[openrtm-commit:03301] r3267 - trunk/OpenRTM-aist/src/lib/rtm
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2018年 3月 28日 (水) 12:37:10 JST
Author: miyamoto
Date: 2018-03-28 12:37:10 +0900 (Wed, 28 Mar 2018)
New Revision: 3267
Modified:
trunk/OpenRTM-aist/src/lib/rtm/Manager.cpp
Log:
[merge] r3172 have been merged from RELENG_1_2.
Modified: trunk/OpenRTM-aist/src/lib/rtm/Manager.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/Manager.cpp 2018-03-28 03:23:37 UTC (rev 3266)
+++ trunk/OpenRTM-aist/src/lib/rtm/Manager.cpp 2018-03-28 03:37:10 UTC (rev 3267)
@@ -398,6 +398,7 @@
m_initProc(this);
}
+ invokeInitProc();
initPreCreation();
initPreConnection();
initPreActivation();
@@ -875,7 +876,10 @@
}
m_listeners.naming_.postBind(comp, names);
+ publishPorts(comp);
+ subscribePorts(comp);
+
try
{
CORBA::Object_ptr obj = theORB()->resolve_initial_references("omniINSPOA");
@@ -2813,4 +2817,201 @@
}
}
+
+
+
+
+ /*!
+ * @if jp
+ * @brief
+ *
+ *
+ *
+ * @else
+ * @brief
+ *
+ *
+ * @endif
+ */
+ void Manager::invokeInitProc()
+ {
+ if (m_initProc != NULL)
+ {
+ m_initProc(this);
+ }
+ }
+
+ void Manager::publishPorts(RTObject_impl* comp)
+ {
+ PortServiceList_var ports = comp->get_ports();
+ for (size_t i(0); i < ports->length(); ++i)
+ {
+ PortProfile_var prof = ports[i]->get_port_profile();
+ coil::Properties prop;
+ NVUtil::copyToProperties(prop, prof->properties);
+ if ((prop.hasKey("publish_topic") == 0 ||
+ prop["publish_topic"] == "") &&
+ (prop.hasKey("subscribe_topic") == 0 ||
+ prop["subscribe_topic"] == "") &&
+ (prop.hasKey("rendezvous_point") == 0 ||
+ prop["rendezvous_point"] == "")) {
+ continue;
+ }
+
+ std::string name;
+ if (prop["port.port_type"] == "DataOutPort")
+ {
+ name = "dataports.port_cxt/";
+ name += prop["publish_topic"] + ".topic_cxt/";
+ name += prof->name; name += ".outport";
+ }
+ else if (prop["port.port_type"] == "DataInPort")
+ {
+ name = "dataports.port_cxt/";
+ name += prop["subscribe_topic"] + ".topic_cxt/";
+ name += prof->name; name += ".inport";
+ }
+ else if (prop["port.port_type"] == "CorbaPort")
+ {
+ name = "svcports.port_cxt/";
+ name += prop["rendezvous_point"] + ".svc_cxt/";
+ name += prof->name; name += ".svc";
+ }
+ else
+ {
+ RTC_WARN(("Unknown port type: %s", prop["port.port_type"].c_str()));
+ continue;
+ }
+ PortBase* port;
+ port = dynamic_cast<PortBase*>(m_pPOA->reference_to_servant(ports[i]));
+ m_namingManager->bindObject(name.c_str(), port);
+ }
+ }
+ void Manager::subscribePorts(RTObject_impl* comp)
+ {
+ PortServiceList_var ports = comp->get_ports();
+ for (size_t i(0); i < ports->length(); ++i)
+ {
+ PortProfile_var prof = ports[i]->get_port_profile();
+ coil::Properties prop;
+ NVUtil::copyToProperties(prop, prof->properties);
+ std::cout << prop;
+ if ((prop.hasKey("publish_topic") == 0 ||
+ prop["publish_topic"] == "") &&
+ (prop.hasKey("subscribe_topic") == 0 ||
+ prop["subscribe_topic"] == "") &&
+ (prop.hasKey("rendezvous_point") == 0 ||
+ prop["rendezvous_point"] == "")) {
+ continue;
+ }
+
+ std::string name;
+ PortServiceList_var nsports;
+ if (prop["port.port_type"] == "DataOutPort")
+ {
+ name = "dataports.port_cxt/";
+ name += prop["publish_topic"] + ".topic_cxt";
+ nsports = getPortsOnNameServers(name, "inport");
+ connectDataPorts(ports[i], nsports);
+ }
+ else if (prop["port.port_type"] == "DataInPort")
+ {
+ name = "dataports.port_cxt/";
+ name += prop["subscribe_topic"] + ".topic_cxt";
+ nsports = getPortsOnNameServers(name, "outport");
+ connectDataPorts(ports[i], nsports);
+ }
+ else if (prop["port.port_type"] == "CorbaPort")
+ {
+ name = "svcports.port_cxt/";
+ name += prop["rendezvous_point"] + ".svc_cxt";
+ nsports = getPortsOnNameServers(name, "svc");
+ connectServicePorts(ports[i], nsports);
+ }
+ }
+ }
+
+ PortServiceList_var Manager::getPortsOnNameServers(std::string nsname,
+ std::string kind)
+ {
+ PortServiceList_var ports = new PortServiceList();
+ std::vector<RTC::NamingService*>& ns(m_namingManager->getNameServices());
+ for (size_t i(0); i < ns.size(); ++i)
+ {
+ NamingOnCorba* noc = dynamic_cast<NamingOnCorba*>(ns[i]->ns);
+ if (noc == 0) { continue; }
+ CorbaNaming& cns(noc->getCorbaNaming());
+ CosNaming::BindingList_var bl = new CosNaming::BindingList();
+ cns.listByKind(nsname.c_str(), kind.c_str(), bl);
+
+ for (CORBA::ULong j(0); j < bl->length(); ++j)
+ {
+ if (bl[j].binding_type != CosNaming::nobject) { continue; }
+ std::string tmp(cns.toString(bl[j].binding_name));
+ std::string nspath;
+ nspath = "/" + nsname + "/" + tmp;
+ // ### TODO: All escape characteres should be removed. ###
+ coil::replaceString(nspath, "\\", "");
+ CORBA::Object_var obj = cns.resolveStr(nspath.c_str());
+ RTC::PortService_var portsvc = RTC::PortService::_narrow(obj);
+ if (CORBA::is_nil(portsvc)) { continue; }
+ try { PortProfile_var p = portsvc->get_port_profile(); }
+ catch (...) { continue; } // the port must be zombie
+ CORBA::ULong len(ports->length());
+ ports->length(len + 1);
+ ports[len] = portsvc;
+ }
+ }
+ return ports._retn();
+ }
+
+ void Manager::connectDataPorts(PortService_ptr port,
+ PortServiceList_var& target_ports)
+ {
+ for (CORBA::ULong i(0); i < target_ports->length(); ++i)
+ {
+ if (port->_is_equivalent(target_ports[i])) { continue; }
+ if (CORBA_RTCUtil::already_connected(port, target_ports[i]))
+ {
+ continue;
+ }
+ std::string con_name;
+ PortProfile_var p0 = port->get_port_profile();
+ PortProfile_var p1 = target_ports[i]->get_port_profile();
+ con_name += p0->name;
+ con_name += ":";
+ con_name += p1->name;
+ coil::Properties prop;
+ if (RTC::RTC_OK !=
+ CORBA_RTCUtil::connect(con_name, prop, port, target_ports[i]))
+ {
+ RTC_ERROR(("Connection error in topic connection."));
+ }
+ }
+ }
+
+ void Manager::connectServicePorts(PortService_ptr port,
+ PortServiceList_var& target_ports)
+ {
+ for (CORBA::ULong i(0); i < target_ports->length(); ++i)
+ {
+ if (port->_is_equivalent(target_ports[i])) { continue; }
+ if (CORBA_RTCUtil::already_connected(port, target_ports[i]))
+ { continue; }
+ std::string con_name;
+ PortProfile_var p0 = port->get_port_profile();
+ PortProfile_var p1 = target_ports[i]->get_port_profile();
+ con_name += p0->name;
+ con_name += ":";
+ con_name += p1->name;
+ coil::Properties prop;
+ if (RTC::RTC_OK !=
+ CORBA_RTCUtil::connect(con_name, prop, port, target_ports[i]))
+ {
+ RTC_ERROR(("Connection error in topic connection."));
+ }
+ }
+ }
+
+
};
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