[openrtm-commit:03114] r3189 - branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm
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openrtm ＠ openrtm.org
2018年 1月 23日 (火) 16:55:16 JST
Author: miyamoto
Date: 2018-01-23 16:55:15 +0900 (Tue, 23 Jan 2018)
New Revision: 3189
Modified:
branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/InPort.h
branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/InPortConnector.cpp
branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/InPortConnector.h
branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/NamingManager.cpp
branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/OutPort.h
branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/OutPortBase.cpp
branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/OutPortConnector.cpp
branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/OutPortConnector.h
Log:
[compat, ->RELENG_1_2] refs #4428
Modified: branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/InPort.h
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/InPort.h 2018-01-23 06:50:19 UTC (rev 3188)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/InPort.h 2018-01-23 07:55:15 UTC (rev 3189)
@@ -325,6 +325,52 @@
m_directNewData = true;
}
+
+
+ bool getDirectData(InPortConnector *con, DataType &data)
+ {
+ OutPortBase *directOutPort = con->getOutPort();
+ ConnectorListeners& listeners = con->getListeners();
+ ConnectorListeners* outPortListeners = con->getOutportListeners();
+ ConnectorInfo& profile = con->profile();
+
+ if (directOutPort == NULL)
+ {
+ return false;
+ }
+ OutPort<DataType>* outport;
+ outport = static_cast<OutPort<DataType>*>(directOutPort);
+
+
+ if (outport->isEmpty())
+ {
+ listeners.
+ connector_[ON_BUFFER_EMPTY].notify(profile);
+ outPortListeners->
+ connector_[ON_SENDER_EMPTY].notify(profile);
+ RTC_PARANOID(("ON_BUFFER_EMPTY(InPort,OutPort), "
+ "ON_SENDER_EMPTY(InPort,OutPort) "
+ "callback called in direct mode."));
+ }
+ outport->read(data);
+ outPortListeners->connectorData_[ON_BUFFER_READ].notify(profile, data);
+ RTC_TRACE(("ON_BUFFER_READ(OutPort), "));
+ RTC_TRACE(("callback called in direct mode."));
+ outPortListeners->connectorData_[ON_SEND].notify(profile, data);
+ RTC_TRACE(("ON_SEND(OutPort), "));
+ RTC_TRACE(("callback called in direct mode."));
+ listeners.connectorData_[ON_RECEIVED].notify(profile, data);
+ RTC_TRACE(("ON_RECEIVED(InPort), "));
+ RTC_TRACE(("callback called in direct mode."));
+ listeners.connectorData_[ON_SEND].notify(profile, data);
+ RTC_TRACE(("ON_BUFFER_WRITE(InPort), "));
+ RTC_TRACE(("callback called in direct mode."));
+
+
+ return true;
+
+ };
+
/*!
* @if jp
*
@@ -438,7 +484,7 @@
}
- if (!m_connectors[0]->getDirectData(m_value))
+ if (!getDirectData(m_connectors[0], m_value))
{
{
Guard guard(m_connectorsMutex);
Modified: branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/InPortConnector.cpp
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/InPortConnector.cpp 2018-01-23 06:50:19 UTC (rev 3188)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/InPortConnector.cpp 2018-01-23 07:55:15 UTC (rev 3189)
@@ -61,7 +61,7 @@
*
* @endif
*/
- const ConnectorInfo& InPortConnector::profile()
+ ConnectorInfo& InPortConnector::profile()
{
RTC_TRACE(("profile()"));
return m_profile;
@@ -169,4 +169,18 @@
}
};
+
+ OutPortBase* InPortConnector::getOutPort()
+ {
+ return m_directOutPort;
+ }
+ ConnectorListeners& InPortConnector::getListeners()
+ {
+ return m_listeners;
+ }
+ ConnectorListeners* InPortConnector::getOutportListeners()
+ {
+ return m_outPortListeners;
+ }
+
}; // namespace RTC
Modified: branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/InPortConnector.h
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/InPortConnector.h 2018-01-23 06:50:19 UTC (rev 3188)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/InPortConnector.h 2018-01-23 07:55:15 UTC (rev 3189)
@@ -96,7 +96,7 @@
*
* @endif
*/
- virtual const ConnectorInfo& profile();
+ virtual ConnectorInfo& profile();
/*!
* @if jp
@@ -254,45 +254,11 @@
*/
bool setOutPort(OutPortBase* directOutPort);
- template <typename DataType>
- bool getDirectData(DataType &data)
- {
- if (m_directOutPort == NULL)
- {
- return false;
- }
- OutPort<DataType>* outport;
- outport = static_cast<OutPort<DataType>*>(m_directOutPort);
-
-
- if (outport->isEmpty())
- {
- m_listeners.
- connector_[ON_BUFFER_EMPTY].notify(m_profile);
- m_outPortListeners->
- connector_[ON_SENDER_EMPTY].notify(m_profile);
- RTC_PARANOID(("ON_BUFFER_EMPTY(InPort,OutPort), "
- "ON_SENDER_EMPTY(InPort,OutPort) "
- "callback called in direct mode."));
- }
- outport->read(data);
- m_outPortListeners->connectorData_[ON_BUFFER_READ].notify(m_profile, data);
- RTC_TRACE(("ON_BUFFER_READ(OutPort), "));
- RTC_TRACE(("callback called in direct mode."));
- m_outPortListeners->connectorData_[ON_SEND].notify(m_profile, data);
- RTC_TRACE(("ON_SEND(OutPort), "));
- RTC_TRACE(("callback called in direct mode."));
- m_listeners.connectorData_[ON_RECEIVED].notify(m_profile, data);
- RTC_TRACE(("ON_RECEIVED(InPort), "));
- RTC_TRACE(("callback called in direct mode."));
- m_listeners.connectorData_[ON_SEND].notify(m_profile, data);
- RTC_TRACE(("ON_BUFFER_WRITE(InPort), "));
- RTC_TRACE(("callback called in direct mode."));
-
- return true;
- };
+ virtual OutPortBase* getOutPort();
+ virtual ConnectorListeners& getListeners();
+ virtual ConnectorListeners* getOutportListeners();
protected:
/*!
Modified: branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/NamingManager.cpp
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/NamingManager.cpp 2018-01-23 06:50:19 UTC (rev 3188)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/NamingManager.cpp 2018-01-23 07:55:15 UTC (rev 3189)
@@ -429,7 +429,7 @@
rtc_list = (*mgr->get_components_by_name(rtc_name.c_str()));
RTM::ManagerList* slaves = mgr->get_slave_managers();
- for (int i = 0; i < slaves->length(); i++)
+ for (unsigned int i = 0; i < slaves->length(); i++)
{
try
Modified: branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/OutPort.h
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/OutPort.h 2018-01-23 06:50:19 UTC (rev 3188)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/OutPort.h 2018-01-23 07:55:15 UTC (rev 3189)
@@ -165,6 +165,55 @@
virtual ~OutPort(void)
{
}
+
+ ReturnCode write(OutPortConnector *con, DataType& data)
+ {
+ InPortBase* directInPort = con->getInPort();
+ ConnectorListeners &listeners = con->getListeners();
+ ConnectorListeners *inPortListeners = con->getInportListeners();
+ ConnectorInfo& profile = con->profile();
+
+ if (directInPort != NULL)
+ {
+ InPort<DataType>* inport;
+ inport = static_cast<InPort<DataType>*>(directInPort);
+ if (inport->isNew())
+ {
+ // ON_BUFFER_OVERWRITE(In,Out), ON_RECEIVER_FULL(In,Out) callback
+ listeners.
+ connectorData_[ON_BUFFER_OVERWRITE].notify(profile, data);
+ inPortListeners->
+ connectorData_[ON_BUFFER_OVERWRITE].notify(profile, data);
+ listeners.
+ connectorData_[ON_RECEIVER_FULL].notify(profile, data);
+ inPortListeners->
+ connectorData_[ON_RECEIVER_FULL].notify(profile, data);
+ RTC_PARANOID(("ON_BUFFER_OVERWRITE(InPort,OutPort), "
+ "ON_RECEIVER_FULL(InPort,OutPort) "
+ "callback called in direct mode."));
+ }
+ // ON_BUFFER_WRITE(In,Out) callback
+ listeners.
+ connectorData_[ON_BUFFER_WRITE].notify(profile, data);
+ inPortListeners->
+ connectorData_[ON_BUFFER_WRITE].notify(profile, data);
+ RTC_PARANOID(("ON_BUFFER_WRITE(InPort,OutPort), "
+ "callback called in direct mode."));
+ inport->write(data); // write to InPort variable!!
+ // ON_RECEIVED(In,Out) callback
+ listeners.
+ connectorData_[ON_RECEIVED].notify(profile, data);
+ inPortListeners->
+ connectorData_[ON_RECEIVED].notify(profile, data);
+ RTC_PARANOID(("ON_RECEIVED(InPort,OutPort), "
+ "callback called in direct mode."));
+ return PORT_OK;
+ }
+ else
+ {
+ return con->write(data);
+ }
+ }
/*!
* @if jp
@@ -232,17 +281,17 @@
{
ReturnCode ret;
- if (!m_connectors[i]->directMode())
+ if (!m_connectors[i]->pullDirectMode())
{
if (m_onWriteConvert != NULL)
{
RTC_DEBUG(("m_connectors.OnWriteConvert called"));
- ret = m_connectors[i]->write(((*m_onWriteConvert)(value)));
+ ret = write(m_connectors[i], ((*m_onWriteConvert)(value)));
}
else
{
RTC_DEBUG(("m_connectors.write called"));
- ret = m_connectors[i]->write(value);
+ ret = write(m_connectors[i], value);
}
}
else
Modified: branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/OutPortBase.cpp
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/OutPortBase.cpp 2018-01-23 06:50:19 UTC (rev 3188)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/OutPortBase.cpp 2018-01-23 07:55:15 UTC (rev 3189)
@@ -1052,7 +1052,7 @@
if (coil::normalize(prop["interface_type"]) == "direct")
{
- connector->setDirectMode();
+ connector->setPullDirectMode();
}
m_connectors.push_back(connector);
Modified: branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/OutPortConnector.cpp
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/OutPortConnector.cpp 2018-01-23 06:50:19 UTC (rev 3188)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/OutPortConnector.cpp 2018-01-23 07:55:15 UTC (rev 3189)
@@ -59,7 +59,7 @@
*
* @endif
*/
- const ConnectorInfo& OutPortConnector::profile()
+ ConnectorInfo& OutPortConnector::profile()
{
RTC_TRACE(("profile()"));
return m_profile;
@@ -145,7 +145,7 @@
*
* @endif
*/
- void OutPortConnector::setDirectMode()
+ void OutPortConnector::setPullDirectMode()
{
m_directMode = true;
}
@@ -162,7 +162,7 @@
*
* @endif
*/
- bool OutPortConnector::directMode()
+ bool OutPortConnector::pullDirectMode()
{
return m_directMode;
}
@@ -177,4 +177,17 @@
m_inPortListeners = &(m_directInPort->getListeners());
return true;
}
+
+ InPortBase* OutPortConnector::getInPort()
+ {
+ return m_directInPort;
+ }
+ ConnectorListeners& OutPortConnector::getListeners()
+ {
+ return m_listeners;
+ }
+ ConnectorListeners* OutPortConnector::getInportListeners()
+ {
+ return m_inPortListeners;
+ }
}; // namespace RTC
Modified: branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/OutPortConnector.h
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/OutPortConnector.h 2018-01-23 06:50:19 UTC (rev 3188)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/OutPortConnector.h 2018-01-23 07:55:15 UTC (rev 3189)
@@ -85,7 +85,7 @@
*
* @endif
*/
- const ConnectorInfo& profile();
+ ConnectorInfo& profile();
/*!
* @if jp
@@ -212,42 +212,7 @@
template <class DataType>
ReturnCode write(DataType& data)
{
- if (m_directInPort != NULL)
- {
- InPort<DataType>* inport;
- inport = static_cast<InPort<DataType>*>(m_directInPort);
- if (inport->isNew())
- {
- // ON_BUFFER_OVERWRITE(In,Out), ON_RECEIVER_FULL(In,Out) callback
- m_listeners.
- connectorData_[ON_BUFFER_OVERWRITE].notify(m_profile, data);
- m_inPortListeners->
- connectorData_[ON_BUFFER_OVERWRITE].notify(m_profile, data);
- m_listeners.
- connectorData_[ON_RECEIVER_FULL].notify(m_profile, data);
- m_inPortListeners->
- connectorData_[ON_RECEIVER_FULL].notify(m_profile, data);
- RTC_PARANOID(("ON_BUFFER_OVERWRITE(InPort,OutPort), "
- "ON_RECEIVER_FULL(InPort,OutPort) "
- "callback called in direct mode."));
- }
- // ON_BUFFER_WRITE(In,Out) callback
- m_listeners.
- connectorData_[ON_BUFFER_WRITE].notify(m_profile, data);
- m_inPortListeners->
- connectorData_[ON_BUFFER_WRITE].notify(m_profile, data);
- RTC_PARANOID(("ON_BUFFER_WRITE(InPort,OutPort), "
- "callback called in direct mode."));
- inport->write(data); // write to InPort variable!!
- // ON_RECEIVED(In,Out) callback
- m_listeners.
- connectorData_[ON_RECEIVED].notify(m_profile, data);
- m_inPortListeners->
- connectorData_[ON_RECEIVED].notify(m_profile, data);
- RTC_PARANOID(("ON_RECEIVED(InPort,OutPort), "
- "callback called in direct mode."));
- return PORT_OK;
- }
+
// normal case
m_cdr.rewindPtrs();
RTC_TRACE(("connector endian: %s", isLittleEndian() ? "little":"big"));
@@ -268,7 +233,7 @@
*
* @endif
*/
- virtual void setDirectMode();
+ virtual void setPullDirectMode();
/*!
* @if jp
* @brief ¥À¥¤¥ì¥¯¥ÈÀܳ¥â¡¼¥É¤«¤ÎȽÄê
@@ -281,7 +246,11 @@
*
* @endif
*/
- virtual bool directMode();
+ virtual bool pullDirectMode();
+ virtual InPortBase* getInPort();
+ virtual ConnectorListeners& getListeners();
+ virtual ConnectorListeners* getInportListeners();
+
protected:
/*!
* @if jp
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