[openrtm-commit:03310] r3276 - in trunk/OpenRTM-aist: . examples/Throughput src/ext/sdo/observer src/ext/ssl src/lib/rtm utils/cmake utils/rtm-naming
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openrtm ＠ openrtm.org
2018年 3月 28日 (水) 13:59:47 JST
Author: miyamoto
Date: 2018-03-28 13:59:47 +0900 (Wed, 28 Mar 2018)
New Revision: 3276
Modified:
trunk/OpenRTM-aist/configure.ac
trunk/OpenRTM-aist/examples/Throughput/Throughput.h
trunk/OpenRTM-aist/src/ext/sdo/observer/Makefile.am
trunk/OpenRTM-aist/src/ext/ssl/Makefile.am
trunk/OpenRTM-aist/src/lib/rtm/Makefile.am
trunk/OpenRTM-aist/utils/cmake/Makefile.am
trunk/OpenRTM-aist/utils/rtm-naming/rtm-naming.in
Log:
[merge] r3214-3225 have been merged from RELENG_1_2.
Modified: trunk/OpenRTM-aist/configure.ac
===================================================================
--- trunk/OpenRTM-aist/configure.ac 2018-03-28 04:49:31 UTC (rev 3275)
+++ trunk/OpenRTM-aist/configure.ac 2018-03-28 04:59:47 UTC (rev 3276)
@@ -1054,8 +1054,8 @@
CPPFLAGS="-I$omniORB4_CORBA_h_dir $CPPFLAGS"
CXXFLAGS="-I$omniORB4_CORBA_h_dir $CXXFLAGS"
LDFLAGS="-L$omniorb_lib_dir $LDFLAGS"
- LIBS="$LIBS -lomniORB4 -lomnithread -lomniDynamic4"
- LDSOLIBS="$LDSOLIBS -lomniORB4 -lomnithread -lomniDynamic4"
+ LIBS="$LIBS -lomniORB4 -lomnithread -lomniDynamic4 -lomnisslTP4"
+ LDSOLIBS="$LDSOLIBS -lomniORB4 -lomnithread -lomniDynamic4 -lomnisslTP4"
AC_DEFINE([ORB_IS_OMNIORB], [TRUE], [ORB is omniORB])
fi
Modified: trunk/OpenRTM-aist/examples/Throughput/Throughput.h
===================================================================
--- trunk/OpenRTM-aist/examples/Throughput/Throughput.h 2018-03-28 04:49:31 UTC (rev 3275)
+++ trunk/OpenRTM-aist/examples/Throughput/Throughput.h 2018-03-28 04:59:47 UTC (rev 3276)
@@ -439,7 +439,7 @@
DataType& data)
{
m_comp->receiveData(data.tm, data.data.length());
- return NO_CHANGE;
+ return RTC::ConnectorListenerStatus::NO_CHANGE;;
}
Throughput* m_comp;
};
@@ -480,7 +480,7 @@
std::cout << std::endl;
std::cout << "------------------------------" << std::endl;
m_comp->setConnectorProfile(info);
- return NO_CHANGE;
+ return RTC::ConnectorListenerStatus::NO_CHANGE;;
};
Throughput* m_comp;
};
Modified: trunk/OpenRTM-aist/src/ext/sdo/observer/Makefile.am
===================================================================
--- trunk/OpenRTM-aist/src/ext/sdo/observer/Makefile.am 2018-03-28 04:49:31 UTC (rev 3275)
+++ trunk/OpenRTM-aist/src/ext/sdo/observer/Makefile.am 2018-03-28 04:59:47 UTC (rev 3276)
@@ -70,6 +70,23 @@
# Targets directories
socompdir = $(rtm_sdodir)
+#------------------------------
+# Static link library for linked in libRTC.so
+if ENABLE_OBSERVER
+noinst_LTLIBRARIES = \
+ libComponentObserverStub.la \
+ libComponentObserverConsumer.la
+nodist_libComponentObserverStub_la_SOURCES = $(IDL_SOURCES:.idl=Stub.cpp)
+
+nodist_libComponentObserverConsumer_la_SOURCES = \
+ $(OBSERVER_DIST_SRC) $(OBSERVER_DIST_H)
+nodist_libComponentObserverConsumer_la_LDFLAGS = -module
+nodist_libComponentObserverConsumer_la_DEPENDENCIES = \
+ libComponentObserverStub.la
+nodist_libComponentObserverConsumer_la_LIBADD = \
+ libComponentObserverStub.la
+else
+#------------------------------
# Loadable Module
noinst_LTLIBRARIES = libComponentObserverStub.la
nodist_libComponentObserverStub_la_SOURCES = $(IDL_SOURCES:.idl=Stub.cpp)
@@ -80,10 +97,12 @@
$(OBSERVER_DIST_SRC) $(OBSERVER_DIST_H)
ComponentObserverConsumer_la_LDFLAGS = -module
ComponentObserverConsumer_la_DEPENDENCIES = libComponentObserverStub.la
-ComponentObserverConsumer_la_LIBADD = \
+ComponentObserverConsumer_la_LIBADD = \
libComponentObserverStub.la \
$(top_builddir)/src/lib/rtm/libRTC.la \
$(top_builddir)/src/lib/coil/lib/libcoil.la
+endif
+#------------------------------
#------------------------------------------------------------
# Extra distributed files
@@ -99,43 +118,7 @@
echo $(ALL_SRC) > src.lst
echo $(EXTRA_DIST) > other.lst
-#------------------------------------------------------------
-# Visual Studio Project
-#------------------------------------------------------------
-win32_builddir=$(top_builddir)/win32/OpenRTM-aist/ext/sdo/observer
-PROJNAME=ComponentObserverConsumer
-vcproj: vc9proj vcxproj
-
-vc9proj:
- $(top_builddir)/build/vcprojtool.py vcproj \
- --type DLL \
- --vcversion "9.00" \
- --projectname "$(PROJNAME)" \
- --version $(RTM_VERSION) \
- --out $(win32_builddir)/$(PROJNAME)Dll_vc9.vcproj \
- --yaml $(top_builddir)/examples/rtcdll.vcproj.yaml \
- --source $(OBSERVER_WIN_SRC) \
- --header $(OBSERVER_WIN_H)
- qkc -O- -sm $(win32_builddir)/$(PROJNAME)Dll_vc9.vcproj
-
-vcxproj:
- for ver in $(VC_VERSION); do \
- $(top_builddir)/build/vcxprojtool.py vcxproj \
- --type DLL \
- --vcversion "$${ver}.00" \
- --projectname "$(PROJNAME)" \
- --version $(RTM_VERSION) \
- --out $(win32_builddir)/$(PROJNAME)Dll_vc$${ver}.vcxproj \
- --yaml $(top_builddir)/examples/rtcdll.vcproj.yaml \
- --source $(OBSERVER_WIN_SRC) \
- --header $(OBSERVER_WIN_H) ; \
- qkc -O- -sm $(win32_builddir)/$(PROJNAME)Dll_vc$${ver}.vcxproj ; \
- done
-
-dist-hook: lst vcproj
-
-
clean_objs:
rm -f $(OBJS)
Modified: trunk/OpenRTM-aist/src/ext/ssl/Makefile.am
===================================================================
--- trunk/OpenRTM-aist/src/ext/ssl/Makefile.am 2018-03-28 04:49:31 UTC (rev 3275)
+++ trunk/OpenRTM-aist/src/ext/ssl/Makefile.am 2018-03-28 04:59:47 UTC (rev 3276)
@@ -91,7 +91,7 @@
rm -f $(OBJS)
-clean-local: clean_objs clean_skelstub
+clean-local: clean_objs
rm -f *.bak *.rpo *.sym lib*.*_pure_*
rm -f *.lst *core *~ *loT *.log
rm -f Makefile.old
Modified: trunk/OpenRTM-aist/src/lib/rtm/Makefile.am
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/Makefile.am 2018-03-28 04:49:31 UTC (rev 3275)
+++ trunk/OpenRTM-aist/src/lib/rtm/Makefile.am 2018-03-28 04:59:47 UTC (rev 3276)
@@ -55,7 +55,6 @@
NVUtil.cpp \
RTCUtil.cpp \
DefaultPeriodicTask.cpp \
- CORBA_RTCUtil.h \
CORBA_RTCUtil.cpp
MGR_SRC = \
@@ -144,6 +143,7 @@
#------------------------------
# Component observer embedded
if ENABLE_OBSERVER
+FactoryInit.cpp: ComponentObserverConsumer.h ComponentObserverSkel.h
OBSERVER_LA = \
libComponentObserverStub.la \
libComponentObserverConsumer.la
@@ -156,6 +156,11 @@
(cd $(top_builddir)/src/ext/sdo/observer ; make)
libComponentObserverConsumer.la: libComponentObserverStub.la
(cd $(top_builddir)/src/ext/sdo/observer ; make)
+ComponentObserverConsumer.h: ComponentObserverSkel.h
+ComponentObserverSkel.h:
+ (cd $(top_builddir)/src/ext/sdo/observer ; make)
+
+
#------------------------------
libRTC_la_LIBADD = \
@@ -171,7 +176,6 @@
-release $(PACKAGE_VERSION) \
$(OBSERVER_LDFLAGS)
-
rtmheaderdir = $(rtm_includedir)/rtm
rtmheader_HEADERS = \
@@ -186,6 +190,9 @@
DataOutPort.h \
DataPortStatus.h \
DefaultConfiguration.h \
+ DirectInPortBase.h \
+ DirectOutPortBase.h \
+ DirectPortBase.h \
ExecutionContextBase.h \
EventPort.h \
InPort.h \
Modified: trunk/OpenRTM-aist/utils/cmake/Makefile.am
===================================================================
--- trunk/OpenRTM-aist/utils/cmake/Makefile.am 2018-03-28 04:49:31 UTC (rev 3275)
+++ trunk/OpenRTM-aist/utils/cmake/Makefile.am 2018-03-28 04:59:47 UTC (rev 3276)
@@ -82,7 +82,8 @@
${prefix}/include \
${coil_includedir} \
${rtm_includedir} \
- ${rtm_includedir}/rtm/idl
+ ${rtm_includedir}/rtm/idl \
+ ${rtm_includedir}/rtm/ext
OPENRTM_LDFLAGS_=`echo "${LDFLAGS}" | sed -e 's/\-L[^ ]*//g'`
OPENRTM_LIBRARY_DIRS=${prefix}/lib
OPENRTM_LIBRARIES_=`echo ${LIBS} RTC coil rtmCamera rtmManipulator | sed -e 's/\-l\([^ ]*\)/\1/g'`
Modified: trunk/OpenRTM-aist/utils/rtm-naming/rtm-naming.in
===================================================================
--- trunk/OpenRTM-aist/utils/rtm-naming/rtm-naming.in 2018-03-28 04:49:31 UTC (rev 3275)
+++ trunk/OpenRTM-aist/utils/rtm-naming/rtm-naming.in 2018-03-28 04:59:47 UTC (rev 3276)
@@ -3,15 +3,15 @@
# @brief OpenRTM-aist name server launcher
# @date $Date: 2005-05-12 09:06:19 $
# @author Noriaki Ando <n-ando at aist.go.jp>
-#
-# Copyright (C) 2003-2011
+#
+# Copyright (C) 2003-2018
# Intelligent Systems Research Institute,
# National Institute of
# Advanced Industrial Science and Technology (AIST), Japan
# All rights reserved.
-#
+#
# $Id$
-#
+#
pname=`basename $cosnames`
hostname=`hostname`
@@ -20,12 +20,49 @@
usage()
{
- cat<<EOF
-Usage: rtm-naming port_number
+ cat<<EOF
+
+ Usage:
+ $(basename $0) [-p port_number] [-f] [-w password] [h]
+
+ Example:
+ $(basename $0) -p 8888 -f
+ Force running naming service on port 8888
+
+ Options:
+ -p Port number of naming service. (default 2809)
+ -f Force kill current running naming service.
+ -w Current user's passoword to restart naming service.
+ -h Print this help.
+
EOF
}
+get_opt()
+{
+ # Global variables
+ FORCEKILL=""
+ PASSWORD=""
+ PORT=2809
+ if test $# -eq 0 ; then
+ PORT=2809
+ fi
+ while getopts p:fw:h OPT
+ do
+ case $OPT in
+ p) PORT=$OPTARG
+ ;;
+ f) FORCEKILL="YES"
+ ;;
+ w) PASSWORD=$OPTARG
+ ;;
+ h) usage
+ exit 1
+ ;;
+ esac
+ done
+}
#
# debug <text>
#
@@ -36,7 +73,7 @@
debug()
{
if test "x$DEBUG" != "x"; then
- echo $*
+ echo $*
fi
}
@@ -58,12 +95,12 @@
_netstat=`netstat -tanp 2> /dev/null | grep $_port | awk '{if($7!="-"){print $7;}}'`
debug "A possible process that is using $port port:" $_netstat
if test "x$_netstat" = "x"; then
- debug "No process using port number ${_port} on the system."
- return 1
+ debug "No process using port number ${_port} on the system."
+ return 1
fi
if test "x$_netstat" = "x"; then
- debug "Process information could not be identified."
- return 1
+ debug "Process information could not be identified."
+ return 1
fi
_pid=`echo $_netstat | awk 'BEGIN{FS="/";}{print $1;}'`
@@ -161,7 +198,7 @@
#
stop_existing_ns()
{
- get_pid_of_nsport $port
+ get_pid_of_nsport $PORT
if test $? -eq 0; then
debug "The Process information using the port could be obtained."
# If "port" is used by other program -> abort
@@ -189,34 +226,43 @@
# omniNames is not started by init script
if test $? -ne 0; then
- debug "$pname might not be started from init script."
- if test "x$pid_of_nsport" != "x" ; then
- echo "$pname (pid: $pid_of_nsport) is running"
- read -p "Kill anyway and start $pname again? (y/N)" killns
- if test "x$killns" = "xy" -o "x$killns" = "xY"; then
- pkill -f $pname
- echo "$pname (pid: $pid_of_nsport) are killed"
- return 0
- fi
- echo "Aborting"
- exit 1
- fi
- echo "No running $pname found. The process using the port $port "
- echo "cannot be estimated. Arboting"
- exit 1
+ debug "$pname might not be started from init script."
+ if test "x$pid_of_nsport" != "x" ; then
+ echo "$pname (pid: $pid_of_nsport) is running"
+
+ # Restart naming service
+ if test "x$FORCEKILL" = "x" ; then
+ read -p "Kill anyway and start $pname again? (y/N)" killns
+ if test "x$killns" != "xy" -o "x$killns" != "xY"; then
+ echo "Aborting"
+ exit 1
+ fi
+ fi
+ pkill -f $pname
+ echo "$pname (pid: $pid_of_nsport) are killed"
+ return 0
+ fi
+ echo "No running $pname found. The process using the port $PORT "
+ echo "cannot be estimated. Arboting"
+ exit 1
fi
-
# omniNames is started by init script
echo "omniNames might be started $init_script."
- echo "Stop it (password for sudo is required.)"
- read -p "and start omniNames by rtm-naming? (y/N)" startns
- if test "x$startns" != "xy" -a "x$startns" != "xY" ; then
- echo "Aborted."
- exit 1
+ if test "x$FORCEKILL" = "x" ; then
+ echo "Stop it (password for sudo is required.)"
+ read -p "and start omniNames by rtm-naming? (y/N)" startns
+ if test "x$startns" != "xy" -a "x$startns" != "xY" ; then
+ echo "Aborted."
+ exit 1
+ fi
fi
echo "Stopping omniNames by $init_script."
- sudo $init_script stop
+ if test "x$PASSWORD" = "x" ; then
+ sudo $init_script stop
+ else
+ echo $PASSWORD | sudo -S $init_script stop
+ fi
return 0
}
@@ -231,11 +277,11 @@
#
start_omninames()
{
- echo 'Starting omniORB omniNames: '$hostname':'$port
+ echo 'Starting omniORB omniNames: '$hostname':'$PORT
rm -f ./omninames-$hostname.log
rm -f ./omninames-$hostname.bak
rm -f ./omninames-$hostname.dat
- $cosnames -start $port -logdir $currdir &
+ $cosnames -start $PORT -logdir $currdir &
ret=$!
sleep 1
debug "return code of omniNames:" $ret
@@ -279,8 +325,8 @@
echo "TAO Naming_Service not found. Aborting."
exit 1
fi
- echo 'Starting TAO Naming_Service: '$hostname':'$port
- $cosnames -m 0 -ORBListenEndpoints iiop://:$port &
+ echo 'Starting TAO Naming_Service: '$hostname':'$PORT
+ $cosnames -m 0 -ORBListenEndpoints iiop://:$PORT &
ret=$!
sleep 1
debug "return code of TAO Naming_Service:" $ret
@@ -315,11 +361,7 @@
#------------------------------------------------------------
# main
#------------------------------------------------------------
-if test $# -gt 0; then
- port=$1
-else
- port=2809
-fi
+get_opt $@
case $orb in
omniORB)
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