[openrtm-commit:03118] r3193 - branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm
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openrtm ＠ openrtm.org
2018年 1月 23日 (火) 17:41:59 JST
Author: miyamoto
Date: 2018-01-23 17:41:59 +0900 (Tue, 23 Jan 2018)
New Revision: 3193
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/OutPort.h
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 08:35:59 UTC (rev 3192)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/InPort.h 2018-01-23 08:41:59 UTC (rev 3193)
@@ -325,52 +325,6 @@
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
*
@@ -484,7 +438,7 @@
}
- if (!getDirectData(m_connectors[0], m_value))
+ if (!m_connectors[0]->getDirectData(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 08:35:59 UTC (rev 3192)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/InPortConnector.cpp 2018-01-23 08:41:59 UTC (rev 3193)
@@ -61,7 +61,7 @@
*
* @endif
*/
- ConnectorInfo& InPortConnector::profile()
+ const ConnectorInfo& InPortConnector::profile()
{
RTC_TRACE(("profile()"));
return m_profile;
@@ -169,18 +169,4 @@
}
};
-
- 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 08:35:59 UTC (rev 3192)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/InPortConnector.h 2018-01-23 08:41:59 UTC (rev 3193)
@@ -96,7 +96,7 @@
*
* @endif
*/
- virtual ConnectorInfo& profile();
+ virtual const ConnectorInfo& profile();
/*!
* @if jp
@@ -254,11 +254,45 @@
*/
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/OutPort.h
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/OutPort.h 2018-01-23 08:35:59 UTC (rev 3192)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/OutPort.h 2018-01-23 08:41:59 UTC (rev 3193)
@@ -166,55 +166,6 @@
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
@@ -287,12 +238,12 @@
if (m_onWriteConvert != NULL)
{
RTC_DEBUG(("m_connectors.OnWriteConvert called"));
- ret = write(m_connectors[i], ((*m_onWriteConvert)(value)));
+ ret = m_connectors[i]->write(((*m_onWriteConvert)(value)));
}
else
{
RTC_DEBUG(("m_connectors.write called"));
- ret = write(m_connectors[i], value);
+ ret = m_connectors[i]->write(value);
}
}
else
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 08:35:59 UTC (rev 3192)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/OutPortConnector.cpp 2018-01-23 08:41:59 UTC (rev 3193)
@@ -59,7 +59,7 @@
*
* @endif
*/
- ConnectorInfo& OutPortConnector::profile()
+ const ConnectorInfo& OutPortConnector::profile()
{
RTC_TRACE(("profile()"));
return m_profile;
@@ -177,17 +177,4 @@
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 08:35:59 UTC (rev 3192)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/OutPortConnector.h 2018-01-23 08:41:59 UTC (rev 3193)
@@ -85,7 +85,7 @@
*
* @endif
*/
- ConnectorInfo& profile();
+ const ConnectorInfo& profile();
/*!
* @if jp
@@ -212,7 +212,42 @@
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"));
@@ -247,10 +282,6 @@
* @endif
*/
virtual bool pullDirectMode();
- virtual InPortBase* getInPort();
- virtual ConnectorListeners& getListeners();
- virtual ConnectorListeners* getInportListeners();
-
protected:
/*!
* @if jp
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