[openrtm-commit:01622] r2675 - trunk/OpenRTM-aist/src/lib/rtm
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2015年 10月 27日 (火) 16:30:42 JST
Author: n-ando
Date: 2015-10-27 16:30:41 +0900 (Tue, 27 Oct 2015)
New Revision: 2675
Modified:
trunk/OpenRTM-aist/src/lib/rtm/NamingManager.cpp
trunk/OpenRTM-aist/src/lib/rtm/NamingManager.h
Log:
[incompat,->RELENG_1_2] Now NamingManager can register a reference of Port (PortBase) to naming service. refs #3263
Modified: trunk/OpenRTM-aist/src/lib/rtm/NamingManager.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/NamingManager.cpp 2015-10-27 07:25:14 UTC (rev 2674)
+++ trunk/OpenRTM-aist/src/lib/rtm/NamingManager.cpp 2015-10-27 07:30:41 UTC (rev 2675)
@@ -69,7 +69,7 @@
* @endif
*/
void NamingOnCorba::bindObject(const char* name,
- const RTObject_impl* rtobj)
+ const RTObject_impl* rtobj)
{
RTC_TRACE(("bindObject(name = %s, rtobj)", name));
#ifdef ORB_IS_OMNIORB
@@ -100,8 +100,39 @@
}
void NamingOnCorba::bindObject(const char* name,
- const RTM::ManagerServant* mgr)
+ const PortBase* port)
{
+ RTC_TRACE(("bindObject(name = %s, rtobj)", name));
+#ifdef ORB_IS_OMNIORB
+ if (!m_endpoint.empty() && m_replaceEndpoint)
+ {
+ CORBA::Object_var obj(PortService::_duplicate(port->getPortRef()));
+ CORBA::String_var ior;
+ ior = RTC::Manager::instance().getORB()->object_to_string(obj.in());
+ std::string iorstr((const char*)ior);
+
+ RTC_DEBUG(("Original IOR information:\n %s",
+ CORBA_IORUtil::formatIORinfo(iorstr.c_str()).c_str()));
+ CORBA_IORUtil::replaceEndpoint(iorstr, m_endpoint);
+ CORBA::Object_var newobj = RTC::Manager::instance().
+ getORB()->string_to_object(iorstr.c_str());
+
+ RTC_DEBUG(("Modified IOR information:\n %s",
+ CORBA_IORUtil::formatIORinfo(iorstr.c_str()).c_str()));
+ m_cosnaming.rebindByString(name, newobj.in(), true);
+ }
+ else
+ {
+#endif // ORB_IS_OMNIORB
+ m_cosnaming.rebindByString(name, port->getPortRef(), true);
+#ifdef ORB_IS_OMNIORB
+ }
+#endif // ORB_IS_OMNIORB
+ }
+
+ void NamingOnCorba::bindObject(const char* name,
+ const RTM::ManagerServant* mgr)
+ {
RTC_TRACE(("bindObject(name = %s, mgr)", name));
#ifdef ORB_IS_OMNIORB
if (!m_endpoint.empty() && m_replaceEndpoint)
@@ -184,7 +215,7 @@
* @endif
*/
void NamingManager::registerNameServer(const char* method,
- const char* name_server)
+ const char* name_server)
{
RTC_TRACE(("NamingManager::registerNameServer(%s, %s)",
method, name_server));
@@ -192,7 +223,7 @@
name = createNamingObj(method, name_server);
Guard guard(m_namesMutex);
- m_names.push_back(new Names(method, name_server, name));
+ m_names.push_back(new NamingService(method, name_server, name));
}
/*!
@@ -202,15 +233,15 @@
* @brief Bind the specified objects to NamingService
* @endif
*/
- void NamingManager::bindObject(const char* name,
- const RTObject_impl* rtobj)
+ void NamingManager::bindObject(const char* name,
+ const RTObject_impl* rtobj)
{
RTC_TRACE(("NamingManager::bindObject(%s)", name));
Guard guard(m_namesMutex);
for (int i(0), len(m_names.size()); i < len; ++i)
{
- if (m_names[i]->ns != 0)
+ if (m_names[i]->ns != 0)
{
try
{
@@ -225,15 +256,38 @@
}
registerCompName(name, rtobj);
}
+ void NamingManager::bindObject(const char* name,
+ const PortBase* port)
+ {
+ RTC_TRACE(("NamingManager::bindObject(%s)", name));
+
+ Guard guard(m_namesMutex);
+ for (int i(0), len(m_names.size()); i < len; ++i)
+ {
+ if (m_names[i]->ns != 0)
+ {
+ try
+ {
+ m_names[i]->ns->bindObject(name, port);
+ }
+ catch (...)
+ {
+ delete m_names[i]->ns;
+ m_names[i]->ns = 0;
+ }
+ }
+ }
+ registerPortName(name, port);
+ }
void NamingManager::bindObject(const char* name,
- const RTM::ManagerServant* mgr)
+ const RTM::ManagerServant* mgr)
{
RTC_TRACE(("NamingManager::bindObject(%s)", name));
Guard guard(m_namesMutex);
for (int i(0), len(m_names.size()); i < len; ++i)
{
- if (m_names[i]->ns != 0)
+ if (m_names[i]->ns != 0)
{
try
{
@@ -454,6 +508,27 @@
m_compNames.push_back(new Comps(name, rtobj));
return;
}
+ /*!
+ * @if jp
+ * @brief NameServer に登録するコンポーネントの設定
+ * @else
+ * @brief Configure the components that will be registered to NameServer
+ * @endif
+ */
+ void NamingManager::registerPortName(const char* name,
+ const PortBase* port)
+ {
+ for (int i(0), len(m_portNames.size()); i < len; ++i)
+ {
+ if (m_portNames[i]->name == name)
+ {
+ m_portNames[i]->port = port;
+ return;
+ }
+ }
+ m_portNames.push_back(new Port(name, port));
+ return;
+ }
void NamingManager::registerMgrName(const char* name,
const RTM::ManagerServant* mgr)
{
@@ -505,7 +580,7 @@
return;
}
- void NamingManager::retryConnection(Names* ns)
+ void NamingManager::retryConnection(NamingService* ns)
{
// recreate NamingObj
NamingBase* nsobj(0);
Modified: trunk/OpenRTM-aist/src/lib/rtm/NamingManager.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/NamingManager.h 2015-10-27 07:25:14 UTC (rev 2674)
+++ trunk/OpenRTM-aist/src/lib/rtm/NamingManager.h 2015-10-27 07:30:41 UTC (rev 2675)
@@ -110,6 +110,7 @@
* @endif
*/
virtual void bindObject(const char* name, const RTObject_impl* rtobj) = 0;
+ virtual void bindObject(const char* name, const PortBase* port) = 0;
/*!
* @if jp
@@ -169,9 +170,33 @@
virtual bool isAlive() = 0;
};
-
/*!
* @if jp
+ * @brief NameServer 管理用構造体
+ * @else
+ * @brief Structure for NameServer management
+ * @endif
+ */
+ class NamingService
+ {
+ public:
+ NamingService(const char* meth, const char* name, NamingBase* naming)
+ : method(meth), nsname(name), ns(naming)
+ {
+ }
+
+ ~NamingService()
+ {
+ delete ns;
+ }
+
+ std::string method;
+ std::string nsname;
+ NamingBase* ns;
+ };
+
+ /*!
+ * @if jp
*
* @class NamingOnCorba
* @brief CORBA 用 NamingServer 管理クラス
@@ -262,6 +287,8 @@
* @endif
*/
virtual void bindObject(const char* name, const RTObject_impl* rtobj);
+ virtual void bindObject(const char* name, const PortBase* port);
+
/*!
* @if jp
*
@@ -280,7 +307,7 @@
* @endif
*/
virtual void bindObject(const char* name, const RTM::ManagerServant* mgr);
-
+
/*!
* @if jp
*
@@ -301,7 +328,7 @@
* @endif
*/
virtual void unbindObject(const char* name);
-
+
/*!
* @if jp
*
@@ -318,13 +345,14 @@
* @endif
*/
virtual bool isAlive();
+ CorbaNaming& getCorbaNaming() { return m_cosnaming; }
private:
Logger rtclog;
CorbaNaming m_cosnaming;
std::string m_endpoint;
bool m_replaceEndpoint;
- std::map<std::string, RTObject_impl*> m_names;
+ // std::map<std::string, RTObject_impl*> m_names;
};
/*!
@@ -437,6 +465,7 @@
* @endif
*/
void bindObject(const char* name, const RTObject_impl* rtobj);
+ void bindObject(const char* name, const PortBase* port);
/*!
* @if jp
@@ -539,6 +568,7 @@
* @endif
*/
std::vector<RTObject_impl*> getObjects();
+ std::vector<NamingService*>& getNameServices() { return m_names; }
protected:
/*!
@@ -615,6 +645,29 @@
/*!
* @if jp
*
+ * @brief NameServer に登録するコンポーネントの設定
+ *
+ * NameServer に登録するコンポーネントを設定する。
+ *
+ * @param name コンポーネントの登録時名称
+ * @param rtobj 登録対象オブジェクト
+ *
+ * @else
+ *
+ * @brief Configure the components that will be registered to NameServer
+ *
+ * Configure the components that will be registered to NameServer.
+ *
+ * @param name Names of components at the registration
+ * @param rtobj The target objects for registration
+ *
+ * @endif
+ */
+ void registerPortName(const char* name, const PortBase* port);
+
+ /*!
+ * @if jp
+ *
* @brief NameServer に登録するManagerServantの設定
*
* NameServer に登録するManagerServantを設定する。
@@ -656,6 +709,7 @@
* @endif
*/
void unregisterCompName(const char* name);
+ void unregisterPortName(const char* name);
/*!
* @if jp
@@ -698,43 +752,18 @@
*
* @endif
*/
- class Names;
- void retryConnection(Names* ns);
-
+ void retryConnection(NamingService* ns);
+
protected:
// Name Servers' method/name and object
/*!
* @if jp
- * @brief NameServer 管理用構造体
- * @else
- * @brief Structure for NameServer management
- * @endif
- */
- class Names
- {
- public:
- Names(const char* meth, const char* name, NamingBase* naming)
- : method(meth), nsname(name), ns(naming)
- {
- }
-
- ~Names()
- {
- delete ns;
- }
-
- std::string method;
- std::string nsname;
- NamingBase* ns;
- };
- /*!
- * @if jp
* @brief NameServer リスト
* @else
* @brief NameServer list
* @endif
*/
- std::vector<Names*> m_names;
+ std::vector<NamingService*> m_names;
/*!
* @if jp
* @brief NameServer リストのmutex
@@ -762,6 +791,21 @@
};
/*!
* @if jp
+ * @brief コンポーネント管理用構造体
+ * @else
+ * @brief Structure for component management
+ * @endif
+ */
+ struct Port
+ {
+ Port(const char* n, const PortBase* p)
+ : name(n), port(p)
+ {}
+ std::string name;
+ const PortBase* port;
+ };
+ /*!
+ * @if jp
* @brief ManagerServant管理用構造体
* @else
* @brief Structure for ManagerServant management
@@ -793,6 +837,22 @@
Mutex m_compNamesMutex;
/*!
* @if jp
+ * @brief コンポーネントリスト
+ * @else
+ * @brief Component list
+ * @endif
+ */
+ std::vector<Port*> m_portNames;
+ /*!
+ * @if jp
+ * @brief コンポーネントリストのmutex
+ * @else
+ * @brief Mutex of Port list
+ * @endif
+ */
+ Mutex m_portNamesMutex;
+ /*!
+ * @if jp
* @brief ManagerServantリスト
* @else
* @brief ManagerServant list
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