[openrtm-commit:01046] r2385 - branches/RELENG_1_1/OpenRTM-aist/src/ext/ec/artlinux

[openrtm ＠ openrtm.org]

Author: n-ando
Date: 2013-04-15 20:39:45 +0900 (Mon, 15 Apr 2013)
New Revision: 2385

Modified:
   branches/RELENG_1_1/OpenRTM-aist/src/ext/ec/artlinux/ArtExecutionContext.cpp
   branches/RELENG_1_1/OpenRTM-aist/src/ext/ec/artlinux/ArtExecutionContext.h
   branches/RELENG_1_1/OpenRTM-aist/src/ext/ec/artlinux/Makefile.am
Log:
Now ART-EC has .priority and .art.priority option for priority setting. refs #2638

Modified: branches/RELENG_1_1/OpenRTM-aist/src/ext/ec/artlinux/ArtExecutionContext.cpp
===================================================================
--- branches/RELENG_1_1/OpenRTM-aist/src/ext/ec/artlinux/ArtExecutionContext.cpp	2013-04-15 11:30:49 UTC (rev 2384)
+++ branches/RELENG_1_1/OpenRTM-aist/src/ext/ec/artlinux/ArtExecutionContext.cpp	2013-04-15 11:39:45 UTC (rev 2385)
@@ -29,8 +29,16 @@
 namespace RTC
 {
   ArtExecutionContext::ArtExecutionContext()
-    : PeriodicExecutionContext()
+    : PeriodicExecutionContext(),
+      m_priority(ART_PRIO_MAX-1)
   {
+    rtclog.setName("ArtEC");
+    coil::Properties& prop(Manager::instance().getConfig());
+
+    // Priority
+    getProperty(prop, "exec_cxt.periodic.priority", m_priority);
+    getProperty(prop, "exec_cxt.periodic.art.priority", m_priority);
+    RTC_DEBUG(("Priority: %d", m_priority));
   }
 
   ArtExecutionContext::~ArtExecutionContext()
@@ -41,23 +49,22 @@
   int ArtExecutionContext::svc(void)
   {
     int usec(m_period.sec() * 1000000 + m_period.usec());
-    if (art_enter(ART_PRIO_MAX-1, ART_TASK_PERIODIC, usec) == -1)
+    if (art_enter(m_priority, ART_TASK_PERIODIC, usec) == -1)
       {
-	std::cerr << "fatal error: art_enter" << std::endl;
+        std::cerr << "fatal error: art_enter" << std::endl;
       }
     do
       {
-	std::for_each(m_comps.begin(), m_comps.end(), invoke_worker());
-	//	while (!m_running) {ACE_OS::sleep(tv);}
-	if (art_wait() == -1)
-	  {
-	    std::cerr << "fatal error: art_wait " << std::endl;
-	  }
+        std::for_each(m_comps.begin(), m_comps.end(), invoke_worker());
+        if (art_wait() == -1)
+          {
+            std::cerr << "fatal error: art_wait " << std::endl;
+          }
       } while (m_running);
 
     if (art_exit() == -1)
       {
-	std::cerr << "fatal error: art_exit" << std::endl;
+        std::cerr << "fatal error: art_exit" << std::endl;
       }
     return 0;
   }
@@ -69,8 +76,7 @@
   void ArtExecutionContextInit(RTC::Manager* manager)
   {
     RTC::Manager::instance().registerECFactory("ArtExecutionContext",
-    			       RTC::ECCreate<RTC::ArtExecutionContext>,
-    			       RTC::ECDelete<RTC::ArtExecutionContext>);
-    
+                                   RTC::ECCreate<RTC::ArtExecutionContext>,
+                                   RTC::ECDelete<RTC::ArtExecutionContext>);
   }
 };

Modified: branches/RELENG_1_1/OpenRTM-aist/src/ext/ec/artlinux/ArtExecutionContext.h
===================================================================
--- branches/RELENG_1_1/OpenRTM-aist/src/ext/ec/artlinux/ArtExecutionContext.h	2013-04-15 11:30:49 UTC (rev 2384)
+++ branches/RELENG_1_1/OpenRTM-aist/src/ext/ec/artlinux/ArtExecutionContext.h	2013-04-15 11:39:45 UTC (rev 2385)
@@ -1,4 +1,4 @@
-// -*- C++ -*-
+l// -*- C++ -*-
 /*!
  * @file ArtExecutionContext.h
  * @brief ArtExecutionContext class
@@ -38,6 +38,22 @@
     ArtExecutionContext();
     virtual ~ArtExecutionContext();
     virtual int svc(void);
+
+    template <class T>
+    void getProperty(coil::Properties& prop, const char* key, T& value)
+    {
+      if (prop.findNode(key) != 0)
+        {
+          T tmp;
+          if (coil::stringTo(tmp, prop[key].c_str()))
+            {
+              value = tmp;
+            }
+        }
+    }
+
+  private:
+    int m_priority;
   };
 };
 

Modified: branches/RELENG_1_1/OpenRTM-aist/src/ext/ec/artlinux/Makefile.am
===================================================================
--- branches/RELENG_1_1/OpenRTM-aist/src/ext/ec/artlinux/Makefile.am	2013-04-15 11:30:49 UTC (rev 2384)
+++ branches/RELENG_1_1/OpenRTM-aist/src/ext/ec/artlinux/Makefile.am	2013-04-15 11:39:45 UTC (rev 2385)
@@ -19,7 +19,7 @@
 module_LTLIBRARIES = ArtExecutionContext.la
 
 ArtExecutionContext_la_SOURCES = ArtExecutionContext.cpp ArtExecutionContext.h
-ArtExecutionContext_la_LDFLAGS = -module -shared
+ArtExecutionContext_la_LDFLAGS = -module -shared $(ARTLIB)
 ArtExecutionContext_la_FLAGS   = -L$(top_builddir)/src/lib/rtm/.lib
 ArtExecutionContext_la_LIBADD  = $(top_builddir)/src/lib/rtm/libRTC.la