coil::Mutex> Guard;
public:
+ virtual void tick()
+ throw (CORBA::SystemException)
+ {};
/*!
* @if jp
* @brief デフォルトコンストラクタ
Modified: trunk/OpenRTM-aist/src/lib/rtm/RTObject.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/RTObject.cpp 2012-01-06 07:14:38 UTC (rev 2267)
+++ trunk/OpenRTM-aist/src/lib/rtm/RTObject.cpp 2012-01-09 05:22:21 UTC (rev 2268)
@@ -311,26 +311,48 @@
throw (CORBA::SystemException)
{
RTC_TRACE(("initialize()"));
+ std::string ec_type;
std::string ec_args;
+ ec_type = m_properties["exec_cxt.periodic.type"];
ec_args += m_properties["exec_cxt.periodic.type"];
ec_args += "?";
ec_args += "rate=" + m_properties["exec_cxt.periodic.rate"];
RTC::ExecutionContextBase* ec;
- ec = RTC::Manager::instance().createContext(ec_args.c_str());
- if (ec == NULL) return RTC::RTC_ERROR;
+ ec = RTC::ExecutionContextFactory::instance().createObject(ec_type.c_str());
+ if (ec == NULL)
+ {
+ RTC_ERROR(("EC (%s) creation failed.", ec_type.c_str()));
+ coil::vstring ecs;
+ ecs = RTC::ExecutionContextFactory::instance().getIdentifiers();
+ RTC_DEBUG(("Available EC list: %s",
+ coil::flatten(ecs).c_str()));
+ return RTC::RTC_ERROR;
+ }
+ RTC_DEBUG(("EC (%s) created.", ec_type.c_str()));
- ec->set_rate(atof(m_properties["exec_cxt.periodic.rate"].c_str()));
m_eclist.push_back(ec);
ExecutionContextService_var ecv;
ecv = RTC::ExecutionContextService::_duplicate(ec->getObjRef());
- if (CORBA::is_nil(ecv)) return RTC::RTC_ERROR;
+ if (CORBA::is_nil(ecv))
+ {
+ RTC_ERROR(("Getting object reference of ec failed."));
+ return RTC::RTC_ERROR;
+ }
+ double ec_rate;
+ coil::stringTo(ec_rate, m_properties["exec_cxt.periodic.rate"].c_str());
+ ecv->set_rate(ec_rate);
+ RTC_DEBUG(("Execution context rate is set to %f.", ec_rate));
ec->bindComponent(this);
// -- entering alive state --
// at least one EC must be attached
- if (m_ecMine.length() == 0) return RTC::PRECONDITION_NOT_MET;
+ if (m_ecMine.length() == 0)
+ {
+ RTC_ERROR(("No EC of this RTC."));
+ return RTC::PRECONDITION_NOT_MET;
+ }
ReturnCode_t ret;
ret = on_initialize();
@@ -792,7 +814,7 @@
}
catch (...)
{
- RTC_ERRIR(("onInitialize() raised an exception."));
+ RTC_ERROR(("onInitialize() raised an exception."));
ret = RTC::RTC_ERROR;
}
std::string active_set;
@@ -2125,12 +2147,22 @@
RTC_TRACE(("finalizeContexts()"));
for (int i(0), len(m_eclist.size()); i < len; ++i)
{
- m_eclist[i]->stop();
+ m_eclist[i]->getObjRef()->stop();
try
{
+ PortableServer::RefCountServantBase* servant(NULL);
+ servant =
+ dynamic_cast<PortableServer::RefCountServantBase*>(m_eclist[i]);
+ if (servant == NULL)
+ {
+ RTC_ERROR(("Dynamic cast error: ECBase -> Servant."));
+ continue;
+ }
+ RTC_DEBUG(("Deactivating Execution Context."));
PortableServer::ObjectId_var oid
- = m_pPOA->servant_to_id(m_eclist[i]);
+ = m_pPOA->servant_to_id(servant);
m_pPOA->deactivate_object(oid);
+ RTC_DEBUG(("Deactivating EC done."));
}
catch (PortableServer::POA::ServantNotActive &e)
{
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