[openrtm-commit:01563] r2631 - trunk/OpenRTM-aist/src/lib/rtm
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2015年 6月 17日 (水) 21:43:35 JST
Author: n-ando
Date: 2015-06-17 21:43:35 +0900 (Wed, 17 Jun 2015)
New Revision: 2631
Modified:
trunk/OpenRTM-aist/src/lib/rtm/InPort.h
trunk/OpenRTM-aist/src/lib/rtm/OutPortBase.cpp
trunk/OpenRTM-aist/src/lib/rtm/OutPortBase.h
trunk/OpenRTM-aist/src/lib/rtm/OutPortConnector.cpp
trunk/OpenRTM-aist/src/lib/rtm/OutPortConnector.h
Log:
[incompat,function] Direct data put functionality between data ports has been implemented. refs #3224
Modified: trunk/OpenRTM-aist/src/lib/rtm/InPort.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/InPort.h 2015-06-17 07:35:58 UTC (rev 2630)
+++ trunk/OpenRTM-aist/src/lib/rtm/InPort.h 2015-06-17 12:43:35 UTC (rev 2631)
@@ -27,6 +27,8 @@
#include <coil/TimeValue.h>
#include <coil/Time.h>
#include <coil/OS.h>
+#include <coil/Mutex.h>
+#include <coil/Guard.h>
#include <rtm/RTC.h>
#include <rtm/Typename.h>
@@ -152,8 +154,8 @@
: InPortBase(name, ::CORBA_Util::toRepositoryId<DataType>()),
#endif
m_name(name), m_value(value),
- m_OnRead(NULL), m_OnReadConvert(NULL),
- m_status(1)
+ m_OnRead(NULL), m_OnReadConvert(NULL),
+ m_status(1), m_directNewData(false)
{
}
@@ -230,6 +232,14 @@
// In single-buffer mode, all connectors share the same buffer. This
// means that we only need to read from the first connector to get data
// received by any connector.
+ {
+ Guard gurad(m_valueMutex);
+ if (m_directNewData == true)
+ {
+ RTC_DEBUG(("isNew() returns true because of direct write."));
+ return true;
+ }
+ }
int r(0);
{
Guard guard(m_connectorsMutex);
@@ -277,6 +287,7 @@
virtual bool isEmpty()
{
RTC_TRACE(("isEmpty()"));
+ if (m_directNewData == true) { return false; }
int r(0);
{
@@ -302,6 +313,13 @@
return false;
}
+ virtual void write(const DataType& data)
+ {
+ Guard guard(m_valueMutex);
+ m_value = data;
+ m_directNewData = true;
+ }
+
/*!
* @if jp
*
@@ -385,7 +403,23 @@
(*m_OnRead)();
RTC_TRACE(("OnRead called"));
}
-
+ // 1) direct connection
+ {
+ Guard guard(m_valueMutex);
+ if (m_directNewData == true)
+ {
+ RTC_DEBUG(("Direct data transfer"));
+ if (m_OnReadConvert != 0)
+ {
+ m_value = (*m_OnReadConvert)(m_value);
+ RTC_DEBUG(("OnReadConvert for direct data called"));
+ return true;
+ }
+ m_directNewData = false;
+ return true;
+ }
+ }
+ // 2) network connection
cdrMemoryStream cdr;
ReturnCode ret;
{
@@ -395,15 +429,16 @@
RTC_DEBUG(("no connectors"));
return false;
}
-
+
// In single-buffer mode, all connectors share the same buffer. This
// means that we only need to read from the first connector to get data
// received by any connector.
ret = m_connectors[0]->read(cdr);
- m_status[0] = ret;
+ m_status[0] = ret;
}
if (ret == PORT_OK)
{
+ Guard guard(m_valueMutex);
RTC_DEBUG(("data read succeeded"));
m_value <<= cdr;
if (m_OnReadConvert != 0)
@@ -627,6 +662,7 @@
* @endif
*/
DataType& m_value;
+ mutable coil::Mutex m_valueMutex;
/*!
* @if jp
@@ -646,7 +682,23 @@
*/
OnReadConvert<DataType>* m_OnReadConvert;
+ /*!
+ * @if jp
+ * @brief コネクタごとのリードステータス
+ * @else
+ * @brief Read status of each connector
+ * @endif
+ */
DataPortStatusList m_status;
+
+ /*!
+ * @if jp
+ * @brief ダイレクトデータ転送フラグ
+ * @else
+ * @brief A flag for direct data transfer
+ * @endif
+ */
+ bool m_directNewData;
};
}; // End of namesepace RTM
Modified: trunk/OpenRTM-aist/src/lib/rtm/OutPortBase.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/OutPortBase.cpp 2015-06-17 07:35:58 UTC (rev 2630)
+++ trunk/OpenRTM-aist/src/lib/rtm/OutPortBase.cpp 2015-06-17 12:43:35 UTC (rev 2631)
@@ -29,7 +29,6 @@
#include <rtm/OutPortBase.h>
#include <rtm/PublisherBase.h>
-
namespace RTC
{
/*!
@@ -971,6 +970,19 @@
// endian type set
connector->setEndian(m_littleEndian);
+
+ // set direct InPort if ConnectorProfile
+ // .properties["dataport.outport.direct_dataput.disable"] != YES
+ if (!coil::toBool(prop["direct_dataput.disable"], "YES", "NO", false))
+ {
+ InPortBase* inport = getLocalInPort(profile);
+ if (inport != NULL)
+ {
+ connector->setInPort(inport);
+ }
+ }
+ // end of direct port
+
m_connectors.push_back(connector);
RTC_PARANOID(("connector pushback done: size = %d",
m_connectors.size()));
@@ -1036,4 +1048,41 @@
return 0;
}
+ /*!
+ * @if jp
+ * @brief ローカルのピアInPortを取得
+ * @else
+ * @brief Getting local peer InPort if available
+ * @endif
+ */
+ InPortBase*
+ OutPortBase::getLocalInPort(const ConnectorInfo& profile)
+ {
+ RTC_DEBUG(("Trying direct port connection."));
+ CORBA::ORB_var orb = RTC::Manager::instance().getORB();
+ RTC_DEBUG(("Current connector profile: name=%s, id=%s",
+ profile.name.c_str(), profile.id.c_str()));
+ // finding peer port object
+ for (size_t i = 0; i < profile.ports.size() ; ++i)
+ {
+ CORBA::Object_var obj;
+ obj = orb->string_to_object(profile.ports[i].c_str());
+ if (getPortRef()->_is_equivalent(obj)) { continue; }
+ RTC_DEBUG(("Peer port found: %s.", profile.ports[i].c_str()));
+ try
+ {
+ PortableServer::POA_var poa = RTC::Manager::instance().getPOA();
+ InPortBase* inport = dynamic_cast<InPortBase*>
+ (poa->reference_to_servant(obj));
+ RTC_DEBUG(("InPortBase servant pointer is obtained."));
+ return inport;
+ }
+ catch (...)
+ {
+ RTC_DEBUG(("Peer port is remote port"));
+ }
+ }
+ return NULL;
+ }
+
}; // end of namespace RTM
Modified: trunk/OpenRTM-aist/src/lib/rtm/OutPortBase.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/OutPortBase.h 2015-06-17 07:35:58 UTC (rev 2630)
+++ trunk/OpenRTM-aist/src/lib/rtm/OutPortBase.h 2015-06-17 12:43:35 UTC (rev 2631)
@@ -1016,6 +1016,15 @@
protected:
/*!
* @if jp
+ * @brief ローカルのピアInPortを取得
+ * @else
+ * @brief Getting local peer InPort if available
+ * @endif
+ */
+ InPortBase* getLocalInPort(const ConnectorInfo& profile);
+
+ /*!
+ * @if jp
* @brief プロパティ
* @else
* @brief Properties
Modified: trunk/OpenRTM-aist/src/lib/rtm/OutPortConnector.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/OutPortConnector.cpp 2015-06-17 07:35:58 UTC (rev 2630)
+++ trunk/OpenRTM-aist/src/lib/rtm/OutPortConnector.cpp 2015-06-17 12:43:35 UTC (rev 2631)
@@ -29,7 +29,8 @@
* @endif
*/
OutPortConnector::OutPortConnector(ConnectorInfo& info)
- : rtclog("OutPortConnector"), m_profile(info), m_littleEndian(true)
+ : rtclog("OutPortConnector"), m_profile(info), m_littleEndian(true),
+ m_directInPort(NULL)
{
}
Modified: trunk/OpenRTM-aist/src/lib/rtm/OutPortConnector.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/OutPortConnector.h 2015-06-17 07:35:58 UTC (rev 2630)
+++ trunk/OpenRTM-aist/src/lib/rtm/OutPortConnector.h 2015-06-17 12:43:35 UTC (rev 2631)
@@ -22,7 +22,10 @@
#include <rtm/SystemLogger.h>
#include <rtm/ConnectorBase.h>
+#include <rtm/InPortBase.h>
+#include <rtm/InPort.h>
+
namespace RTC
{
/*!
@@ -208,13 +211,27 @@
template <class DataType>
ReturnCode write(const DataType& data)
{
+ if (m_directInPort != NULL)
+ {
+ static_cast<InPort<DataType>*>(m_directInPort)->write(data);
+ return PORT_OK;
+ }
m_cdr.rewindPtrs();
RTC_TRACE(("connector endian: %s", isLittleEndian() ? "little":"big"));
m_cdr.setByteSwapFlag(isLittleEndian());
data >>= m_cdr;
return write(m_cdr);
}
-
+
+ bool setInPort(InPortBase* directInPort)
+ {
+ if (directInPort == NULL)
+ {
+ return false;
+ }
+ m_directInPort = directInPort;
+ return true;
+ }
protected:
/*!
* @if jp
@@ -249,6 +266,15 @@
*/
cdrMemoryStream m_cdr;
+ /*!
+ * @if jp
+ * @brief 同一プロセス上のピアInPortのポインタ
+ * @else
+ * @brief InProt pointer to the peer in the same process
+ * @endif
+ */
+ InPortBase* m_directInPort;
+
};
}; // namespace RTC
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