[openrtm-commit:01935] r823 - in trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC: . executionContext port
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2016年 5月 20日 (金) 21:18:21 JST
Author: win-ei
Date: 2016-05-20 21:18:21 +0900 (Fri, 20 May 2016)
New Revision: 823
Modified:
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ManagerServant.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/ExtTrigExecutionContext.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/CorbaConsumer.java
Log:
Fiexd bugs.
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ManagerServant.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ManagerServant.java 2016-05-20 05:46:39 UTC (rev 822)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ManagerServant.java 2016-05-20 12:18:21 UTC (rev 823)
@@ -51,14 +51,17 @@
* {@.en Constructor}
*/
public ManagerServant() {
+System.out.println("d00 ");
rtcout = new Logbuf("ManagerServant");
m_mgr = jp.go.aist.rtm.RTC.Manager.instance();
Properties config = m_mgr.getConfig();
+System.out.println("d20 "+"manager.is_master:"+config.getProperty("manager.is_master"));
if (StringUtil.toBool(config.getProperty("manager.is_master"),
"YES", "NO", true)) {
// this is master manager
+System.out.println("d30 "+"This manager is master.");
rtcout.println(Logbuf.TRACE, "This manager is master.");
try{
@@ -92,6 +95,7 @@
return;
}
else { // manager is slave
+System.out.println("d80 "+"This manager is slave.");
rtcout.println(Logbuf.TRACE, "This manager is slave.");
try {
RTM.Manager owner;
@@ -154,6 +158,7 @@
* {@.en RTM.Manager object.}
*/
public RTM.Manager _this() {
+System.out.println("_this()");
if (this.m_objref == null) {
try {
this.m_objref = ManagerHelper.narrow(POAUtil.getRef(this));
@@ -173,10 +178,12 @@
*/
public boolean createINSManager() {
+System.out.println("createINSManager()");
rtcout.println(Logbuf.DEBUG, "createINSManager()");
try{
//
+System.out.println("gets object.");
rtcout.println(Logbuf.DEBUG, "gets object.");
org.omg.CORBA.Object obj
= m_mgr.getORB().resolve_initial_references("manager");
@@ -198,6 +205,7 @@
catch(Exception ex){
rtcout.println(Logbuf.WARN,
"Manager CORBA servant creation failed."+ex);
+System.out.println("Manager CORBA servant creation failed.");
return false;
}
@@ -316,6 +324,7 @@
*
*/
public RTM.ModuleProfile[] get_loadable_modules() {
+System.out.println("600 ");
rtcout.println(Logbuf.TRACE, "get_loadable_modules()");
// copy local module profiles
Vector<Properties> prof = m_mgr.getLoadableModules();
@@ -338,6 +347,7 @@
for (int i=0, len=m_slaves.length; i < len; ++i) {
try {
if (m_slaves[i] != null) {
+System.out.println("630 ");
RTM.ModuleProfile[] sprof;
sprof = m_slaves[i].get_loadable_modules();
@@ -353,6 +363,7 @@
catch(Exception ex) {
rtcout.println(Logbuf.INFO,
"slave ("+i+") has disappeared.");
+System.out.println("660 " + "slave ("+i+") has disappeared.");
m_slaves[i] = (RTM.Manager)null;
}
RTM.ManagerListHolder holder
@@ -403,6 +414,7 @@
*
*/
public RTM.ModuleProfile[] get_loaded_modules() {
+System.out.println("700");
rtcout.println(Logbuf.TRACE, "get_loaded_modules()");
// copy local module profiles
@@ -429,6 +441,7 @@
for (int i=0, len= m_slaves.length; i < len; ++i) {
try {
if (m_slaves[i]!=null) {
+System.out.println("730 ");
RTM.ModuleProfile[] sprof;
sprof = m_slaves[i].get_loaded_modules();
RTM.ModuleProfileListHolder holder
@@ -440,6 +453,7 @@
catch(Exception ex) {
rtcout.println(Logbuf.INFO,
"slave ("+i+") has disappeared.");
+System.out.println("760 " + "slave ("+i+") has disappeared.");
m_slaves[i] = (RTM.Manager)null;
}
RTM.ManagerListHolder holder
@@ -488,6 +502,7 @@
* {@.en An RT-Component factory profile list.}
*/
public RTM.ModuleProfile[] get_factory_profiles() {
+System.out.println("800 ");
rtcout.println(Logbuf.TRACE, "get_factory_profiles()");
Vector<Properties> prof = m_mgr.getFactoryProfiles();
@@ -510,6 +525,7 @@
for (int i=0, len=m_slaves.length; i < len; ++i) {
try {
if (m_slaves[i]!=null) {
+System.out.println("830 ");
RTM.ModuleProfile[] sprof;
sprof = m_slaves[i].get_factory_profiles();
RTM.ModuleProfileListHolder holder1
@@ -524,6 +540,7 @@
catch(Exception ex) {
rtcout.println(Logbuf.INFO,
"slave ("+i+") has disappeared.");
+System.out.println("860 " + "slave ("+i+") has disappeared.");
m_slaves[i] = (RTM.Manager)null;
}
RTM.ManagerListHolder holder
@@ -646,6 +663,7 @@
*
*/
public RTC.RTObject[] get_components() {
+System.out.println("900 ");
rtcout.println(Logbuf.TRACE, "get_component()");
Vector<RTObject_impl> rtcs = m_mgr.getComponents();
@@ -661,6 +679,7 @@
for (int i=0, len=m_slaves.length; i < len; ++i) {
try {
if (m_slaves[i]!=null) {
+System.out.println("920 ");
RTC.RTObject[] srtcs;
srtcs = m_slaves[i].get_components();
RTC.RTCListHolder holder
@@ -672,6 +691,7 @@
catch(Exception ex) {
rtcout.println(Logbuf.INFO,
"slave ("+i+") has disappeared.");
+System.out.println("960 " + "slave ("+i+") has disappeared.");
m_slaves[i] = (RTM.Manager)null;
}
RTM.ManagerListHolder holder
@@ -699,6 +719,7 @@
*
*/
public RTC.ComponentProfile[] get_component_profiles() {
+System.out.println("a00 ");
rtcout.println(Logbuf.TRACE, "get_component_profiles()");
ComponentProfileListHolder cprofs = new ComponentProfileListHolder();
@@ -716,6 +737,7 @@
try {
if (m_slaves[i]!=null) {
+System.out.println("a20 ");
RTC.ComponentProfile[] sprof;
sprof = m_slaves[i].get_component_profiles();
@@ -728,6 +750,7 @@
catch(Exception ex) {
rtcout.println(Logbuf.INFO,
"slave ("+i+") has disappeared.");
+System.out.println("a60 " + "slave ("+i+") has disappeared.");
m_slaves[i] = (RTM.Manager)null;
}
RTM.ManagerListHolder holder
@@ -876,6 +899,7 @@
*
*/
public ReturnCode_t add_master_manager(RTM.Manager mgr) {
+System.out.println("c00 ");
synchronized(m_masterMutex) {
long index;
rtcout.println(Logbuf.TRACE,
@@ -954,9 +978,12 @@
*
*/
public RTM.Manager[] get_slave_managers() {
+System.out.println("510 ");
synchronized(m_masterMutex) {
rtcout.println(Logbuf.TRACE,
"get_slave_managers(), "+m_slaves.length+" slaves");
+System.out.println("520 "+ "get_slave_managers(), "+m_slaves.length+" slaves");
+System.out.println("522 "+ Arrays.toString(m_slaves));
RTM.ManagerListHolder holder = new RTM.ManagerListHolder(m_slaves);
return holder.value;
@@ -979,6 +1006,7 @@
* {@.en ReturnCode_t}
*/
public ReturnCode_t add_slave_manager(RTM.Manager mgr) {
+System.out.println("b00 ");
synchronized(m_masterMutex) {
rtcout.println(Logbuf.TRACE,
"add_slave_manager(), "+m_slaves.length+" slaves");
@@ -1016,18 +1044,27 @@
* {@.en ReturnCode_t}
*/
public ReturnCode_t remove_slave_manager(RTM.Manager mgr) {
+System.out.println("300 ");
+ if(mgr == null){
+System.out.println("302 "+"mgr is null");
+ }
synchronized(m_masterMutex) {
+System.out.println("310 "+"remove_slave_manager(), "+m_slaves.length+" slaves");
rtcout.println(Logbuf.TRACE,
"remove_slave_manager(), "+m_slaves.length+" slaves");
long index;
RTM.ManagerListHolder holder = new RTM.ManagerListHolder(m_slaves);
+System.out.println("320 ");
index = CORBA_SeqUtil.find(holder, new is_equiv(mgr));
+System.out.println("330 "+"index:"+index);
if (index < 0) {// not found in my list
+System.out.println("340 ");
rtcout.println(Logbuf.ERROR, "Not found.");
return ReturnCode_t.BAD_PARAMETER;
}
+System.out.println("350 ");
CORBA_SeqUtil.erase(holder, (int)index);
m_slaves = holder.value;
rtcout.println(Logbuf.TRACE,
@@ -1136,13 +1173,17 @@
* {@.en Manager reference}
*/
public RTM.Manager getObjRef() {
+System.out.println("getObjRef()");
+System.out.println("getObjRef()"+" m_objref:"+m_objref);
if (m_objref == null) {
try {
+System.out.println("getObjRef()"+" this:"+this);
m_objref = ManagerHelper.narrow(POAUtil.getRef(this));
} catch (Exception e) {
throw new IllegalStateException(e);
}
}
+System.out.println("getObjRef()"+"m_objref:"+m_objref);
return (RTM.Manager)m_objref;
}
@@ -1186,15 +1227,20 @@
*
*/
public RTObject[] get_components_by_name(String name){
+System.out.println("200 "+"name:"+name);
rtcout.println(Logbuf.TRACE, "get_components_by_name()");
Vector<RTObject_impl> rtcs = m_mgr.getComponents();
+System.out.println("210 ");
ArrayList<RTObject> crtcs = new ArrayList<RTObject>();
+System.out.println("220 ");
name.trim();
String[] rtc_name = name.split("/");
+System.out.println("230 "+"rtc_name:"+Arrays.toString(rtc_name));
Iterator<RTObject_impl> iterator = rtcs.iterator();
while (iterator.hasNext()) {
RTObject_impl rtc = iterator.next();
if(rtc_name.length == 1){
+System.out.println("240 "+"rtc.getInstanceName():"+rtc.getInstanceName());
if(rtc.getInstanceName().equals(rtc_name[0])){
crtcs.add(rtc.getObjRef());
}
@@ -1631,7 +1677,15 @@
private class is_equiv implements equalFunctor {
private RTM.Manager m_mgr;
public is_equiv(RTM.Manager mgr) {
+System.out.println("410 ");
+ if(mgr == null){
+System.out.println("420 "+"mgr is null");
+ }
+System.out.println("430 ");
+ m_mgr = (RTM.Manager)mgr;
+System.out.println("440 ");
m_mgr = (RTM.Manager)mgr._duplicate();
+System.out.println("450 ");
}
/*
public boolean operator(RTM.Manager mgr) {
@@ -1639,7 +1693,13 @@
}
*/
public boolean equalof(final java.lang.Object object) {
+System.out.println("460 ");
+ if(object == null){
+System.out.println("463 "+"object is null");
+ }
+System.out.println("465 ");
boolean ret = m_mgr._is_equivalent((RTM.Manager)object);
+System.out.println("470 ");
return ret;
}
}
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/ExtTrigExecutionContext.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/ExtTrigExecutionContext.java 2016-05-20 05:46:39 UTC (rev 822)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/executionContext/ExtTrigExecutionContext.java 2016-05-20 12:18:21 UTC (rev 823)
@@ -247,6 +247,11 @@
}
public ReturnCode_t onStopping()
{
+
+ synchronized (m_svcmutex) {
+ m_svc = false;
+ }
+
return ReturnCode_t.RTC_OK;
}
public ReturnCode_t onStopped()
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/CorbaConsumer.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/CorbaConsumer.java 2016-05-20 05:46:39 UTC (rev 822)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/CorbaConsumer.java 2016-05-20 12:18:21 UTC (rev 823)
@@ -68,9 +68,14 @@
* @return CORBAオブジェクト
*/
public OBJECT_TYPE _ptr() {
- if(m_sev != null){
+
+ if(this.m_sev != null){
return this.m_sev;
}
+ if(this.m_var != null){
+ return this.m_var;
+ }
+
try{
POA poa = Manager.instance().getPOA();
m_sev = (OBJECT_TYPE)(poa.reference_to_servant((Object)m_var));
@@ -82,6 +87,7 @@
return this.m_var;
}
return this.m_var;
+
}
/**
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