[openrtm-users 00461] Re: サービスポートのRTC以外からの利用に関して
野村 琢磨
nomura-takuma ＠ jp.yamatake.com
2008年 6月 3日 (火) 18:46:40 JST
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class MyServiceSVC_impl_A : public MyServiceSVC_impl {
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};
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interface MyService_A : MyService {
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};
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----- Original Message -----
From: "Ando Noriaki" <n-ando ＠ aist.go.jp>
To: "$BLnB<(B $BBvKa(B" <nomura-takuma ＠ jp.yamatake.com>
Cc: <openrtm-users ＠ m.aist.go.jp>
Sent: Monday, June 02, 2008 6:57 PM
Subject: [openrtm-users 00460] Re: $B%5!<%S%9%]!<%H$N(BRTC$B0J30$+$i$NMxMQ$K4X$7$F(B
> $BLnB<MM(B
>
> $B0BF#$G$9(B
>
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>
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>
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>
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> $B%$%s%9%?%s%9$r%]!<%H$K%P%$%s%I$7$F$7$^$&$b$N$H;W$o$l$^$9!#(B
>
> $B$?$a$7$K!"(BCreateComp.cpp $B$G%m!<%I$9$k=gHV$r0J2<$N$h$&$KJQ99$7$F$_$^$7$?!#(B
>
> strcpy(szDir,
> "/usr/users/n-ando/work/TwoServices/sample/MyServiceB/MyServiceProviderB.so");
> manager->load(szDir, "MyServiceProviderBInit");
>
> strcpy(szDir,
> "/usr/users/n-ando/work/TwoServices/sample/MyServiceA/MyServiceProviderA.so");
> manager->load(szDir, "MyServiceProviderAInit");
>
> $B$3$&$9$k$H!"(B
>
> Other properties
> =================================================
> echo MyServiceB[ function invokation succes ! MyServiceProviderB0]
> echo MyServiceB[ function invokation succes ! MyServiceProviderA0]
> echo MyServiceB[ function invokation succes ! MyServiceProviderB0]
> echo MyServiceB[ function invokation succes ! MyServiceProviderA0]
>
> $B$3$N$h$&$K!">o$K(BMyServiceB$B$N%5!<%S%9$,8F$P$l$k$h$&$K$J$j$^$9!#(B
>
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>
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> $B$3$l$r;HMQ$9$k$H!"(BCreateComp$B$NBe$o$j$K!"(B
> MyServiceProviderA.so, MyServiceProviderB.so $B$rF10l%G%#%l%/%H%j$KCV$-!"(B
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> $B ＠ 8@.$9$k$3$H$,$G$-$^$9!#(B
>
> corba.nameservers: 192.168.100.1
> naming.formats: %n
> logger.log_level: PARANOID
> manager.modules.load_path: ./
> manager.modules.preload: MyServiceProviderA.so, MyServiceProviderB.so
> manager.components.precreate: MyServiceProviderA, MyServiceProviderB
>
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>
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> $B$h$m$7$/$*4j$$$$$?$7$^$9!#(B
>
>> $B ＠ N!"2<5-E:IU%a!<%k$N$h$&$JEj9F$,$"$C$?$+$H;W$$$^$9$,!"$3$l$K4XO"$7$F<ALd$,$"$j$^$9!#(B
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>> $B<B8=$7$h$&$H$7$F$$$^$9!#(B
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>> $B$=$l$>$l0[$J$k%5!<%S%9$r<BAu$9$k$3$H$O$G$-$J$$$N$G$7$g$&$+!)(B
>>
>> $B!J9=@.!K(B
>> $B!A!A!A!A!A!A!A!A!A!A!A!A!A!A!A!A!A!A!A!A!A!A!A!A!A!A!A!A!A!A!A!A!A!A!A!A!A!A!A!A(B
>> $B!!!!!!!!!!!!!!!!!!!!!N%5!<%S%9(BA$B!O(B
>> $B!!!!!!!!!!!!!!!!!!!!!!!!!!"-(B
>>
>> $B!N%3%s%]!<%M%s%H(BA$B$N%5!<%S%9%W%m%P%$%@(BA$B!O"+(!!JF1$8(BI/F$B!K"+(!(((!!N%"%W%j!O!J(BRTC$B$G$O$J$$!K(B
>> $B!N%3%s%]!<%M%s%H(BB$B$N%5!<%S%9%W%m%P%$%@(BB$B!O"+(!!JF1$8(BI/F$B!K"+(!(%(B
>> $B!!!!!!!!!!!!!!!!!!!!!!!!!!",(B
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>>
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>>
>> $B!J9=@.$N ＠ bL@!K(B
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>> $B$=$l$>$lJL!9$N%3%s%]!<%M%s%H>e$K9=@.$7!"F1$8%W%m%;%9Fb$G%3%s%]!<%M%s%H(BA$B$H(BB$B$NN>J}$rN)$A>e$2$^$9!#(B
>> $B$=$3$X!"%3%s%]!<%M%s%H$G$O$J$$%"%W%j$+$i$=$l$>$l$N%5!<%S%9%]!<%H$r8F$S=P$9!"$H$$$&$b$N$G$9!#(B
>>
>> $B!J8=>]!K(B
>> $B$3$N$H$-!"%"%W%j$+$i(BA/B$B$I$A$i$N%5!<%S%9%]!<%H$r8F$S=P$7$F$b!"%5!<%S%9(BA$B$NJ}$,8F$S=P$5$l$F$7$^$$$^$7$?!#(B
>> $B;n$7$K%3%s%]!<%M%s%H(BA/B$B$r%9%?%s%I%"%m!<%s$H$7$FN)$A>e$2$?>l9g!J$=$l$>$lJL%W%m%;%9$GN)$A>e$2$?>l9g!K!"(B
>> $B ＠ 5$7$/8F$S=P$9$3$H$,$G$-$^$7$?!#(B
>> $B!J%5!<%S%9%W%m%P%$%@(BA$B$N8F$S=P$7$G%5!<%S%9(BA$B$,!"%5!<%S%9%W%m%P%$%@(BB$B$N8F$S=P$7$G%5!<%S%9(BB$B$,8F$S=P$5$l$^$7$?!#!K(B
>>
>> $B!J%5%s%W%k%3!<%I!K(B
>> $B>e5-$N<B83$K;HMQ$7$?%W%m%0%i%`$r%5%s%W%k%W%m%0%i%`$H$7$FE:IU$7$^$9!#(B
>> $B$9$_$^$;$s$,!"(BCreateComp.cpp$B$N:G=i$NJ}$K ＠ dBP%Q%9$N5-=R$,$"$j$^$9$N$G!"4D6-$K9g$o$;$F=q$-49$($F$/$@$5$$!#(B
>>
>> $B!N%U%)%k%@9=@.!O(B
>> sample/
>> $B('(BMyServiceA/$B!!!!!!!&!&!&!!>e?^$N%5!<%S%9%]!<%H(BA$B$r;}$D%3%s%]!<%M%s%H(BMyServiceA$B$N%U%)%k%@(B
>> $B('(BMyServiceB/$B!!!!!!!&!&!&!!>e?^$N%5!<%S%9%]!<%H(BB$B$r;}$D%3%s%]!<%M%s%H(BMyServiceB$B$N%U%)%k%@(B
>> $B('(BCreateComp$B!!!!!!!&!&!&!!(BMyServiceA$B$H(BMyServiceB$B$rN)$A>e$2$k%W%m%0%i%`(B
>> $B(&(BMyServiceCaller$B!!!&!&!&!!<B9T;~$N%Q%i%a!<%?$K(B"A"$B$+(B"B"$B$rF~NO$9$k$3$H$G!"(BMyServiceA$B$+(BMyServiceB$B$r8F$S=P$9%"%W%j(B
>>
>> $B!N;H$$J}!O(B
>> $B!&%M!<%`%5!<%S%9$rN)$A>e$2$F$*$-!"(BCreateComp$B$r<B9T$7$F(BMyServiceA$B$H(BMyServiceB$B$rN)$A>e$2$k!#(B
>> $B!&(B"> ./MyServiceCaller A"$B$HF~NO$7$F(BMyServiceA$B$r8F$S=P$9(B
>> $B"*(B"echo MyServiceA[$B!A!A!A(B"$B$HI=<($5$l!"(BMyServiceA$B$N%5!<%S%9$,8F$S=P$5$l$F$$$k$3$H$,3NG'$G$-$k(B
>> $B!&B3$$$F!"(B"> ./MyServiceCaller B"$B$HF~NO$7$F(BMyServiceB$B$r8F$S=P$9(B
>> $B"*(B"echo MyServiceA[$B!A!A!A(B"$B$HI=<($5$l!"(BMyServiceA$B$N%5!<%S%9$,8F$S=P$5$l$F$7$^$C$F$$$k(B
>> $B!&;n$7$K!"(BCreateComp$B$r;H$o$:$K!"(BMyServiceAComp$B$H(BMyServiceBComp$B$r;H$C$FN)$A>e$2$?>l9g$K$O!"(B
>> $B!!!!(BMyServiceB$B$N8F$S=P$7$G(BMyServiceB$B$N%5!<%S%9$,8F$S=P$5$l$?!#(B
>>
>>
>> $B$A$J$_$K;n83$7$?4D6-$O(BUbuntu7.10$B!"(BOpenRTM-0.4.1$B$G$9!#(B
>> $B%5!<%S%9%]!<%H$N<BAuJ}K!$,4V0c$C$F$$$k$N$G$7$g$&$+!)(B
>>
>> $BD9$/$FFI$_$K$/$/$J$C$F$7$^$$!"?=$7Lu$"$j$^$;$s$,!"(B
>> $B$*J,$+$j$K$J$kJ}$,$$$i$7$?$i$465<(2<$5$$!#(B
>> $B$I$&$>59$7$/$*4j$$$7$^$9!#(B
>>
>> ----------
>> $BLnB<!!BvKa(B
>> $B3t<02q<R!!;3Ip(B
>> $B ＠ 8;:5;=Q3+H/It!!<+F02=5;=Q%0%k!<%W(B
>> E-mail:nomura-takuma ＠ jp.yamatake.com
>> URL:http://jp.azbil.com
>>
>>
>>
>> ----- Original Message ----- From: "Ando Noriaki" <n-ando ＠ aist.go.jp>
>> To: "Fumio Kanehiro" <f-kanehiro ＠ aist.go.jp>
>> Cc: <openrtm-users ＠ m.aist.go.jp>
>> Sent: Friday, November 16, 2007 9:17 AM
>> Subject: [openrtm-users 00266] Re: $B%5!<%S%9%]!<%H$N(BRTC$B0J30$+$i$NMxMQ$K4X$7$F(B
>>
>>
>>> $B6b9-MM(B
>>>
>>> $B0BF#$G$9(B
>>>
>>>> $B%5!<%S%9%]!<%H$KDj5A$5$l$F$$$k(BIDL$B$N%$%s%?%U%'!<%9$r(BRTC$B0J30$N(B
>>>> $BDL>o$N(BCORBA$B%/%i%$%"%s%H$+$i8F$S=P$9J}K!$O$"$j$^$9$G$7$g$&$+!)(B
>>>> $B$I$N$h$&$K$9$k$H%5!<%S%9$N;2>H$r<hF@$G$-$k$G$7$g$&$+!)(B
>>>
>>> RTC$B$N(BPort$B$K(Bconnect$B$r$9$k:]$K!"$=$N%]!<%H<+?H$N%*%V%8%'%/%H%j%U%!%l%s%9$N$_(B
>>>
>>> $B$r(BConnectorProfile$B$K%;%C%H$7$F(Bconnect$B$7$F$/$@$5$$!#(B
>>> $B$=$&$9$k$H!"La$C$F$-$?(BConnectorProfile::properties$B$NCf$K!"(B
>>> port.[Service Type].[Service Name] $B$H$$$&%-!<$G(BCORBA::Any$B7?$G(B
>>> $B%*%V%8%'%/%H%j%U%!%l%s%9$,F~$C$F$$$^$9!#(B
>>> $B$=$l$r!";HMQ$7$?$$%5!<%S%9$N7?$K(Bnarrow$B$7$F;HMQ$7$F$/$@$5$$!#(B
>>>
>>> $B$A$g$C$H$4$A$c$4$A$c$7$F$^$9$,!"$*$*$h$=0J2<$N$h$&$K$J$j$^$9!#(B
>>>
>>> $B$3$N%U%!%$%k$H(BMakefile$B$rE:IU$7$^$9!#(B
>>> $BE:IU$N(Btar-ball$B$r(Bexamples/SimpleService$B$N2<$GE83+$7(Bmake$B$7$F$/$@$5$$!#(B
>>> make -f Makefile.client$B$G(Bmake$B$G$-$^$9!#(B
>>>
>>> $B$3$N%W%m%0%i%`$r;n$9<j=g$O0J2<$NDL$j$G$9!#(B
>>> MyServiceProvider$B$N%5!<%S%9%]!<%H$,(BProvide$B$7$F$k(BMyService$B%$%s%?!<%U%'!<%9$r(B
>>> $B<hF@$7$F!"(BMyService$B%$%s%?!<%U%'!<%9$N%*%Z%l!<%7%g%s$G$"$k(Becho()$B$r8F$s$G$$$^$9!#(B
>>>
>>> 1. $B%M!<%`%5!<%P$r%m!<%+%k$KN)$A>e$2$k(B
>>> 2. MyServiceProvider$B$r(Bterminal1$B$GN)$A>e$2$k(B
>>> 3. terminal2$B$G2<$N%W%m%0%i%`$r%3%s%Q%$%k$7$?$b$N$r5/F0(B
>>> 4. terminal1$B$G0J2<$N$h$&$KI=<($5$l$k(B
>>> MyService::echo() was called.
>>> Message: hogehoge
>>>
>>> $B%W%m%0%i%`Cf$K$O%/%i%9%j%U%!%l%s%9$*$h$S(BIDL$B%j%U%!%l%s%9$X$N(BURL$B$b(B
>>> $B=q$$$F$"$j$^$9$N$GE,59;2>H$7$J$,$i$4$i$s$/$@$5$$!#(B
>>>
>>>
>>> ------------------
>>> #include <rtm/CorbaNaming.h>
>>> #include <iostream>
>>> #include "MyService.hh"
>>> #include <rtm/NVUtil.h>
>>>
>>> int main(int argc, char** argv)
>>> {
>>> CORBA::ORB_var orb;
>>> orb = CORBA::ORB_init(argc, argv);
>>>
>>> // RTC::CorbaNaming $B$r;HMQ$7$F%M!<%`%5!<%P$K%"%/%;%9(B
>>> //
>>> http://www.is.aist.go.jp/rt/OpenRTM-aist/doxygen/ClassReference/classRTC_1_1CorbaNaming.html
>>> RTC::CorbaNaming ns(orb, "localhost");
>>>
>>> // RTObject$B$r<hF@(B
>>> //
>>> http://www.is.aist.go.jp/rt/OpenRTM-aist/doxygen/IDLReference/interfaceRTC_1_1RTObject.html
>>> CORBA::Object_var obj = ns.resolve("MyServiceProvider0.rtc");
>>> RTC::RTObject_var rtc = RTC::RTObject::_narrow(obj);
>>>
>>> // ComponentProfile$B$r<hF@(B
>>> //
>>> http://www.is.aist.go.jp/rt/OpenRTM-aist/doxygen/IDLReference/structRTC_1_1ComponentProfile.html
>>> RTC::ComponentProfile* prof;
>>> prof = rtc->get_component_profile();
>>> std::cout << "RTC name: " << prof->instance_name << std::endl;
>>>
>>> // PortProfile$B$r<hF@(B
>>> //
>>> http://www.is.aist.go.jp/rt/OpenRTM-aist/doxygen/IDLReference/structRTC_1_1PortProfile.html
>>> RTC::PortProfileList port_prof;
>>> port_prof = prof->port_profiles;
>>> for (CORBA::ULong i(0), len(port_prof.length()); i < len; ++i)
>>> {
>>> std::cout << "name: " << port_prof[i].name << std::endl;
>>>
>>> // $B%$%s%?!<%U%'!<%9$rI=<($7$F$_$k(B
>>> //
>>> http://www.is.aist.go.jp/rt/OpenRTM-aist/doxygen/IDLReference/structRTC_1_1PortInterfaceProfile.html
>>> RTC::PortInterfaceProfileList ifs(port_prof[i].interfaces);
>>> for (CORBA::ULong j(0), jlen(ifs.length()); j < jlen; ++j)
>>> {
>>> std::cout << "IF name: " << ifs[j].instance_name << std::endl;
>>> std::cout << "IF type: " << ifs[j].type_name << std::endl;
>>> const char* pol;
>>> pol = ifs[j].polarity == RTC::PROVIDED ? "Provided" : "Required";
>>> std::cout << "IF polarity: " << pol << std::endl;
>>> }
>>> }
>>>
>>> RTC::Port_var port;
>>> port = port_prof[0].port_ref;
>>>
>>>
>>>
>>> //
>>> // ConnectorProfile $B$N(Bport$B%a%s%P$K<+J,<+?H$N%j%U%!%l%s%9$N$_F~$l$F(B
>>> // connect $B$9$k!#La$C$F$-$?(BConnectorProfile$B$N(Bproperties$B$NCf$K$O(B
>>> // $B%5!<%S%9$N(BObjectReference$B$,F~$C$F$$$k$N$G<hF@$9$k!#(B
>>> //
>>> // $B%5!<%S%9$N@\B3$K4X$9$k>pJs$O%/%i%9%j%U%!%l%s%9$N(BCorbaPort$B$r;2>H(B
>>> //
>>> http://www.is.aist.go.jp/rt/OpenRTM-aist/doxygen/ClassReference/classRTC_1_1CorbaPort.html
>>> //
>>> // ConnectorProfile
>>> //
>>> http://www.is.aist.go.jp/rt/OpenRTM-aist/doxygen/IDLReference/structRTC_1_1ConnectorProfile.html
>>> RTC::ConnectorProfile con_prof;
>>> con_prof.name = CORBA::string_dup("tekitouna_namae0");
>>> con_prof.connector_id = "";
>>> con_prof.ports.length(1);
>>> con_prof.ports[0] = port;
>>> con_prof.properties.length(0);
>>> if (CORBA::is_nil(port))
>>> {
>>> std::cout << "nil reference" << std::endl;
>>> return 0;
>>> }
>>>
>>> if (port->connect(con_prof) != RTC::RTC_ERROR)
>>> {
>>> // $B%(%i!<$OL5;k(B
>>> std::cout << "ignore error" << std::endl;
>>> }
>>> std::cout << "connect OK" << std::endl;
>>>
>>> CORBA::Object_ptr aobj;
>>> MyService_var mysvc;
>>>
>>> // NVUtil$B$G(Bproperties$B$NCf$+$i%5!<%S%9$N%*%V%8%'%/%H%j%U%!%l%s%9$r<hF@(B
>>> //
>>> http://www.is.aist.go.jp/rt/OpenRTM-aist/doxygen/ClassReference/namespaceNVUtil.html
>>> if (NVUtil::find(con_prof.properties, "port.MyService.myservice0")
>>>>>
>>>>> = CORBA::Any::to_object(aobj))
>>>
>>> {
>>> mysvc = MyService::_narrow(aobj);
>>> }
>>>
>>> // $B%5!<%S%9$r8F$V(B
>>> mysvc->echo("hogehoge");
>>> // MyServiceProvider$B$r<B9T$7$?2hLL$G0J2<$N$h$&$KI=<($5$l$k$O$:(B
>>> //
>>> // MyService::echo() was called.
>>> // Message: hogehoge
>>>
>>>
>>>
>>> }
>>>
>>>
>>>
>>> --
>>> $B0BF#7D><!wFHN)9T@/K!?M;:6H5;=QAm9g8&5f=j(B $B8&5f0w(B
>>> $BCNG=%7%9%F%`8&5fItLg(B $B%?%9%/%$%s%F%j%8%'%s%98&5f%0%k!<%W(B
>>> $B")(B305-8568 $B0q>k8)$D$/$P;TG_1`(B1-1-1 $BCf1{Bh(B2
>>> TEL: 029-861-5981 FAX: 029-861-5971
>>> n-ando ＠ aist.go.jp, n-ando ＠ ieee.org
>>>
>>
>
>
>
> --
> $B0BF#7D><!wFHN)9T@/K!?M;:6H5;=QAm9g8&5f=j(B $B8&5f0w(B
> $BCNG=%7%9%F%`8&5fItLg(B $B%?%9%/%$%s%F%j%8%'%s%98&5f%0%k!<%W(B
> $B")(B305-8568 $B0q>k8)$D$/$P;TG_1`(B1-1-1 $BCf1{Bh(B2
> TEL: 029-861-5981 FAX: 029-861-5971
> n-ando ＠ aist.go.jp, n-ando ＠ ieee.org
>
>
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